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

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Development status: New development
Information status: Updated

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Class Description

This class simulates a motor compliant to the standard Motor abstract class

Families: Motion

Key words:

Platform: All Platforms

Language: Cpp

License:

Contact:

Hardware

Manufacturer: none

Bus: Not Applicable

Class interface

Attributes:

Name Description
Steps_per_unitScalar: DevDouble —
StepsScalar: DevLong number of steps in the step counter\n
PositionScalar: DevDouble The actual motor position.
AccelerationScalar: DevDouble The acceleration of the motor.
VelocityScalar: DevDouble The constant velocity of the motor.
BacklashScalar: DevDouble Backlash to be applied to each motor movement
Home_positionScalar: DevDouble Position of the home switch
HardLimitLowScalar: DevBoolean —
HardLimitHighScalar: DevBoolean —
PresetPositionScalar: DevDouble preset the position in the step counter
FirstVelocityScalar: DevDouble number of step/s for the first step and for the move reference
Home_sideScalar: DevBoolean indicates if the axis is below or above the position of the home switch
StepSizeScalar: DevDouble Size of the relative step performed by the StepUp and StepDown commands.\nThe StepSize is expressed in physical unit.
InstantSpeedScalar: DevDouble Instantaneous speed expressed in user unit

Commands:

Name Description
AbortInput: DevVoid
Output: DevVoid		 Stop immediately the motor
StateInput: DevVoid
Output: State
State Code		 This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
StatusInput: DevVoid
Output: ConstDevString
Status description		 This command gets the device status (stored in its <i>device_status</i> data member) and returns it to the caller.
OnInput: DevVoid
Output: DevVoid		 Enable power on motor
OffInput: DevVoid
Output: DevVoid		 Desable power on motor
GoHomeInput: DevVoid
Output: DevVoid		 Move the motor to the home position given by a home switch.
StepUpInput: DevVoid
Output: DevVoid		 perform a relative motion of "stepSize" in the forward direction. StepSize is defined as an attribute of the device.
StepDownInput: DevVoid
Output: DevVoid		 perform a relative motion of "stepSize" in the backward direction. StepSize is defined as an attribute of the device.

Pipes:

Name Description

Properties:

Name Description
CalibratedDevBoolean When this property is different from 0, the motor is considered as calibrated and a certain number of attributes cannot be changed anymore.( e.g. step_per_unit) The goal is to avoid undesired change when the calibratiuon process has been performed.
Auto_offDevUShort When different of 0, the motor will be automatically switched OFF few minute after the end of last movment. The value of the property define the number of minutes ) means no auto_off
HighLimitPosDevLong position of the high limit switch expressed in steps
LowLimitPosDevLong Position of the low limit switch expressed in steps

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, 11:15 a.m.