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Development status: Released, Release: release_1_0_3
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexapodPI
Contact:



Class Description


controls hexapods from PI

Families: Motion

Key words: Hexapods

Platform: All Platforms

Language: Cpp

License:

Contact:

Hardware


Manufacturer: PI (Physik Instrument)

Product:

PI M810

Bus: Ethernet

Class interface


Attributes:

Name Description
xScalar: DevDouble
yScalar: DevDouble
zScalar: DevDouble
uScalar: DevDouble
vScalar: DevDouble
wScalar: DevDouble
freezeScalar: DevBoolean
velocityScalar: DevDouble

Commands:

Name Description
StateInput: DevVoid
Output: State
This command gets the device state (stored in its device_state data member) and returns it to the caller.
StatusInput: DevVoid
Output: DevString
This command gets the device status (stored in its device_status data member) and returns it to the caller.
InitializeReferencePositionInput: DevVoid
Output: DevVoid
starts the homing process
GoToPositionInput: DevVarDoubleArray
Output: DevVoid
sends the hexapod to the 6 given positions values X Y Z U V W
SetSystemCoordinatesInput: DevVarDoubleArray
Output: DevVoid
sets the system coordinates (Pivot Point) to the 3 XYZ coordinates must be at home point (0,0,0,0,0,0) to accept the change of Pivot point
GetSystemCoordinatesInput: DevVoid
Output: DevVarDoubleArray
gets Pivot Point coordinates
StopInput: DevVoid
Output: DevVoid
Stops all movements
OffInput: DevVoid
Output: DevVoid
disble servos
OnInput: DevVoid
Output: DevVoid
enable servos

Pipes:

Properties:

Name Description
UrlDevString IP Address of the HXP Controller
PortDevLong port to connect to HXP
PeriodDevShort polling period


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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, 10:35 a.m.