.
Development status:
Released,
Release: Release_1_0
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/OmsServo
Contact:
Class Description
Pro-Dex/OMS servo motor controller
Families: Motion
Key words:
Platform: Unix Like
Language: Cpp
License: GPL
Contact:
Hardware
Manufacturer: Pro-Dex
Product:
MaxV series
Bus: VME
Class interface
Attributes:
| Name | Description |
|---|---|
| ParkingActiveScalar: DevShort | — |
| ParkingAutomaticScalar: DevShort | — |
| ParkingSettleTimeScalar: DevDouble | max = 1000\nmin = 0 |
| ConversionScalar: DevDouble | — |
| InvertEncoderDirectionScalar: DevShort | — |
| InvertVoltageScalar: DevShort | — |
| AccelerationScalar: DevDouble | — |
| AccelerationUnitsScalar: DevDouble | — |
| VelocityScalar: DevDouble | — |
| VelocityUnitsScalar: DevDouble | — |
| PIDProportionalGainScalar: DevDouble | PID gain, proportional part |
| PIDIntegralGainScalar: DevDouble | PID gain, integral part |
| PIDIntegralUpperSumLimitScalar: DevLong | PID integral upper sum limit. Default is 200. |
| PIDDerivativeGainScalar: DevDouble | PID gain, derivative part |
| PIDAccFeedforwardScalar: DevDouble | PID Acceleration feedforward\nDefault = 0 |
| PIDVelocityFeedforwardScalar: DevDouble | PID Velocity feedforward\nDefault = 0 |
| PIDFrictionCoefficientScalar: DevDouble | PID Friction coefficient |
| PIDDeadbandHoldScalar: DevLong | — |
| PIDDeadbandHoldUnitsScalar: DevDouble | — |
| PIDDeadbandHoldTimeScalar: DevLong | The axis has to hold the specified position for this many milliseconds before the axis signals done. |
| PIDMaxOutputVoltageScalar: DevDouble | PID Maximum output voltage\nDefault = 0 (setting disabled) |
| PIDServoVoltageDeadbandScalar: DevDouble | Deadband value for piezoelectric servo motors |
| PIDServoOffsetScalar: DevDouble | PID offset. |
| PIDactiveScalar: DevShort | — |
| PIDstatusScalar: DevString | — |
| PositionScalar: DevDouble | — |
| PositionRawScalar: DevDouble | — |
| ResetModuloPositionScalar: DevDouble | Divides the axis position counter by the parameter supplied and replaces the\naxis position counter with the resulting remainder. |
| RemainingMoveTimeScalar: DevDouble | — |
| ServoOutputVoltageScalar: DevFloat | — |
| FlagMotorHomedScalar: DevShort | — |
| HomeFoundPositionScalar: DevDouble | — |
| FlagSlipStatusScalar: DevShort | — |
| FlagCwLimitScalar: DevShort | — |
| FlagCcwLimitScalar: DevShort | — |
| FlagOvertravelScalar: DevShort | — |
| FlagSetupReadyScalar: DevShort | — |
| FlagEncoderErrorScalar: DevShort | — |
| DoneDetectionModeScalar: DevShort | 0 = Interrupt when approx. done\n1 = Interrupt when in exact position (+/- deadband) |
| EncoderSlipToleranceScalar: DevLong | Slip tolerance in counts. The closed loop will be turned off \nwhen the error exceeds this value. |
| EncoderSlipToleranceUnitsScalar: DevDouble | Slip tolerance in units. The closed loop will be turned off \nwhen the error exceeds this value. |
| SlipKillModeScalar: DevShort | — |
| RampDownLimitsActiveScalar: DevShort | — |
| SoftLimitMinUnitsScalar: DevDouble | — |
| SoftLimitMaxUnitsScalar: DevDouble | — |
| HomeOffsetUnitsScalar: DevDouble | — |
| AuxiliaryControlAtVelocityScalar: DevShort | 0 = The auxiliary pin is left alone\n1 = The auxiliary pin will be turned on when the motor has reached\na constant velocity, and off when the motor stops.\n |
| AuxiliaryControlPolarityScalar: DevShort | 0 = The auxiliary pin is HIGH during move.\n1 = The auxiliary pin is LOW during move.\n |
| ElectronicGearingActiveScalar: DevUShort | 0 = Inactive\n1 = Active |
| ElectronicGearingMasterAxisScalar: DevUShort | 0 = X\n1 = Y\n2 = Z\n3 = T\n4 = U\n5 = V\n6 = R\n7 = S |
| ElectronicGearingMasterAxisRatioScalar: DevLong | 0 = X\n1 = Y\n2 = Z\n3 = T\n4 = U\n5 = V\n6 = R\n7 = S |
| ElectronicGearingSelfAxisRatioScalar: DevLong | 0 = X\n1 = Y\n2 = Z\n3 = T\n4 = U\n5 = V\n6 = R\n7 = S |
Commands:
| Name | Description |
|---|---|
| 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. |
| 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. |
| AbortMoveInput: DevVoid Output: DevShort Completion status |
Aborts move |
| CheckMoveInput: DevVoid Output: DevLong return value |
The function returns 1 if the motor is moving |
| LoadPositionInput: DevLong Position to load as current position Output: DevShort Completion status |
— |
| LoadPositionUnitsInput: DevFloat Output: DevVoid |
Set the current position in user units |
| MoveAbsoluteInput: DevDouble Absolute position in counts Output: DevLong Completion status |
— |
| MoveAbsoluteUnitsInput: DevFloat Output: DevVoid |
Move to an absolute position in user units |
| MoveHomeInput: DevVoid Output: DevLong Completion status |
Homes the motor automatically. If no reference mark is found in either direction, it will generate an error. |
| MoveHomePositiveInput: DevVoid Output: DevVoid |
— |
| ResetMotorInput: DevVoid Output: DevLong Completion status |
Reset the motor |
| GetBoardInfoInput: DevVoid Output: DevString |
— |
| WriteReadInput: DevString Output: DevString |
— |
Pipes:
Properties:
| Name | Description |
|---|---|
| BaseDevULong | VME card base address |
| ChannelDevULong | Channel number |
| TypeDevUShort | Motor type. 0 -> Stepper motor 1 -> Servo motor 2 -> Stepper motor with encoder |
| IgnoreLimitSwitchesDevULong | set to 1: the server will ignore any limit switch signals, so you can move a motor with no switches connected set to 0: the server will honour limit switch signals |
| InvertParkingLogicDevShort | 0 means the Parking function is active when the Auxiliary bit is 1 1 means the Parking function is active when the Auxiliary bit is 0 |
| HomeLogicDevString | Defines the home logic (reference mark). Format is [Stepper home signal][Encoder reference][Encoder A][Encoder B]. See MaxV manual for more information. |
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Generated
13 Jan 2018, DS Admin
Updated:
The device class has been updated.
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 .
2 Jan 2017, Piotr Goryl
Created:
The device server has been added to catalogue.
Updated:
The device class has been updated.
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 .
2 Jan 2017, Piotr Goryl
Created:
The device server has been added to catalogue.
Added by:pgoryl2
on:2 Jan 2017, 2:53 p.m.