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Development status: New development, Release: Initial
Information status: New
Repository: https://github.com/markamato/copleydeviceserver

Class Description

Families: Motion

Key words: RS232,Copley,Accelnet,CAN,MACRO,Xenus,Stepnet,Janus

Platform: All Platforms

Language: Python

License: GPL



Manufacturer: Copley Controls



Bus: CAN/RS232

Class interface


Name Description
writeEnabledScalar: DevBoolean True = writes enabled, False = writes disabled
referencedHomedScalar: DevBoolean
outputMaskScalar: DevUShort Masks the outputs as a byte. Each bit masks an output: 1 means output is writeable, 0 means output is not. LSB is OUT1, MSB is OUT8.
inMotionScalar: DevBoolean
homingErrorScalar: DevBoolean
homingScalar: DevBoolean
latchingFaultRegisterScalar: DevDouble
eventStatusRegisterScalar: DevDouble
OUT4Scalar: DevBoolean
OUT3Scalar: DevBoolean
OUT2Scalar: DevBoolean
OUT1Scalar: DevBoolean
MotorPositionScalar: DevDouble
LoadPositionScalar: DevDouble
IN9Scalar: DevBoolean
IN8Scalar: DevBoolean
IN7Scalar: DevBoolean
IN6Scalar: DevBoolean
IN5Scalar: DevBoolean
IN4Scalar: DevBoolean
IN3Scalar: DevBoolean
IN2Scalar: DevBoolean
IN12Scalar: DevBoolean
IN11Scalar: DevBoolean
IN10Scalar: DevBoolean
IN1Scalar: DevBoolean


Name Description
StopMotionInput: DevVoid
Output: DevVoid
Stop any active motion.
StartVeloPositionMoveInput: DevLong
Output: DevString
StartRelPositionMoveInput: DevDouble
Output: DevString
Triggers a position move in relative mode.
StartAbsPositionMoveInput: DevDouble
Output: DevString
Triggers a position move in absolute mode.
SetParamsInput: DevVoid
Output: DevVoid
Sends all applicable parameters to the amp.
SendSerialInput: DevString
Output: DevString
Allows direct communication with the serial port.
HomeInput: DevVoid
Output: DevVoid
Initiates a homing move.
ClearErrorInput: DevVoid
Output: DevVoid
Attempts to clear errors.
StatusInput: DevVoid
Output: ConstDevString
Device status
This command gets the device status (stored in its device_status data member) and returns it to the caller.
StateInput: DevVoid
Output: State
Device state
This command gets the device state (stored in its device_state data member) and returns it to the caller.



Name Description
HomeOffset0xc6DevDouble Sets the home offset.
AbortDecelRate0xcfDevDouble Abort decel rate. Units 10 counts/sec^2
MaxJerkRate0xc3DevDouble Maximum jerk rate. Units 100 counts/second^3
MaxDecelRate0xcdDevDouble Maximum decel rate. Units 10 counts/second^2.
MaxAccelRate0xccDevDouble Maximum accel rate. Units 10 counts/second^2.
MaximumVelocity0xcbDevDouble Maximum velocity in .1 counts/second.
ProfileType0xc8DevDouble Sets the profile type. 0 = Absolute move, trapezoidal profile.1 = Absolute move, S-curve profile.256 = Relative move, trapezoidal profile.257 = Relative move, S-curve profile.2 = Velocity move.
TrajectoryMode0x24DevLong Sets the trajectory mode.

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March 7, 2019, Mark Amato
The device class has been added to catalogue.
Added by:mamato on:7 Mar 2019, 9:28 p.m.