Description: This commands re-initialise a device keeping the same network connection.
After an Init command executed on a device, it is not necessary for client to re-connect to the device.
This command first calls the device delete_device() method and then execute its init_device() method.
For C++ device server, all the memory allocated in the nit_device() method must be freed in the delete_device() method.
The language device desctructor automatically calls the delete_device() method.  
Argin: DEV_VOID
: none.  
Argout: DEV_VOID
: none.  
Command allowed for:
 
2 - State
Description: This command gets the device state (stored in its device_state data member) and returns it to the caller.  
Argin: DEV_VOID
: none.  
Argout: DEV_STATE
: State Code  
Command allowed for:
 
3 - Status
Description: This command gets the device status (stored in its device_status data member) and returns it to the caller.  
Argin: DEV_VOID
: none.  
Argout: CONST_DEV_STRING
: Status description  
Command allowed for:
 
4 - InitializeReferencePosition
Description: starts the homing process  
Argin: DEV_VOID
:  
Argout: DEV_VOID
:  
Command allowed for:
 
5 - GoToPosition
Description: sends the hexapod to the 6 given positions values X Y Z U V W  
Argin: DEVVAR_DOUBLEARRAY
: the 6 positions X Y Z U V W  
Argout: DEV_VOID
:  
Command allowed for:
 
6 - Stop
Description: Stops all movements  
Argin: DEV_VOID
:  
Argout: DEV_VOID
:  
Command allowed for:
 
7 - Kill
Description: kill all movements
deinitializes the HXP  
Argin: DEV_VOID
:  
Argout: DEV_VOID
:  
Command allowed for:
 
8 - DefinePosition
Description: defines the position as the XYZUVW  
Argin: DEVVAR_DOUBLEARRAY
: the XYZUVW positions  
Argout: DEV_VOID
:  
Command allowed for:
 
9 - On
Description: enables drivers of the group  
Argin: DEV_VOID
:  
Argout: DEV_VOID
:  
Command allowed for:
 
10 - Off
Description: disables drivers of the group  
Argin: DEV_VOID
:  
Argout: DEV_VOID
:  
Command allowed for:
 
11 - TrajectoryGoToOrigin
Description: go to trajectory start position
This command is mandatory to check the trajectory  
Argin: DEV_VOID
:  
Argout: DEV_VOID
:  
Command allowed for:
 
12 - TrajectoryCheck
Description: returns true if trajectory check by XPS is successfull  
Argin: DEV_VOID
:  
Argout: DEV_BOOLEAN
:  
Command allowed for:
 
13 - TrajectoryReset
Description: clears the trajectory in memory  
Argin: DEV_VOID
:  
Argout: DEV_VOID
:  
Command allowed for:
 
14 - TrajectoryStart
Description: starts the trajectory
exception if not at origin point