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Development status: Released, Release: Release_1_0
Information status: New
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/Smaract/SmarActMCS2Motor
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Class Description


Motor class for smaract mcs controller.

The server supports using a Picoscale interferometer as encoder. If you don`t want or need this call make PICOSCALESUPPORT=no.

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License: GPL

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Hardware


Manufacturer: Smaract

Product:

Bus: Not Applicable

Class interface


Attributes:

Name Description
AccelerationScalar: DevLong64 Closed loop acceleration. Range: 0 - 100000000000
ActuatorModeScalar: DevLong actuator mode 0: normal 1: quiet 2: low vibration (needs feature permission activated and payed for)
SensorModeScalar: DevLong sensor mode 0: sensor disabled 1: sensor continuously supplied with power 2: sensor power supply pulsed to keep the heat generation low
StepLimitMaxScalar: DevLong64 This attribute uses the controllers ability to store limit values. If this value is set a movement will stop if this limit is hit. The attribute does not take conversion into account, it treats values as encoder steps. To enable this feature set StepLimitMax to a value greater than StepLimitMin. Valid range: -100000000000000 - 100000000000000
StepLimitMinScalar: DevLong64 This attribute uses the controllers ability to store limit values. If this value is set a movement will stop if this limit is hit. The attribute does not take conversion into account, it treats values as encoder steps. To enable this feature set StepLimitMax to a value greater than StepLimitMin. Valid range: -100000000000000 - 100000000000000
SensorTypeScalar: DevULong Sensor type number, check with hardware doc.
MaxFrequencyScalar: DevLong The maximum closed loop frequency in hz (50 - 20000). If you experience sudden stops on one axis when starting a movement on another try setting this to a lower value.
AxisTypeScalar: DevULong he axis type, 0: linear movement 1: rotary movement 2: goniometer 3: tilt movement
PositionKnownScalar: DevBoolean
SpeedScalar: DevLong64 Closed loop velocity. Range: 0 - 100000000000
HoldTimeScalar: DevULong Closed loop velocity hold time (time in ms the position is actively held after reaching the target posi- tion) Range: 0 - 4294967295 (0 disables holding, max value is for infinite, i.e. hold until motor is stopped)
AutoZeroScalar: DevBoolean If set to true, the current position will be set to 0 when the reference mark is found on running the Home command.
UnitLimitMaxScalar: DevDouble Maximum position in units we are allowed to go to. If both UnitLimitMin and UnitLimitMax are set to 0 limut settings are ignored.
UnitLimitMinScalar: DevDouble MInimum position in units we are allowed to go to. If both UnitLimitMin and UnitLimitMax are set to 0 limut settings are ignored.
ConversionScalar: DevDouble Factor for converting encoder steps to units
PositionScalar: DevDouble
StepFrequencyScalar: DevLong Gets/Sets step frequency for open-loop movements. Value range: 1 - 20000 Hz
StepAmplitudeScalar: DevLong Gets/Sets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V
MoveModeScalar: DevLong Get/Set move mode. This might mofify meanining and behaviour of Position attribute 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode

Commands:

Name Description
StopInput: DevVoid
Output: DevVoid
Stop movement on this axis (holding will be disabled if in closed loop mode).
CalibrateInput: DevVoid
Output: DevVoid
performs a calibration routine for a channel
HomeInput: DevVoid
Output: DevVoid
Drive to reference mark (and set position to 0 if AutoZero ist true)
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
PicoScaleEncodedDevBoolean Set to true, if this axis uses a picoscale interferometer as encoder.
AxisNumberDevULong axis index number
SmarActMCS2CtrlDeviceDevString Name of SmarActMCS2Ctrl device


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10 Aug 2019, DS Admin
Created:
The device class has been added to catalogue.
Added by:dadmin on:10 Aug 2019, 6:02 a.m.