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Development status: Released, Release: Release_1_3
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/GalilDMC
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Class Description


Device server for a single IO port.

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License:

Contact:

Hardware


Manufacturer: Galil

Product:

DMC 40x0 Series

Bus: Ethernet

Class interface


Attributes:

Commands:

Name Description
StatusInput: DevVoid
Output: ConstDevString
Device status
This command gets the device status (stored in its device_status data member) and returns it to the caller.
StateInput: DevVoid
Output: State
Device state
This command gets the device state (stored in its device_state data member) and returns it to the caller.

Pipes:

Properties:

Name Description
DifferentialDevBoolean Setting this for analog inputs 1, 3, 5 or 7, configures those inputs as the differential input relative to input 2, 4, 6 and 8 respectively.
RangeDevUShort Sets the input range for analog inputs. May be 1 for +-5V, 2 for +-10V, 3 for 0-5V or 4 for 0-10V.
PortAddressDevShort Address to the port. Possible values are: DI 1-16 general input, 17-48 shared extended I/O, 81-96 aux encoder repurposed as inputs, 1000-8999 Modbus slave bits; DO 1-16 general output, 17-48 shared extended I/O, 1000-8999 Modbus slave bits; AI 1-8 analogue inputs corresponding axis A-H; AO 1000-8999 Modbus slave ports. Modbus slaves have to be set up manually.
PortTypeDevString May be AI, AO, DI or DO for analog or digital input or output ports. Note that analog outputs are only available via Modbus and have to be set up manually.
ControlDevicePathDevString Path to the GalilDMCControl device providing the controller connection.

Class Description


Device server for the DMC multiaxis controller. Exports the connection to dedicated single channel device servers.

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License:

Contact:

Hardware


Manufacturer: Galil

Product:

DMC-40x0 Series

Bus: Ethernet

Class interface


Attributes:

Name Description
UserTask8RunningScalar: DevBoolean True if the task is running.
UserTask7RunningScalar: DevBoolean True if the task is running.
UserTask6RunningScalar: DevBoolean True if the task is running.
UserTask5RunningScalar: DevBoolean True if the task is running.
UserTask4RunningScalar: DevBoolean True if the task is running.
UserTask3RunningScalar: DevBoolean True if the task is running.
UserTask2RunningScalar: DevBoolean True if the task is running.
UserTask1RunningScalar: DevBoolean True if the task is running.
DeviceAmp2Scalar: DevString
DeviceAmp1Scalar: DevString
DeviceIcm2Scalar: DevString
DeviceIcm1Scalar: DevString
DeviceCmbScalar: DevString
DeviceDmcScalar: DevString

Commands:

Name Description
SetDefaultsInput: DevVoid
Output: DevVoid
Writes the current script memory, arrays and variables to the controller flash.
StopUserTask8Input: DevVoid
Output: DevVoid
Stops user task 8.
StopUserTask7Input: DevVoid
Output: DevVoid
Stops user task 7.
StopUserTask6Input: DevVoid
Output: DevVoid
Stops user task 6.
StopUserTask5Input: DevVoid
Output: DevVoid
Stops user task 5.
StopUserTask4Input: DevVoid
Output: DevVoid
Stops user task 4.
StopUserTask3Input: DevVoid
Output: DevVoid
Stops user task 3.
StopUserTask2Input: DevVoid
Output: DevVoid
Stops user task 2.
StopUserTask1Input: DevVoid
Output: DevVoid
Stops user task 1.
StartUserTask8Input: DevString
Output: DevVoid
Starts executing the user task 8 at the label given as argument.
StartUserTask7Input: DevString
Output: DevVoid
Starts executing the user task 7 at the label given as argument.
StartUserTask6Input: DevString
Output: DevVoid
Starts executing the user task 6 at the label given as argument.
StartUserTask5Input: DevString
Output: DevVoid
Starts executing the user task 5 at the label given as argument.
StartUserTask4Input: DevString
Output: DevVoid
Starts executing the user task 4 at the label given as argument.
StartUserTask3Input: DevString
Output: DevVoid
Starts executing the user task 3 at the label given as argument.
StartUserTask2Input: DevString
Output: DevVoid
Starts executing the user task 2 at the label given as argument.
StartUserTask1Input: DevString
Output: DevVoid
Starts executing the user task 1 at the label given as argument.
DownloadInput: DevVoid
Output: DevString
Returns the script memory of the controller as a string.
UploadInput: DevString
Output: DevVoid
Loads the argument string into the script memory of the controller.
WriteReadInput: DevString
Output: DevString
Writes the argument string to the controller and returns the answer.
ResetInput: DevVoid
Output: DevVoid
Resets the controller.
StatusInput: DevVoid
Output: ConstDevString
Device status
This command gets the device status (stored in its device_status data member) and returns it to the caller.
StateInput: DevVoid
Output: State
Device state
This command gets the device state (stored in its device_state data member) and returns it to the caller.

Pipes:

Properties:

Name Description
FeaturesDevString List of optional features, separated by commas. - InvertLimitSwitches Invert the logic of all limit switches for this controller.
AutoReconnectDevBoolean Whether the server will automatically try to reconnect on errors.
HostDevString Hostname or IP address to the device.

Class Description


Device server for a single motor Device.

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License:

Contact:

Hardware


Manufacturer: Galil

Product:

DMC 40x0 Series

Bus: Ethernet

Class interface


Attributes:

Name Description
SoftCcwLimitFaultScalar: DevBoolean CCW soft limit hit. Does not cause the TANGO server to go to a FAULT state.
SoftCwLimitFaultScalar: DevBoolean CW soft limit hit. Does not cause the TANGO server to go to a FAULT state.
SoftCcwLimitScalar: DevDouble Lower/negative/CCW soft limit. The controller will prevent any movement beyond this position.
SoftCwLimitScalar: DevDouble Upper/positive/CW soft limit. The controller will prevent any movement beyond this position.
SoftLimitEnableScalar: DevBoolean Enables the SoftCwLimit and SoftCcwLimit.
InvertMotorDirectionScalar: DevBoolean Reverses the polarity of the drive signal.
AccelerationScalar: DevDouble The acceleration (ramp rate) when performing linear moves.
VelocityScalar: DevDouble Target velocity when performing a move.
ConversionScalar: DevDouble The ratio of counts (or steps) to unit. Has to unequal 0.0.
PositionScalar: DevDouble Read value = current position in units. Writing to this value causes the controller to perform a linear move with the programmed velocity.

Commands:

Name Description
LoadPositionInput: DevDouble
The new position.
Output: DevVoid
The motor position is calibrated to be the value given as an argument. Other attributes remain unaffected.
DisableInput: DevVoid
Output: DevVoid
The device is set to OFF state, servo control and internal amplifier (if available) will be disabled. If the motor was running, it will be stopped.
EnableInput: DevVoid
Output: DevVoid
The device is set to ON state, servo control and internal amplifier (if available) will be enabled.
CalibrateInput: DevDouble
The new position.
Output: DevVoid
The motor position is calibrated to be the value given as an argument. The softlimits are shifted accordingly.
HomeInput: DevVoid
Output: DevVoid
Executes the homing routine.
StopInput: DevVoid
Output: DevVoid
Will decelerate the motor to a stop.
StatusInput: DevVoid
Output: ConstDevString
Device status
This command gets the device status (stored in its device_status data member) and returns it to the caller.
StateInput: DevVoid
Output: State
Device state
This command gets the device state (stored in its device_state data member) and returns it to the caller.

Pipes:

Properties:

Name Description
FeaturesDevString List of optional features, separated by commas. - IgnoreLimits The hard limit switches will be ignored. - Interpolation=[8..1024] Interpolation factor for ICM42100 sine option. - BissSingleTurnBits=[0..31] Number of single-turn bits for ICMs with BiSS option. - BissRollover Enables rollover. - BissTotalBits=[0..31] Number of total bits between start bit and error bits. - BissPaddingBits=[0..8] Number of zero padding bits. - BissFrequency=[0.37..2.0] Clock divider. - BissWarningLowActive Inverts BiSS warning bit logic. - BissErrorLowActive Inverts BiSS error bit logic. - SsiSingleTurnBits=[0..31] Number of single-turn bits for ICMs with SSI option. - SsiRollover Enables rollover. - SsiTotalBits=[0..31] Total number of bits, including status bits. - SsiStatusBits=[0..8] Number of status bits. - SsiStatusLeading Prepend status bits. - SsiFrequency=[0.37..2.0] Clock divider. - SsiGrayCode Data is Gray encoded.
AxisDevString Axis from A-H to be controlled by this device. X, Y, Z and W will be mapped to A, B, C and D.
AuxEncoderTypeDevString May be None, Analogue, Sine, PulseDir, Quad, SSI and BISS. Not all encoder types are supported by every hardware.
EncoderTypeDevString May be None, Analogue, Sine, PulseDir, Quad, SSI and BISS. Not all encoder types are supported by every hardware.
MotorTypeDevString Type of the motor to be controlled. If there is an internal amplifier on this axis matching the motor type, the server will controll this amplifier as well. Possible types are: Servo, ServoPwmSign, Stepper, StepperLowActive.
ControlDevicePathDevString Path to the GalilDMCControl device providing the controller connection.


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5 Jan 2018, DS Admin
Updated:
A device class has been added.
You can see previous version here .



5 Jan 2018, DS Admin
Updated:
A device class has been added.
You can see previous version here .



5 Jan 2018, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



13 Dec 2017, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



23 Feb 2017, Piotr Goryl
Updated:
A device class has been added.
You can see previous version here .



23 Feb 2017, Piotr Goryl
Updated:
A device class has been added.
You can see previous version here .



23 Feb 2017, Piotr Goryl
Updated:
The device class has been updated.
You can see previous version here .



19 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



19 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



19 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



2 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



2 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



2 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:2 Jan 2017, 3:52 p.m.