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Rating Count: 0

Development status: Released, Release: Release_1_0
Information status: New
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexaSmarLiCtrl

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



Manufacturer: Smaract



Class interface


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


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.



Name Description
ModelIdDevULong Model ID of hexapod
PortNumberDevString Port number on controller
HostNameDevString IP address / hostname of controller

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13 May 2017, Piotr Goryl
The device class has been added to catalogue.
Added by:pgoryl2 on:13 May 2017, 5:01 a.m.