The MCP's Commands
The following is a listing of the commands that the the MCP understands;
it's the result of connecting to the MCP and saying cmdShow
(and then sorting the result). The columns are:
- Name
- The command, as sent to the MCP by the TCC, mcpPut, or the
> prompt from the MCP menu.
- Function
- The name of the MCP's C function.
- Narg
- The number of arguments that the command expects
- Vararg
- The command expects a variable number of arguments (the corresponding
Narg is 0)
- Restricted
- You need the
semCmdPort semaphore to issue this command.
- Murmur
- This command is echoed to murmur and to the
mcpCmd-<mjd>.dat file. You can force all commands to be
logged with the LOG.ALL 1.
Name Function Narg Vararg Restrict Take? Murmur
+MOVE plus_move_cmd 0 1 1 0 1
AB.STATUS abstatus_cmd 2 0 0 0 1
ALT alt_cmd 0 0 0 0 0
AMP.RESET amp_reset_cmd 0 0 1 0 1
AXIS.STATUS axis_status_cmd 0 0 0 0 0
AZ az_cmd 0 0 0 0 0
AZ.BARCODE az_barcode_cmd 1 0 0 0 1
BRAKE.OFF brakeoff_cmd 0 0 1 0 1
BRAKE.ON brakeon_cmd 0 0 1 0 1
BUMP.CLEAR bump_clear_cmd 0 0 1 0 1
CLAMP.OFF clampoff_cmd 0 0 1 0 1
CLAMP.ON clampon_cmd 0 0 1 0 1
CORRECT correct_cmd 0 0 1 0 1
CW.STATUS cwstatus_cmd 0 0 0 0 1
CWABORT cwabort_cmd 0 0 1 0 1
CWINST cwinst_cmd 1 0 1 0 1
CWMOV cwmov_cmd 2 0 1 0 1
DRIFT drift_cmd 0 0 1 1 1
FF.OFF ffloff_cmd 0 0 0 0 1
FF.ON fflon_cmd 0 0 0 0 1
FF.STATUS ffstatus_cmd 0 0 0 0 1
FFL.OFF ffloff_cmd 0 0 0 0 1
FFL.ON fflon_cmd 0 0 0 0 1
FFS.CLOSE ffsclose_cmd 0 0 0 0 1
FFS.OPEN ffsopen_cmd 0 1 0 0 1
FFS.SELECT ffsselect_cmd 1 0 0 0 1
GOTO.POS.VA goto_pos_va_cmd 3 0 1 1 1
HALT hold_cmd 0 0 1 0 1
HGCD.OFF hgcdoff_cmd 0 0 0 0 1
HGCD.ON hgcdon_cmd 0 0 0 0 1
HOLD hold_cmd 0 0 1 0 1
IACK iack_cmd 0 0 0 0 1
ID id_cmd 0 0 0 0 1
INIT init_cmd 0 0 0 1 1
IR rot_cmd 0 0 0 0 0
LOG.ALL log_all_cmd 1 0 0 0 0
LOG.BUFSIZE log_bufsize_cmd 1 0 0 0 1
LOG.FLUSH log_flush_cmd 0 0 0 0 0
MC.MAXACC mc_maxacc_cmd 0 0 0 0 1
MC.MAXVEL mc_maxvel_cmd 0 0 0 0 1
MIN.ENCODER.MISMATCH min_encoder_mismatch_cmd 1 0 1 0 1
MOVE move_cmd 0 1 1 1 1
MS.MAP.DUMP ms_map_dump_cmd 0 0 0 0 1
MS.MAP.LOAD ms_map_load_cmd 0 0 1 0 1
MS.MAX ms_max_cmd 1 0 1 0 1
MS.OFF ms_off_cmd 0 1 1 0 1
MS.ON ms_on_cmd 0 0 1 0 1
MS.READ ms_read_cmd 1 0 1 0 1
MS.SET ms_set_axis_pos_cmd 0 0 1 0 1
MS.WRITE ms_write_cmd 1 0 1 0 1
NE.OFF neoff_cmd 0 0 0 0 1
NE.ON neon_cmd 0 0 0 0 1
ROT rot_cmd 0 0 0 0 0
SEM.GIVE sem_give_cmd 0 1 0 0 0
SEM.STEAL sem_steal_cmd 0 0 0 0 1
SEM.TAKE sem_take_cmd 0 0 0 0 0
SET.FIDUCIAL ms_set_axis_pos_cmd 0 0 1 0 1
SET.MONITOR set_monitor_cmd 1 0 1 0 1
SET.POS.VA goto_pos_va_cmd 3 0 1 1 1
SET.POSITION set_pos_cmd 1 0 1 0 1
SET.SCALE set_scale_cmd 1 0 1 0 1
SET.TIME set_time_cmd 0 1 0 0 1
SET.VELOCITY set_vel_cmd 1 0 1 0 1
SLIT.STATUS slitstatus_cmd 0 0 0 0 1
SLITDOOR.CLEAR slitdoor_clear_cmd 0 0 0 0 1
SLITDOOR.CLOSE slitdoor_close_cmd 0 0 0 0 1
SLITDOOR.OPEN slitdoor_open_cmd 0 0 0 0 1
SLITHEADLATCH.CLOSE slithead_latch_close_cmd 0 0 0 0 1
SLITHEADLATCH.EXT slithead_latch_open_cmd 0 0 0 0 1
SLITHEADLATCH.OPEN slithead_latch_open_cmd 0 0 0 0 1
SLITHEADLATCH.RET slithead_latch_close_cmd 0 0 0 0 1
SP1 sp1_cmd 0 0 0 0 0
SP2 sp2_cmd 0 0 0 0 0
STATS stats_cmd 0 0 0 0 1
STATUS status_cmd 0 0 0 0 1
STATUS.LONG status_long_cmd 0 0 0 0 1
STOP stop_cmd 0 0 1 0 1
SYS.RESET sys_reset_cmd 1 0 0 0 1
SYSTEM.STATUS system_status_cmd 0 0 0 0 0
TBAR.LATCH tbar_latch_cmd 1 0 1 0 1
TEL1 az_cmd 0 0 0 0 0
TEL2 alt_cmd 0 0 0 0 0
TICKLOST @ . ticklost_cmd 0 0 0 0 1
TIME? time_cmd 0 0 0 0 1
UMBILICAL umbilical_cmd 1 0 0 0 1
UMBILICAL.ABORT umbilical_abort_cmd 0 0 0 0 1
UMBILICAL.POS umbilical_pos_cmd 1 0 0 0 1
UMBILICAL.STATUS umbilical_status_cmd 0 0 0 0 1
VERSION version_cmd 0 0 0 0 0
N.b. INIT is special. You are not required to have the semaphore to
try to issue an INIT as the TCC uses an axis init to take the
semaphore. You are required to have the semaphore to actually initialise
the axes.