.
Development status:
Released,
Release: release_2_2_2
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/TraitPointPlan
Contact:
Class Description
- This class gives the implementation of the Trait Point Plan device.
- This device will convert 3 vertical translations and 2 horizontally translations (in the case of a five motors device) into 2 rotations (Pitch(Rx) and Roll(Rs)) and 1 translation (Tz). Moreover in the case of a five motors device, 1 rotation Yaw (Rz) and 1 translation (Tx).
Families: Motion
Key words:
Platform: All Platforms
Language: Cpp
Contact:
Hardware
Manufacturer: none
Bus: Not Applicable
Class interface
Attributes:
| Name | Description |
|---|---|
| pitchScalar: DevDouble | — |
| rollScalar: DevDouble | — |
| yawScalar: DevDouble | — |
| zCScalar: DevDouble | — |
| xCScalar: DevDouble | — |
| t1zScalar: DevDouble | — |
| t2zScalar: DevDouble | — |
| t3zScalar: DevDouble | — |
| t4xScalar: DevDouble | — |
| t5xScalar: 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. |
| SaveAsNominalInput: DevVoid Output: DevVoid |
Save the current values as the nominal ones (can be restored by the GoToNominal command). The current Zc, Xc, Sc, Roll, Pitch, Yaw values are stored like nominal values. |
| GoToNominalInput: DevVoid Output: DevVoid |
Go to the nominal saved values (by the SaveAsNominal command). The nominal values are stored in NominalZc, nominal Xc, nominalSc, nominal Pitch, nominalYaw, nominal Roll. |
| StopInput: DevVoid Output: DevVoid |
Stop all the mouvments. Useful when an invalid value to avoid to go to this position. |
| UndoInput: DevVoid Output: DevVoid |
Undo the last mouvement. |
| MotorsToZeroInput: DevVoid Output: DevVoid |
This command is used to make all the motors to the Zero position |
| InitializeTraitPointPlanInput: DevVoid Output: DevVoid |
Method to allow the initialization of the traitpointplan to a reference state. |
Pipes:
Properties:
| Name | Description |
|---|---|
| BackExtElevationMotorNameDevString | This property gives the name of the back exterior (to the ring) motor use to move for up to down and up to down the back exterior leg. |
| BackIntElevationMotorNameDevString | This property gives the name of the back interior motor use to move from up and down and down to up the back interior leg |
| BackTranslationMotorNameDevString | This property gives the device name of the motor use to translate the two back legs from left to right and right to left. |
| CenterHorizontalToFrontDevDouble | The value of the horizontal center to front |
| CenterToHeightDevDouble | Distance between the center of the table at the bottom and the elevation of the table and his thickness. |
| CenterVerticalToFrontDevDouble | Distance between the center of the table and the front leg. (The vertical one) |
| CommandStateNameDevString | The name of the command to check the state of the proxies. |
| CommandStopNameDevString | Name of the command to Stop all Axis (eg: AxisStop). |
| DeviceTypeDevString | The two available choices are : - 3 : the device is composed of three motors. - 5 : the device is composed of five motors. |
| FrontElevationMotorNameDevString | This property gives the name of the front motor use to move for up to down and up to down the front leg. |
| FrontTranslationMotorNameDevString | This property gives the device name of the motor use to translate the front leg from left to right and right to left. |
| NominalPitchDevDouble | Nominal value for pitch. |
| NominalRollDevDouble | Nominal value for roll. |
| NominalXcDevDouble | Nominal value for Xc. |
| NominalYawDevDouble | Nominal value for yaw. |
| NominalZcDevDouble | Nominal value of the elevation Zc. |
| PitchDirectionDevBoolean | Indicates the pitch sign to define if the pitch is positive or negative when the table roll toward up. The convention is the table pitch toward down (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0 |
| RollDirectionDevBoolean | Indicates the roll sign to define if the roll is positive or negative when the table roll toward right. The convention is the table roll toward right (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0 |
| YawDirectionDevBoolean | Indicates the Yaw sign to define if the yaw is positive or negative when the table yaw toward right. The convention is the table yaw toward right (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0 |
| TableLengthDevDouble | The length of the table. |
| TableWidthDevDouble | Width of the table. |
| AngleUnitDevString | Unit to be used to expressed the angualr attrrbutes (Pitch, Rooll Yaw) Value is either ``Deg`` or mRad`` |
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Generated
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.
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, 10:52 a.m.