This is historical information of device classes implemented in HexaSmarUnit device server.

Use this link to find the valid information.

Development status: Released
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexaSmarUnit
Contact:



Class Description


Class controlling one Smaract Hexapod rack module (for units using ascii interface and controlled via SmarAct Embedded Controller Module (ECM))

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License: GPL

Contact:

Hardware


Manufacturer: Smaract

Product:

Bus: Not Applicable

Class interface


Attributes:

Name Description
VelocityScalar: DevDouble Set closed loop movement speed (value of 0 deactivates the speed control feature). In this case speed is limited by the value for MaxFrequency.
AccelerationScalar: DevDouble set closed loop acceleration (value of 0 deactivates the acceleration control feature.) If set to a value > 0 speed control will implicitly be enabled.
PivotModeScalar: DevString Sets/gets the behavior of the pivot point when the stage is moved linearly. Valid values are `relative` or `fixed`.
MaxFrequencyScalar: DevDouble The maximum closed-loop frequency in Hz. This value is used if Velocity is set to 0.
SensorModeScalar: DevShort 0: sensors are disabled 1: sensors are permanently enabled 2: sensors are enabled in power-save mode
HomedScalar: DevBoolean true: the positioners are referenced false: the positioners are not referenced
StopModeScalar: DevBoolean true: movement will stop immediately false: movement will stop with waiting for deceleration

Commands:

Name Description
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.
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.
HomeInput: DevVoid
Output: DevVoid
run reference mark search
StopInput: DevVoid
Output: DevVoid
stop all movements
MoveInput: DevVarDoubleArray
0: axis number 1: target position
Output: DevVoid
move a single axis (do not use directly, for use from HexaSmarMotor device)
SetPivotInput: DevVarDoubleArray
0: axis number 1: target pivot point
Output: DevVoid
set pivot point (do not use directly, for use from HexaSmarMotor device)
PositionInput: DevShort
axis number
Output: DevDouble
current position
get position for single axis (do not use directly, for use from HexaSmarMotor device)
GetPivotInput: DevShort
axis number
Output: DevDouble
pivot point
get pivot point (do not use directly, for use from HexaSmarMotor device)

Pipes:

Properties:

Name Description
ControllerDeviceDevString Name of SmarActMCSASCIICtrl controller device this unit is connected to
UnitNumberDevShort Number of this unit (first = 0)

30 May 2020, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



23 Feb 2017, Piotr Goryl
Updated:
The device class has been updated.
You are looking at this version now.



19 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



2 Jan 2017, Piotr Goryl
Created:
The device server has been added to catalogue.
Added by:pgoryl2 on:23 Feb 2017, 10:33 a.m.