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Development status: Released, Release: Release_1_0
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/Attocube/ANC350Ctrl
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Class Description


Controller class for AttoCube ANC350 controller

AttoCube ANC350 Controller class Device Description ANC350Ctrl Class

Revision: - Author:

Controller class for AttoCube ANC350 controller.

Families: Motion

Key words: - MotorControllers

Platform: Unix Like

Language: Cpp

License:

Contact:

Hardware


Manufacturer: AttoCube

Product:

ANC350

Bus: Ethernet

Class interface


Attributes:

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.
ReadPositionInput: DevLong
Output: DevDouble
Position in unit of actor
WritePositionInput: DevVarDoubleArray
Output: DevVoid
Write position in physical units.
ReadAxisStatusInput: DevLong
Output: DevString
Determines the status of the selected axis
MoveHomeInput: DevLong
Output: DevVoid
Move axis to reference position. Previously moves will be stopped.
GetReferenceInput: DevLong
Output: DevDouble
Get distance of reference mark to the origin
ResetPositionInput: DevLong
Output: DevVoid
Set origin to current position.
ReadAxisStateInput: DevLong
Output: DevLong
Returns axis status in bits.
GetSpeedInput: DevLong
Output: DevDouble
Determines the current speed in physical units/s
GetAmplitudeInput: DevLong
Output: DevDouble
Determines the current amplitude in mV.
GetStepWidthInput: DevLong
Output: DevDouble
Determines the step with in physical units.
SetAmplitudeInput: DevVarDoubleArray
Output: DevVoid
Sets the amplitude setpoint.
SetAmplitudeControlInput: DevVarLongArray
Output: DevVoid
type of amplitude control: 0: Speed, 1: Amplitude, 2: Step Size
StopMoveInput: DevLong
Output: DevVoid
Stops any positioning.
GetFrequencyInput: DevLong
Output: DevLong
Determines the frequency in Hz.
SetFrequencyInput: DevVarLongArray
Output: DevVoid
Sets the frequency in Hz.
GetDCLevelInput: DevLong
Output: DevLong
Determines the current DC level in mV.
SetDCLevelInput: DevVarLongArray
Output: DevVoid
Sets the DC level in mV.
SetSingleCircleModeInput: DevVarLongArray
Output: DevVoid
Switches single circle mode (only for rotary actors): 1=on, 0=off
SetStepCountInput: DevVarLongArray
Output: DevVoid
Configures the number of successive steps caused by external trigger, or manual step request.
SetOutputInput: DevVarLongArray
Output: DevVoid
Activates or Deactivates the output relais of the addressed axis.
MoveRelativeInput: DevVarDoubleArray
Output: DevVoid
Starts approach to relative target position.
MoveSingleStepInput: DevVarLongArray
Output: DevVoid
Starts a one step positioning. Direction for positioning (0: forward, 1: backward).
MoveContinuousInput: DevVarLongArray
Output: DevVoid
Starts continuously positioning. Direction for positioning (0: forward, 1: backward).
LoadFileInput: DevVarLongStringArray
Output: DevVoid
Loads a parameter file for actor configuration.
GetRotCountInput: DevLong
Output: DevLong
Number of rotations for a rotary motor.
SetStopDetectionInput: DevVarLongArray
Output: DevVoid
Switches stop detection: 0 off, 1 on.
SetStaticAmplitudeInput: DevLong
Output: DevVoid
Sets the output voltage for resistive sensors, in mV.
SetDcInEnableInput: DevVarLongArray
Output: DevVoid
Activates / Deactivates the dc input of the addressed axis. Only applicable for scanner and dither axes.
SetAcInEnableInput: DevVarLongArray
Output: DevVoid
Activates / Deactivates the ac input of the addressed axis. Only applicable for dither axes.
SetIntEnableInput: DevVarLongArray
Output: DevVoid
Activates / Deactivates the internal signal generation of the addressed axis. Only applicable for scanner and dither axes.
SetBandwidthLimitEnableInput: DevVarLongArray
Output: DevVoid
Activates / Deactivates the band width limiter of the addressed axis. Only applicable for scanner axes
GetDcInEnableInput: DevLong
Output: DevLong
Determines the status of dc input of the addressed axis. Only applicable for scanner and dither axes.
GetAcInEnableInput: DevLong
Output: DevLong
Determines the status of ac input of the addressed axis. Only applicable for dither axes.
GetIntEnableInput: DevLong
Output: DevLong
Determines the status of internal signal generation of the addressed axis. Only applicable for scanner and dither axes.
GetBandwidthLimitEnableInput: DevLong
Output: DevLong
Determines the status of internal signal generation of the addressed axis. Only applicable for scanner and dither axes.
GetCapMeasureInput: DevLong
Output: DevLong
Determines the capacity of the piezo of the addressed axis by measurement.
GetReferenceRotCountInput: DevLong
Output: DevLong
Determines the actual number of rotations for the reference position in case of a rotary actor.
SetStopDetectionStickyInput: DevVarLongArray
Output: DevVoid
When enabled, an active stop detection status remains active until cleared manually by PositionerClearStopDetection.
ClearStopDetectionInput: DevLong
Output: DevVoid
When PositionerSetStopDetectionSticky is enabled, this clears the stop detection status.
SetTargetGroundInput: DevVarLongArray
Output: DevVoid
When enabled, the actor voltage is set to zero after closed loop positioning finished.
SetTargetPosInput: DevVarDoubleArray
Output: DevVoid
Sets the target position for the selected axis for use with PositionerMoveAbsoluteSync. position -> Target position in unit of actor, rotations -> Number of rotations in case of rotary actor and deactivated single circle mode.
MoveAbsoluteSyncInput: DevLong
Output: DevVoid
Starts the synchronous approach to absolute target positions for selected axes. \n Previous movement will be stopped.\n The target positions for each axis is defined bySetTargetPos.\n
SetExternalStepInputEdgeInput: DevVarLongArray
Output: DevVoid
Configures edge sensitivity of external step trigger input for selected axis. edge: 0 -> raising, 1 -> falling
SetTriggerModeInput: DevLong
Output: DevVoid
Selcts the mode of the trigger signals. 0: Normal. The Trigger Outputs reacts to the defined position ranges with the selected polarity 1: Quadrature. Three pairs of trigger in signals are used to accept AB-Signals for relative positioning. Three pairs of trigger out signals are used to signal relative movement as AB-signals. 2: IcHaus. The trigger out signals are used to output the internal position signal of num-sensors
SetTriggerThresholdsInput: DevVarLongArray
Output: DevVoid
Sets the trigger thresholds for the external trigger: triggerNo [in] Number of addressed Trigger (0.. 5) lowLevel [in] Lower trigger threshold in unit of actor * 1000 highLevel [in] Upper trigger threshold in unit of actor * 1000
SetTriggerAxisInput: DevVarLongArray
Output: DevVoid
Selects the corresponding axis for the addressed trigger. triggerNo [in] Number of addressed Trigger (0.. 5) axis [in] Axis (0..Number of axes ? 1)
SetTriggerPolarityInput: DevVarLongArray
Output: DevVoid
Sets the polarity of the external trigger. triggerNo [in] Number of addressed Trigger (0.. 5) polarity [in] polarity, 0: low active, 1: high active
SetTriggerEpsilonInput: DevVarLongArray
Output: DevVoid
Sets the hysteresis of the external trigger.
SetQuadratureAxisInput: DevVarLongArray
Output: DevVoid
Selects the axis for use with this trigger in/out pair. quadratureNo [in] Number of addressed quadrature unit (0.. 2) axis [in] Axis (0..Number of axes ? 1)
SetQuadratureInputPeriodInput: DevVarLongArray
Output: DevVoid
Selects the stepsize the controller executes when detecting a step on it?s input ABsignal. quadratureNo [in] Number of addressed quadrature unit (0.. 2) period [in] stepsize in unit of actor * 1000
SetQuadratureOutputPeriodInput: DevVarLongArray
Output: DevVoid
Selects the position difference which causes a step on the output AB-signal. quadratureNo [in] Number of addressed quadrature unit (0.. 2) period [in] period in unit of actor * 1000
SetExternalStepFwdInputInput: DevVarLongArray
Output: DevVoid
Configures external step trigger input for selected axis. A trigger on this input results in a forward single step. Trigger input: 0 -> disabled, 1 ...6 input trigger.
SetExternalStepBkwInputInput: DevVarLongArray
Output: DevVoid
Configures external step trigger input for selected axis. A trigger on this input results in a backward single step. Trigger input: 0 -> disabled, 1 ...6 input trigger.

Pipes:

Properties:

Name Description
HardwareIdDevLong HardwareId of the controller
FlagDebugIODevLong Set to 1 for debug outputs.


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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, 11:36 a.m.