Development status:
Released,
Release: Release_1_0
Information status: New
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexaSmarLiCtrl
Contact:
Class Description
Controller server for SmarAct Hexapods which do not support the SCPI interface but relies on shared libs. These (supplied by manufacturer) must be provided.
Families: Motion
Key words:
Platform: Unix Like
Language: Cpp
License: GPL
Contact:
Hardware
Manufacturer: Smaract
Product:
Bus: TCP/UDP
Class interface
Attributes:
| Name | Description |
|---|---|
| PositionImage: DevDouble | 0] = positionX [1] = positionY [2] = positionZ [3] = rotationX [4] = rotationY [5] = rotationZ |
| PivotImage: DevDouble | [0] = PivotX [1] = PivotY [2] = PivotZ |
| MoveAtOnceScalar: DevBoolean | If true, an axis will move as soon as the position attribute is written if false, writing the position attribute will just store the new value. Movement will be executed with command Move. |
| AccelControlScalar: DevLong | — |
| SpeedControlScalar: DevLong | — |
| AccelerationScalar: DevDouble | — |
| VelocityScalar: DevDouble | — |
| HomedScalar: DevBoolean | — |
Commands:
| Name | Description |
|---|---|
| MoveInput: DevVoid Output: DevVoid |
Will start move on all axes to their set position (requires MoveAtOnce set to false) |
| StopInput: DevVoid Output: DevVoid |
stop all motion |
| ReachableInput: DevVarDoubleArray [0] = positionX [1] = positionY [2] = positionZ [3] = rotationX [4] = rotationY [5] = rotationZ Output: DevBoolean |
returns true, if position in argin is reachable |
| HomeInput: DevVoid Output: DevVoid |
find reference marks |
| 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 |
|---|---|
| ModelIdDevULong | Model ID of hexapod |
| PortNumberDevString | Port number on controller |
| HostNameDevString | IP address / hostname of controller |
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Generated
Created:
The device class has been added to catalogue.