====== Command:PEDAL (PD) ======

--> MS2000 or RM2000 syntax ^
^Shortcut  |PD   | 
^Format  |PEDAL [X=distance in mm] [Y=integer rate constant] [Z=multiplier] [F=use_pedals]\\ PEDAL X? Y? Z? F?|
^Remembered |Using SS Z |
^ Hardware/Firmware Required |pedal or rocker switch, PEDALS firmware module|

<--

--> Tiger (motorized) syntax ^
^Shortcut  |PD   | 
^Format  |[addr#]PEDAL [X=distance in mm] [Y=integer rate constant] [Z=multiplier] [F=use_pedals] \\ [addr#]PEDAL X? Y? Z? F?|
^Type    |Card-Addressed|
^Remembered |Using [addr#]SS Z |
^ Hardware/Firmware Required |pedal or rocker switch, PEDALS firmware module|

<--

This command sets/displays the dual-pedal footswitch controls for controllers with this feature (requires appropriate hardware).  Besides a foot pedal, the same functionality is used with a dual rocker switch commonly present with FTP systems with a pair of synchronized vertical stages.

The command is set up as follows: \\
**X:** Pedal Step Increment size, in millimeters.  \\
**Y:** Rate when pedal is held down, as an integer proportional to a speed in millimeters per second, \\
**Z:** an integer multiplier used when the pedal controls a zoom axis. \\
**F:** 0 or 1 depending on whether pedals are enabled or not \\

On Tiger the F setting defaults to 0 (i.e. set to disabled) and is only present in version 3.45 and later. \\
On MS2000 the F setting defaults to 1 and is present on firmware 9.52 and later.

<WRAP center round important 60%>
**Warning:** When the pedals are not connected and the F parameter is set to 1, the FTP vertical stages will attempt to move on system power-up. This only applies to **Tiger** controllers.
</WRAP>

<WRAP center round important 60%>
**Warning:** User must ensure that the Rate given in this command is not greater than the maximum speed of the axis being controlled by the pedals. Entering an invalid value may result in unexpected errors and failures (e.g. motor disabling itself).
</WRAP>

If there are no errors, a positive reply of  <wrap reply> :A </wrap>  followed by the startup sequence.

== Example ==
	
<asi> $ PD X=0.02 Y=8 Z=5
:A
$ PD X? Y?
:A X=0.02000 Y=8.00000</asi>




{{tag>commands ms2000}}