dm_geocom_api_request_start_controller Subroutine

public pure subroutine dm_geocom_api_request_start_controller(request, start_mode)

Request of MOT_StartController procedure. Creates request for starting the motor controller.

If this function is used in combination with API call MOT_SetVelocity, the controller mode has to be GEOCOM_MOT_OCONST.

The argument start_mode must be one of the following:

• GEOCOM_MOT_POSIT – Relative positioning.
• GEOCOM_MOT_OCONST – Constant speed.
• GEOCOM_MOT_MANUPOS – Manual positioning (default setting).
• GEOCOM_MOT_LOCK – “Lock-in” controller.
• GEOCOM_MOT_BREAK – “Brake” controller.
• GEOCOM_MOT_TERM – Terminates the controller task.

The instrument returns the following responses:

• grc – GeoCOM return code.

Property	Values
Instruments	TPS1100, TPS1200, TM30/TS30, TS16
ASCII request	%R1Q,6001:<start_mode>
ASCII response	%R1P,0,0:<grc>

Arguments

Type	Intent	Optional	Attributes		Name
type(request_type),	intent(out)			::	request	Prepared request.
integer,	intent(in)			::	start_mode	Controller start mode (GEOCOM_MOT_MODE).