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Development status: Released, Release: Release_1_2
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/Smaract/SmarActMCS2Ctrl
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Class Description


Controller device server for MCS2 Smaract Control System.

Commands / attributes of this class should never be called directly, they are meant to be called from the SmarActMCS2Motor devices.

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License: GPL

Contact:

Hardware


Manufacturer: Smaract

Product:

Bus: Not Applicable

Class interface


Attributes:

Name Description
StreamBaseRateScalar: DevLong Stream base rate for trajectory streaming. Range: 10 - 1000 hz

Commands:

Name Description
StartStreamingInput: DevString
trajectory data file name
Output: DevVoid
Start trajectoy streaming. A file with trajectory data must exist and it`s path/name supplied as argument to this command.
SetFollowingErrorLimitInput: DevVarLong64Array
0: axis number 1: new following error limit
Output: DevVoid
Sets following error limit Value range: 0 - 100000000000000
GetFollowingErrorLimitInput: DevULong
axis number
Output: DevLong64
currently set following error limit
Gets currently set following error limit
HomeInput: DevULong
axis number
Output: DevVoid
SetActuatorModeInput: DevVarLongArray
0: axis number 1: actuator mode
Output: DevVoid
GetActuatorModeInput: DevULong
axis number
Output: DevLong
currently set actuator mode
Gets currently set actuator mode
SetAccelerationInput: DevVarLong64Array
0: axis number 1: new closed loop acceleration
Output: DevVoid
Sets closed loop acceleration
GetAccelerationInput: DevULong
axis number
Output: DevLong64
currently set closed loop acceleration
Gets closed loop acceleration
GetSensorModeInput: DevULong
axis number
Output: DevLong
sensor mode 0: sensor disabled 1: sensor continuously supplied with power 2: sensor power supply pulsed to keep the heat generation low
SetSensorModeInput: DevVarLongArray
0: axis number 1: sensor mode 0: sensor disabled 1: sensor continuously supplied with power 2: sensor power supply pulsed to keep the heat generation low
Output: DevVoid
StopInput: DevULong
axis number
Output: DevVoid
Stop movement on axis <axis number>
HoldPositionInput: DevULong
axis number
Output: DevVoid
Enables holding the current position by setting the move mode to closed loop relative movement and then driving by 0 encoder steps. (c.f. programmer manual, 2.6.4)
GetCalibrationOptionsInput: DevULong
axis number
Output: DevULong
currently set calibration options
Get calibration option (used with Calibrate command) bit 0: Direction bit 1: Detect Distance Code Inversion bit 2: Advanced Sensor Correction bit 8: Limited Travel Range all other bits are reserved
SetCalibrationOptionsInput: DevVarULongArray
0: axis number 1: calibration options bit field
Output: DevVoid
Set calibration option (used with Calibrate command) bit 0: Direction bit 1: Detect Distance Code Inversion bit 2: Advanced Sensor Correction bit 8: Limited Travel Range all other bits are reserved
CalibrateInput: DevULong
axis number
Output: DevVoid
Perform calibration for channnel <axis number>. Should only be necessary if setup was changed (e.g. new / different positioner connected). Requires encoded positioner, encoder has to be enabled.
SetMinStepLimitInput: DevVarLong64Array
0: axis number 1: minimum range limit
Output: DevVoid
SetMaxStepLimitInput: DevVarLong64Array
0: axis number 1: maximum range limit
Output: DevVoid
GetMinStepLimitInput: DevULong
axis number
Output: DevLong64
currently set range limit minimum
GetMaxStepLimitInput: DevULong
axis number
Output: DevLong64
currently set range limit maximum
GetSensorTypeInput: DevULong
axis number
Output: DevULong
Sensor type number
Get sensor type number, check with hardware doc
SetMaxFrequencyInput: DevVarLongArray
0: axis number 1: maximum closed loop frequency
Output: DevVoid
Sets maximum frequency for closed-loop movements. Value range: 50 - 20000 Hz
GetMaxFrequencyInput: DevULong
axis number
Output: DevLong
currently set maximum closed loop frequency
Gets maximumfrequency for closed-loop movements.
GetAxisTypeInput: DevULong
axis number
Output: DevULong
axis type: 0: linear movement 1: rotary movement 2: goniometer 3: tilt movement
GetPositionKnownInput: DevULong
axis number
Output: DevBoolean
true: physical position is known false: physical position is not known
Finds out whether the physical position of this axis is known. If false and the motor has an encoder with reference mark, run command `Home`.
SetHoldTimeInput: DevVarULongArray
0: axis number 1: hold time
Output: DevVoid
Sets hold time (time in ms the position is actively held after reaching the target posi-tion) for closed-loop movements. Value range: 0 - 4294967295 (0 disables holding, max value is for infinite, i.e. hold until motor is stopped)
GetHoldTimeInput: DevULong
axis number
Output: DevULong
currently set hold time
Gets hold time for closed -loop movements.
SetVelocityInput: DevVarLong64Array
0: axis number 1: new closed loop velocity
Output: DevVoid
Sets closed loop velocity Value range: 0 - 100000000000
GetVelocityInput: DevULong
axis number
Output: DevLong64
currently set closed loop velocity
Gets closed loop velocity.
GetAutoZeroInput: DevULong
0: axis number
Output: DevBoolean
true = position counter to will be set to 0 after reference mark was found false = nothing happens to position counter after reference mark was found
gets auto zero property
SetAutoZeroInput: DevVarULongArray
0: axis number 1: true = set position counter to 0 after reference mark was found 2: false = do nothing after reference mark was found
Output: DevVoid
sets auto zero property
SetPositionInput: DevVarLong64Array
0: Axis number 1: target position
Output: DevVoid
moves axis the effect of writing a position value depends on the set move mode
SetStepFrequencyInput: DevVarLongArray
0: axis number 1: step frequency
Output: DevVoid
Sets step frequency for open-loop movements. Value range: 1 - 20000 Hz
GetStepFrequencyInput: DevULong
axis number
Output: DevLong
currently set step frequency
Gets step frequency for open-loop movements. Value range: 1 - 20000 Hz
SetStepAmplitudeInput: DevVarLongArray
0: axis number 1: step amplitude
Output: DevVoid
Sets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V
GetStepAmplitudeInput: DevULong
axis number
Output: DevLong
currently set step amplitude
Gets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V
GetMoveModeInput: DevULong
axis number
Output: DevLong
move mode: 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode
get move mode 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode
SetMoveModeInput: DevVarLongArray
0: axis number 1: move mode: - 0 : closed loop absolute - 1 : closed loop relative - 2 : scan mode absolute - 3 : scan mode relative - 4 : step mode
Output: DevVoid
set move mode 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode
GetPositionInput: DevULong
Axis number
Output: DevLong64
Current position
returns current position in encoder steps
AxisStateInput: DevULong
Axis number
Output: DevUShort
Axis status
Returns 16-bit value describing channel state: 0 SA_CTL_CH_STATE_BIT_ACTIVELY_MOVING 0x0001 1 SA_CTL_CH_STATE_BIT_CLOSED_LOOP_ACTIVE 0x0002 2 SA_CTL_CH_STATE_BIT_CALIBRATING 0x0004 3 SA_CTL_CH_STATE_BIT_REFERENCING 0x0008 4 SA_CTL_CH_STATE_BIT_MOVE_DELAYED 0x0010 5 SA_CTL_CH_STATE_BIT_SENSOR_PRESENT 0x0020 6 SA_CTL_CH_STATE_BIT_IS_CALIBRATED 0x0040 7 SA_CTL_CH_STATE_BIT_IS_REFERENCED 0x0080 8 SA_CTL_CH_STATE_BIT_END_STOP_REACHED 0x0100 9 SA_CTL_CH_STATE_BIT_RANGE_LIMIT_REACHED 0x0200 10 SA_CTL_CH_STATE_BIT_FOLLOWING_LIMIT_REACHED 0x0400 11 SA_CTL_CH_STATE_BIT_MOVEMENT_FAILED 0x0800 12 SA_CTL_CH_STATE_BIT_IS_STREAMING 0x1000 14 SA_CTL_CH_STATE_BIT_OVER_TEMPERATURE 0x4000 15 SA_CTL_CH_STATE_BIT_REFERENCE_MARK 0x8000
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
PicoScaleConnectTypeDevString either `net` or `usb`
PicoScaleUSBIDDevString If any axis use a Picoscale interferometer as encoderan an the Picoscale is connected vi usb, put the Picoscales usb id here.
PicoScaleHostNameDevString If any axis use a Picoscale interferometer as encoder and the PicoScale is connected via network, put the Picoscales hostname/ip address here.
USBIDDevString Usb id of the device
ConnectTypeDevString either `net` or `usb`
PortNumberDevString Port number of controller
HostNameDevString Hostname / IP address of device


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



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



10 Aug 2019, DS Admin
Created:
The device class has been added to catalogue.
Added by:dadmin on:10 Aug 2019, 6:01 a.m.