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

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Development status: New development
Information status: Updated

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Class Description


An abstract class for stepper motot

Families: AbstractClasses

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 unit/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

Commands:

Name Description
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.
AbortInput: DevVoid
Output: DevVoid
Stop immediately the motor

Pipes:

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.

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 .



3 Jan 2017, Piotr Goryl
Created:
The device server has been added to catalogue.
Added by:pgoryl2 on:23 Feb 2017, 11:30 a.m.