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Moving the Gantry, Stages, and Robots | ||||||||
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Local Commands on =kiewa | |||||||
To move that gantry and stages, you can use the move command, which takes the name of the device to be moved, followed by a set of joint coordinates. | ||||||||
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% move linear to 450 | ||||||||
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< < | The move command is only available on kiewa , and it takes the general form | |||||||
> > | The move command is only available on kiewa (see below on how to remote-control ACME), and it takes the general form | |||||||
% move [<robotname>] (to|by) <list of joint values> | ||||||||
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and type 'show' after the prompt. | ||||||||
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Remote Control from any MachineIn many cases it is necessary to control ACME remotely, for example, when also controlling cameras that are not attached tokiewa . To do this, we have client/server Perl scripts. The client is called acmemove , and it takes the same arguments as the move command on kiewa . The server (or daemon), is called moved , and needs to be started on kiewa . The client can be either a UNIX (e.g. Linux or Solaris), Mac, or Windows machine. In the case of Windows, the scripts should be run from Cygwin.
The two programs talk over port 4711. This, however, presents a bit of a problem, because kiewa is behind a firewall. Therefore, it is necessary to create an ssh tunnel from the remote control machine to kiewa . The necessary steps are then:
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-- WolfgangHeidrich - 24 Nov 2005 | ||||||||
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