In addition to commands available for AT960 control, the AS1 can be controlled dynamically using a selection of string commands passed to the instrument using the command Instrument Operational Check. While connected to RDS you can access the available MP commands through the Tracker>Settings>Leica AT960/930.
Examplelistofavailable string command for MP based configuration:
Set Scan Profile []. Sets the Active Scanning profile to the specified definition.
Get Reflector Position. Will return the XYZ location of the AS1 with respect to the current SA working frame.
Start Scan. Initiates a scan.
Stop Scan. Stops the currently active scan.
The list contains complete MP commands that can be copied directly using the Copy MP Command(s) to Clipboard button, and pasted directly into an MP.
The one thing to keep in mind is that the name of the Set Scan Profile strings correspond to the available Active Scanning Profiles defined within RDS and the resulting commands will then need to reflect those definitions on the system you are using.
A series of MP Command Strings have been added in support of the LMF.IO capabilities. These command strings can be used through the MP/SDK command Instrument Operational Check.
Connections:
Connect LMF IO []. Establishes a connection to the CB21 (Con- trol Box) at the IP address specified by [] ([] not part of string). This command, like all LMF_IO commands, will work whether connected to the AS1 via RDS, or to the AP21 via LMF. But the normal operating mode is with an RDS connection to the AS1 scanner. “AT960Simulator” can be used as an IP address to open the LMFIO simulator.
Disconnect LMF IO. Removes the connection to the CB21 Dig- ital IO Interface.
Is Robot Program Active. Checks if a robot program is run- ning. Returns “Success” if the RobotProgramActive I/O value is TRUE (1). Returns Partial success if RobotProgramActive I/O value is FALSE (0). Returns failure if SA cannot read the Robot- ProgramActive I/O value.
Send Robot Go [timeout]. Sets the RobotGo bit to 1. Waits for the robot program to set RobotPositionReached to 0 (the time- out is expressed in seconds) Set RobotGo back to 0
Wait For Robot Position Reached []. Waits for the robot pro- gram to set RobotPositionReached to 1 (the timeout is ex- presed in seconds, 0 = no timeout!)
Switching control:
Switch to LMF/RDS. This command forces a connection either to RDS or LMF (enter LMF or RDS). In addition to switching to the desired interface, this command will also deactivate the Auto Switching. If the connection to the specified interface is already established, this command will deactivate AutoSwitch ing and immediately return as success.
Toggle LMF<>RDS AutoSwitching []. This command toggles the Auto switching between LMF and RDS On and Off.
Basic status information:
Get Reflector Position. This command records the position of the prism of the currently locked on face of the AP21. This command will create a point on the tree view with the name defined on the interface. This is normally used to define the lock-on positions.
AutoLock On/Off. Toggle Powerlock On/Off. It works while be- ing connected with either interface RDS/LMF
Valid Distance. When locked on the AS1, this command will return success if the Scanner is ReadyTo Measure. Can be used before calling «Scan Start» to ensure that the scanner is Ready.
Scanning Controls:
Start Scan. Starts the measurement, this is equivalent to press- ing the trigger on the scanner.
Stop Scan. Stops the measurement, this is equivalent to re- leasing the trigger on the scanner
Set Scan Profile []. Sets the RDS scan Profile by name. The avail- able profiles can be found on General Tracker Settings>Leica AT960/930>Available MP Commands (Figure 3-138).
Set Line Scan Thinning Factor []. Sets the thinning factor for line scanners.
Toggle Line Scan Min Angle Filter On/Off. Turns the curva- ture based filter on and off.
Min Angle Filter [] Degrees [] Max Distance mm. Sets the pa- rameters for the curvature based filter.
Additional Stand alone MP Commands
Get Instrument Target Status. Returns the Name and SN of the AP21 and AS1. And which face is currently locked on. This command is used to verify wether the correct target and face is locked on. It works with both LMF and RDS
Point At Target. Drives the tracker to the specified Target. Can be called while being connected with either interface RDS/LMF