function rotation(start_angle, end_angle, steps, time_def) // Angles are in degrees and the time is in minutes

	variable start_angle, end_angle, steps, time_def

	variable pulse, speed

	pulse = 360*steps/(end_angle-start_angle)

	speed = PI/3*(end_angle - start_angle)/time_def

	if (speed<=100)

		VDTOperationsPort2 COM2	

		VDTWrite2 "M01 "+ num2str(pulse) + " " + num2str(pulse) + " " + num2str(pulse) + " " + num2str(pulse)+ num2str(pulse) + " " + num2str(pulse) + " " + num2str(pulse) + " " + num2str(pulse) +" \n"

		VDTWrite2 "M02 "+ num2str(speed) + " "+ num2str(speed) + " "+ num2str(speed) + " "+ num2str(speed) + num2str(speed) + " "+ num2str(speed) + " "+ num2str(speed) + " "+ num2str(speed) +" \n"

		VDTWrite2 "S04 "+ num2str(steps) +" "+ num2str(steps) +" "+ num2str(steps) +" "+ num2str(steps)+ num2str(steps) +" "+ num2str(steps) +" "+ num2str(steps) +" "+ num2str(steps) +" \r\n"

	endif 

end


function ConnectionExists()

	variable outstr

	VDTOperationsPort2 COM2

	VDTWrite2 "S06  \r\n"

	VDTRead2/T="\r\n"/O=60 outstr

	return outstr

end


function EmergencyStop(emergency)

	variable emergency

	VDTOperationsPort2 COM2

	VDTWrite2 "M03 "+ num2str(emergency) +" 0 0 0 0 0 0 0 "

end


function SmoothStop(smoothly)

	variable smoothly

	VDTOperationsPort2 COM2

	VDTWrite2 "M04"+ num2str(smoothly) +" 0 0 0 0 0 0 0 "

end 


function ReturnZero(speed)

	variable speed

	VDTOperationsPort2 COM2

	VDTWrite2 "M05 "+ num2str(speed)+" 0 0 0 0 0 0 0 "

end


function/S QueryAxisParam()

	string outstr

	VDTOperationsPort2 COM2

	VDTWrite2 "Q02 axis \r\n"

	VDTRead2/T="\r\n"/O=3 outstr

	return outstr

end


function/S QueryAxisState()

	string outstr

	VDTOperationsPort2 COM2

	VDTWrite2 "Q03 \r\n"

	print 1

	VDTRead2/T="\r\n"/O=180 outstr

	print "Response received: ", outstr

end