Drive-based Automation1 hexapod controllers require Automation1 Studio to be running to handle callbacks from the hexapod program running on the controller.
Disabling the hexapod from EPICS or attempting to switch coordinate systems appears to generate callbacks. If the callbacks are not handled, the hexapod program gets into a state that requires resetting the controller to recover. EPICS motor records get stuck in the moving state and the hexapod can't be moved.
There are likely other situations where the hexapod program sends callbacks, but because the hexapod program is closed-source, we don't have the info needed to write a callback handler using the task functions in the C API:
https://help.aerotech.com/automation1/Content/APIs/C/References/Tasks-C.htm#id7
Drive-based Automation1 hexapod controllers require Automation1 Studio to be running to handle callbacks from the hexapod program running on the controller.
Disabling the hexapod from EPICS or attempting to switch coordinate systems appears to generate callbacks. If the callbacks are not handled, the hexapod program gets into a state that requires resetting the controller to recover. EPICS motor records get stuck in the moving state and the hexapod can't be moved.
There are likely other situations where the hexapod program sends callbacks, but because the hexapod program is closed-source, we don't have the info needed to write a callback handler using the task functions in the C API:
https://help.aerotech.com/automation1/Content/APIs/C/References/Tasks-C.htm#id7