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Development status: Released, Release: Release_1_18
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/Micos/SMCHydraMotor
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Class Description


Class for controlling the axis of the SMC Hydra controller.

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License:

Contact:

Hardware


Manufacturer: none

Bus: Not Applicable

Class interface


Attributes:

Name Description
RunCurrentScalar: DevLong Controlles the current consumption and holding torque of the motor when it is moving.
StopCurrentScalar: DevLong Controlles the current consumption and holding torque of the motor when it is not moving.
TimeOnWindowScalar: DevDouble Position settling time for the in-window indication feature
ExitWindowWidthScalar: DevDouble As soon as the absolute position aberration once exceeds the exit window width, the indication bit changes from active to inactive state. Useful for closed loop operation only. Inactive if any parameter is set to 0.
EntranceWindowWidthScalar: DevDouble .As soon as the absolute position aberration constantly remains below the specified entrance window width for a period of time specified by TimeInWindow the in-window bit changes from inactive to active state to indicate that the position has settled. Useful for closed loop operation only. Inactive if any parameter is set to 0.
DFactorScalar: DevDouble P factor: coefficient of differential portion
IFactorScalar: DevDouble P factor: coefficient of integral portion
PFactorScalar: DevDouble P factor: coefficient of proportional portion
ClosedLoopScalar: DevLong Determines if the positioning regulator loop is closed and,\nif so, in which way the regulator works. Set mode.
SlewDoubleScalar: DevDouble
ConversionScalar: DevDouble Convert from readout to physical units
CcwLimitConfigScalar: DevLong Configuration of reverse direction switch limit: 0 -> normally open, 1 -> normally closed, 2 -> disabled.
CwLimitConfigScalar: DevLong Configuration of forward direction switch limit: 0 -> normally open, 1 -> normally closed, 2 -> disabled.
CcwLimitScalar: DevLong Switch limit status in the reverse direction (if 1 limit reached).
CwLimitScalar: DevLong Switch limit status in the forward direction (if 1 limit reached).
HwUpperLimitScalar: DevDouble Hardware Upper Limit
HwLowerLimitScalar: DevDouble Hardware Lower Limit
OffsetScalar: DevDouble
HomePositionScalar: DevDouble Distance from Ccw (reverse) end switch at which Home move terminates.
AccelerationScalar: DevDouble
SlewRateScalar: DevLong
UnitLimitMaxScalar: DevDouble
UnitLimitMinScalar: DevDouble
PositionScalar: DevDouble

Commands:

Name Description
ResetMotorInput: DevVoid
Output: DevVoid
InitMotorInput: DevVoid
Output: DevVoid
Motor restart.
CalibrateInput: DevDouble
Value to be calibrated
Output: DevVoid
Calibrate the motor: current position is calibrated to be the value given as an argument.
MoveHomeInput: DevVoid
Output: DevVoid
Executes the homing procedure: motor moved to HomePosition and position set to 0.
StopMoveInput: DevVoid
Output: DevVoid
Stop a movement.
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.
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.

Pipes:

Properties:

Name Description
AutomaticSwitchControlDevLong Set to 1 for automatic activation/deactivation of the end switches before/after homing.
FlagPegasusDevLong 0 if Hydra (default) 1 if Pegasus controller with position feedback control 2 if Pegasus controller withtout position feedback control
AxisNumberDevLong Axis Number (from 1 to 4)
SocketDSDevString Name of the Tango Device making the socket connection to the controller.


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March 30, 2019, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



Feb. 16, 2019, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



Jan. 26, 2019, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



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



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



Jan. 2, 2017, Piotr Goryl
Created:
The device server has been added to catalogue.
Added by:pgoryl2 on:2 Jan 2017, 3:53 p.m.