TCP/IP Socket Connection to the Beamline Control System

The TCP/IP communications driver uses Port 10000 of each of the beamline
control system computers (bl831b.als.lbl.gov, bl821b.als.lbl.gov,
bl822b.als.lbl.gov). It expects the commands to be in one of the
following formats:
cmd<cr><lf>or
cmd motor_name<cr><lf>or
cmd motor_name <pos><cr><lf>

The first command format is used to get status, position, or stop.  The
second is used for the move command.

The following describes the commands:

Command : no_op
Action : none
Return :
"OK!-500 Invalid Command<cr><lf>"

Command : getpos
Action : Returns the motor position or averaged analog value depending
whether motor_name is a motor or analog input.
Return :
"OK!-500 No Motor Name<cr><lf>" if not motor name given
  "OK!-500 Invalid Name<cr><lf>" if name not valid
  "%f!0<cr><lf>" with motor position or analog value in %f format

Command : getstat
Action : Returns the motor status
Return : 
"OK!-500 No Motor Name<cr><lf>" if not motor name given
  "OK!-500 Invalid Name<cr><lf>" if name not valid
  "0!0<cr><lf>" if motor is not moving
  "1!0<cr><lf>" if motor is moving
  "3!0<cr><lf>" if the motor is off, at a hardware or software limit
switch, or if there is a following error

Command : moveto
Action : Moves a motor to the desired position
Return : 
"OK!-500 In Local Control<cr><lf>" if Beamline controls is
in local control
  "OK!-500 No Motor Name<cr><lf>" if not motor name given
  "OK!-500 Invalid Name<cr><lf>" if name not valid
  "OK!-500 Invalid Move<cr><lf>" if move is not translatable by %f
  "OK!0<cr><lf>" if move command is given

Command : setpos
Action : Moves a motor to the desired position
Return :
"OK!-500 In Local Control<cr><lf>" if Beamline controls is
in local control
  "OK!-500 No Motor Name<cr><lf>" if not motor name given
  "OK!-500 Invalid Name<cr><lf>" if name not valid
  "OK!-500 Invalid Move<cr><lf>" if move is not translatable by %f
  "OK!0<cr><lf>" if move command is given


Command : stop
Action : Stops a motor
Return : 
"OK!-500 In Local Control<cr><lf>" if Beamline controls is
in local control
  "OK!-500 No Motor Name<cr><lf>" if not motor name given
  "OK!-500 Invalid Name<cr><lf>" if name not valid
  "OK!0<cr><lf>" if move command is given

Command : autoon
Action : Turns autoscaling on
Return : 
"OK!-500 In Local Control<cr><lf>" if Beamline controls is
in local control
  "OK!0<cr><lf>" if move command is given

Command : autooff
Action : Turns autoscaling off
Return : 
"OK!-500 In Local Control<cr><lf>" if Beamline controls is
in local control
  "OK!0<cr><lf>" if move command is given

Command : sendamp
Action : Applies saved amplifier settings
Return : 
"OK!-500 In Local Control<cr><lf>" if Beamline controls is
in local control
  "OK!0<cr><lf>" if move command is given

Command : cntlstat
Action : Returns the local/remote control status
Return : 
  "0!0<cr><lf>" if it is in local control
  "1!0<cr><lf>" if it is in remote control

The motor names are:
M1 Tilt
M2 Tilt
M2 Bend Up
M2 Bend Down
Theta
Y2
Z2
Theta2
Theta2 PZT
Chi2
BPM
Aperture Upper
Aperture Lower
Aperture Line 9
Aperture Line 7
Horizontal Aperture Position
Vertical Aperture Position
Horizontal Aperture Size
Vertical Aperture Size
Mono eV
Horizontal Convergance Angle
Vertical Convergance Angle
Tune Rocking Curve
Tune M2 Tilt
Tune Chi2
Tweak eV
Tune M1 Tilt
Control M2 Tilt to Position
Control Chi2 to Position
Mono eV with z
Theta with pull in
Horizontal Video Control
Vertical Video Control
The analog input names are:
Imono In
Imono Out
Izero
Iend
Horizontal Beam Position A
Horizontal Beam Position B
Vertical Beam Position A
Vertical Beam Position B
Horizontal Position
Vertical Position
Horizontal FWHM
Vertical FWHM
Horizontal Centroid
Vertical Centroid
        Horizontal A+B
        Vertical A+B
ln(Izero/Iend)
        Horizontal Goal Position
        Vertical Goal Position
        Beam Current
        Shutter Status

(Note: Analog inputs Beam Current and Shutter Status and the cntlstat
command are currently active only on 8.2.2)