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

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Development status: Released
Information status: New

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Class Description


provides 3 fixed positions for high level use of FMB Oxford

Families: Motion

Key words: - Hexapods

Platform: All Platforms

Language: Cpp

License:

Contact:

Hardware


Manufacturer: none

Bus: Ethernet

Class interface


Attributes:

Name Description
selectedAttributeNameScalar: DevString
labelListSpectrum: DevString

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.
InitializeReferencePositionInput: DevVoid
Output: DevVoid
Homes the hexapod (send it to Home position and stays there))
StopInput: DevVoid
Output: DevVoid
None.

Pipes:

Properties:

Name Description
UrlDevString IP Address of the Hexapod Controller
PortDevShort port to connect to Hexapod Controller
FixedPositionsPropString[]Type Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1
FixedPositionsSyntaxString[]Type Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1
DeadbandDouble[]Type array of deadband (1 for each axis, ordered as in FixedPositionSyntax) the current position is considered good if position reaches the position +/- the deadbands

README

b'\nTechnical requirements\n=======================\n- The YAT library MUST be used by COSYLAB to manage Exceptions, Sockets , and String/numerical conversions. \nYAT library is available from the public projet tango-ds hosted on Sourceforge :\nhttp://tango-ds.cvs.sourceforge.net/viewvc/tango-ds/Libraries/YAT/\n- \n\nFunctional requirements\n=======================\nThe file hexapod.h and hexapod_states_definitions.h defines SOLEIL MANDATORY functional requirements to drive the hexapod and deal with states of the systems\n\n\nError handling \n===============\n....\n\nCoding requirements\n===================\nTo ease the future maintenance of the library, some good programming practices should be followed by COSYLAB. \nThe files hexapod_definitions.h and hexapod.cpp proposes first idea of code implementations.\n\n\n\n'

20 Apr 2017, Piotr Goryl
Updated:
The device class has been updated.
You are looking at this version now.



23 Feb 2017, Piotr Goryl
Created:
The device class has been added to catalogue.
Added by:pgoryl2 on:20 Apr 2017, 1:12 p.m.