Commands implemented in STA037:

*** changelog ***
 0_005  - Initial release
 0_008  - App 'PEAK': 'ProfileSpeed' istead of "UpSpeed' and 'DownSpeed'
          App 'Step' step: 'ProfileSpeed' istead of "StepSpeed'
 0_015  - One new "CURRENT VALUES" command: GetPeakDistance()
 STA032 - Application 'ADVANCED' added 
          Parameter 'Repeat' removed, instead application 'STEP' uses parameter 'Cycles' 
 STA033 - New commands:
            GetTravelDistance() - return value of "travel distance"
            ResetTravelDistance() - reset "travel distance" to zero
            StartSending() - turn on continous sending
            StopSending() - turn off continous sending
            ConfigureSending(<interval>,<which_params>) - configure which params are sent and sending interval 
          New section: "CONTINOUS SENDING" COMMANDS
 STA034 - Command "ConfigureSending" changed to "SetSendingConfig"
        - New command: "GetSendingConfig"
        - New type of step for "ADVANCED" application: 'KEEP FORCE':
          - new StepCondition = 'F'
          - new commands: SetConstForce(), GetConstForce(), SetForceTolerance(), GetForceTolerance()
 
 STA035 - New command "TransparentMode()" - when in transparent mode communication is routed to forcemeter.
      
 STA037 - BUGFIX:  SetSendingConfig() - letter for parameter "step_no" changed from "t" to "n" ("t" is used for parameter "travel distance")

 STA047 - New command: StartAndSend() - start chosen profile ( SetActiveProfile() ) and start sending data ( SetSendingConfig() )

*** "PROFILE" COMMANDS: ***

  P=PEAK,C=CYCLE,S=STEP,A=ADVANCED = GetApplications()    
  [<profile_cnt> | E2] = GetProfileCnt(<app>)
  [<max_step_cnt> | E2] = GetMaxStepCnt(<app>)
  [<step_cnt> | E2] = GetStepCnt(<app>,<profile>)
  [<profile> | E2] = GetProfileIndex(<app>, <ID>)
  
  [OK | E2] =   SetProfile(<app>,<profile>,<parameters>)
  [OK | E2] =      SetStep(<app>,<profile>,<step>,<parameters>)
  [<parameters> | E2] = GetProfile(<app>,<profile>)
  [<parameters> | E2] =    GetStep(<app>,<profile>,<step>)
  
  [OK | E2] =       Set<parameter>(<app>,<profile>,<value>)  or  Set<parameter>(<app>,<profile>,<step>,<value>)
  [<value> | E2] =  Get<parameter>(<app>,<profile>)          or  Get<parameter>(<app>,<profile>,<step>)



<app>          -  (P|C|S|A)
<profile_cnt>  -  profile count for certain application
<max_step_cnt> -  max count of steps for an application
<step_cnt>     -  step count for an application
<profile>      -  index of a profile  
<step>         -  index of a step
<ID>           -  id of a profile
<value>        -  value of parameter

<parameters>   -  comma separated list of all parameters for certain application/step, if some parameter is omitted it means "don't change this parameter"
                  Order of parameters is as follows:
                   - App 'PEAK':      ID; Units; RefPos; ProfileSpeed;       Distance; LoadStop; Direction; AutoReturn 
                   - App 'CYCLE':     ID; Units; RefPos; UpSpeed; DownSpeed; Distance; LoadStop; Direction; AutoReturn; BreakStop; HoldTimeEnd; HoldTimeRef; Mode; Time; Cycles
                   - App 'STEP':      ID; Units; RefPos; Cycles; Steps; AutoReturn; BreakStop
                   - step of 'STEP':                     ProfileSpeed;       Distance; LoadStop; Direction;  HoldTime; 
                   - App 'ADVANCED':  ID; Units; RefPos; Cycles; Steps; AutoReturn; BreakStop
                   - step of 'ADVANCED':                 ProfileSpeed;                           Direction;  StopCondition; StopValue 
                   - step 'KEEP FORCE' :  ConstForce; ForceTolerance; StopCondition (='F'); StopValue



<parameter>    -  one of:

                  ID            max 15 characters
                  Units         ['I'|'M']  (I - imperial, M - metric)
                  RefPos        depend on Units set for profile, inches (if I) or mm (if M) (0-280mm) (0-11in)     
                  ProfileSpeed  depend on Units set for profile, inches/min (if I) or mm/min (if M)  (10-300mm/min)  (0,4 - 11,8in/min)
                  UpSpeed       depend on Units set for profile, inches/min (if I) or mm/min (if M)  (10-300mm/min)  (0,4 - 11,8in/min)  
                  DownSpeed     depend on Units set for profile, inches/min (if I) or mm/min (if M)  (10-300mm/min)  (0,4 - 11,8in/min) 
                  Distance      depend on Units set for profile, inches (if I) or mm (if M) (0-280mm) (0-11in)  
                  LoadStop      depend on Units set for profile, Lbf (if I) or N (if M)  (0-500N)  (0-112Lbf) 
                  Direction     ['U'|'D'] ['L'|'R']
                  AutoReturn    ['Y'|'N']
                  BreakStop     ['Y'|'N']  
                  HoldTimeEnd   (sek)  (0-360000sek)
                  HoldTimeRef   (sek)  (0-360000sek)
                  HoldTime      (sek)  (0-360000sek) 
                  Mode          ['T'/'C']
                  Time          (sek)  (0-360000sek)
                  Cycles        (1 - 60000) 
                  Steps         (1 - 12)
                  StopCondition ['U'|'I'|'P'|'G'|'S'|'B'|'F']   (DURATION, DISTANCE, POSITION, FORCE_GREATER, FORCE_SMALLER, BREAK, KEEP_FORCE)
                  StopValue     depend on 'Stop Condition'  
                  ConstForce    depend on Units set for profile, Lbf (if I) or N (if M)  (0-500N)  (0-112Lbf)
                  ForceTolerance (%) Tolerance for Force setting  (0 - 2,5%)
                                    

*** "STAND DRIVING" COMMANDS: ***
 
  "Global" commands:
  [OK|E2|E3|E4|E5|E6] = SetPosition(<position>,<speed>)
  [OK|E2|E3|E4|E5|E6] = SetSpeed(<direction>,<speed>)
  [OK|E2|E5|E6] = FindHomePos();
  OK = Stop()

  Commands in context of active profile:  
  [OK|E2] = SetActiveProfile(<app>,<profile>)
  [<app>,<profile> | E7] = GetActiveProfile()
  [OK|E3|E4|E5|E6|E7] = Reset()  
  [OK|E3|E4|E5|E6|E7] = Start()      
  [OK|E3|E4|E5|E6|E7] = StartAndSend()      
  OK = Stop()



*** "CURRENT VALUES" COMMANDS: ***
  "Global" commands:
  <speed> = GetSpeed();                    // in units set for stand
  <position> = GetPosition();              // in units set for stand, position with reference to Home Position
  <force> = GetForce();                    // in units set for stand
  <peak_force> = GetPeak();                // in units set for stand
  <peak_distance> = GetPeakDistance();     // in units set for stand
  <travel_distance> = GetTravelDistance(); // in units set for stand
  ok = ResetTravelDistance();

  Commands in context of active profile:
  <cycle_no> = GetCycleNo();
  <step_no> = GetStepNo();
  <duration> = GetDuration();             // in seconds
  <profile_pos> = GetProfilePosition();   // in units set for stand, position with reference to Reference Position for active profile
  <hold_time> = GetHoldTime();            // in seconds
   


*** "CONTINOUS SENDING" COMMANDS: ***

   ok = StartSending() - turn on continous sending
   ok = StopSending() - turn off continous sending
   ok = SetSendingConfig(<interval>,<which_params>) - configure which params are sent and sending interval 
        (e.g. SetSendingConfig(100,psf) )
   <interval>,<which_params> = GetSendingConfig() - returns sending interveal and which params are send in which order  

  <interval> - in ms, 1 - 10000 ms
  <which_params> - list of params to send (max 10 params), 
    [s]peed          - current speed
    [p]osition       - current position (Referred to as distance on the test stand)
    [f]orce          - current force
    p[e]ak_force     - last peak force
    pe[a]k_distance  - last peak distance
    [t]ravel         - current "travel distance" (Total Travel Distance since power on, i.e. cummulative distance since powering on, includes travel to reference point. In order to start at travel distance = 0 power the test stand off                      - and back on when the test stand is at home position reset point)
				 
    [m]s             - current time (in ms) since stand power on.

    [c]ycle_no       - active profile cycle count
    step_[n]o        - active profile step count 
    [d]uration       - active profile duration 
    p[r]ofile_pos    - active profile position 
    [h]old_time      - active profile hold time left 

    When continous sending is on stand sends parametres in one line separated by semicolon.
    E.g. " 5.234 in; 50 in/min; 48 Lbf"


*** OTHER COMMANDS: ***
   
   [OK|E8] = TransparentMode() - when in transparent mode communication is routed to/from forcemeter. Use sequence of three plus signs ("+++") to turn off transparent mode. 



*** POSSIBLE ERRORS: ***

  E1 (Unknown command)   - command not recognized
  E2 (Wrong parameter)   - one of parameters has wrong value 
  E3 (Unknown position)  - you need to find Home Position first  (FindHomePos())
  E4 (Wrong direction)   - you are not allowd to cross upper/lower/right/left end
  E5 (No supply)         - check safety button
  E6 (Force exceeded)    - you are trying to move stand in direction which couses force to exceed maximum force
  E7 (No active profile) - command need profile to operate on. Use SetActiveProfile(<app>,<profile>) first.
  E8 (No forcemeter)     - Forcmeter has to be connected to stand in order to enter transparent mode.