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Development status: Released, Release: release_1_2_17
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexapodFMB
Contact:



Class Description


provides 3 fixed positions for high level use of FMB Oxford

Families: Motion

Key words: - Hexapods

Platform: All Platforms

Language: Cpp

License:

Contact:

Hardware


Manufacturer: none

Bus: Ethernet

Class interface


Attributes:

Name Description
labelListSpectrum: DevString
selectedAttributeNameScalar: DevString

Commands:

Name Description
StopInput: DevVoid
Output: DevVoid
None.
InitializeReferencePositionInput: DevVoid
Output: DevVoid
Homes the hexapod (send it to Home position and stays there))
StatusInput: DevVoid
Output: DevString
This command gets the device status (stored in its device_status data member) and returns it to the caller.
StateInput: DevVoid
Output: State
This command gets the device state (stored in its device_state data member) and returns it to the caller.

Pipes:

Properties:

Name Description
DeadbandDouble[]Type array of deadband (1 for each axis, ordered as in FixedPositionSyntax) the current position is considered good if position reaches the position +/- the deadbands
FixedPositionsSyntaxString[]Type Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1
FixedPositionsPropString[]Type Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1
PortDevShort port to connect to Hexapod Controller
UrlDevString IP Address of the Hexapod Controller


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README

Technical requirements

  • The YAT library MUST be used by COSYLAB to manage Exceptions, Sockets , and String/numerical conversions. YAT library is available from the public projet tango-ds hosted on Sourceforge : http://tango-ds.cvs.sourceforge.net/viewvc/tango-ds/Libraries/YAT/

Functional requirements

The file hexapod.h and hexapod_states_definitions.h defines SOLEIL MANDATORY functional requirements to drive the hexapod and deal with states of the systems

Error handling

....

Coding requirements

To ease the future maintenance of the library, some good programming practices should be followed by COSYLAB. The files hexapod_definitions.h and hexapod.cpp proposes first idea of code implementations.

20 Apr 2017, Piotr Goryl
Updated:
The device class has been updated.
You can see previous version here .



23 Feb 2017, Piotr Goryl
Created:
The device class has been added to catalogue.
Added by:pgoryl2 on:23 Feb 2017, 11:34 a.m.