This is historical information of device classes implemented in LABMotionDB3 device server.

Use this link to find the valid information.

Development status: Released, Release: Release_1_1
Information status: New
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/LABMotionDB3
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Class Description


Tango server to drive axes connected to a Drivebox Motion Controller

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License: GPL

Contact:

Hardware


Manufacturer: LAB Motion Systems

Product:

Bus: Not Applicable

Class interface


Attributes:

Name Description
ConversionScalar: DevDouble Conversion factor encoder steps => units For rotation axes this sets the number of units for one rotation (e.g. setting this to 360 units will be degrees). When changing the sign of the conversion (to swap movement direction) UnitLimitMin/Max will not be adjusted auromatically, you will have to do that yourself.
PositionScalar: DevDouble Write / read position in units ( writing will start movement)
UnitLimitMinScalar: DevDouble Minimum value to be given to the Position attribute. If both UnitLimitMin/UnitLimitMax are set to 0 limits are disabled.
UnitLimitMaxScalar: DevDouble Maximum value to be given to the Position attribute. If both UnitLimitMin/UnitLimitMax are set to 0 limits are disabled.
SpeedScalar: DevDouble Velocity in units/sec normally reached at the end of the acceleration ramp during a profiled motion (i.e. by writing the position attribute)
AccelerationScalar: DevDouble maximum allowed acceleration in units/s^2
DecelerationScalar: DevDouble maximum allowed deceleration in units/s^2
StepLimitMinScalar: DevLong This makes use of the controllers ability to store limit settings (command VH[3]). Has to be set in encoder steps, no conversion is applied. Consider this a safety catch to prevent things bumping.
StepLimitMaxScalar: DevLong This makes use of the controllers ability to store limit settings (command VH[3]). Has to be set in encoder steps, no conversion is applied. Consider this a safety catch to prevent things bumping.
MotorStateScalar: DevBoolean Read motor state / turn motor on / off (true = on, false = off).
ServoStateScalar: DevBoolean Read servo state (true = on, false = off).
ForwardLimitSwitchScalar: DevBoolean State of forward limit switch (true = hit)
ReverseLimitSwitchScalar: DevBoolean State of reverse limit switch (true = hit)
PositionKnownScalar: DevBoolean Returns true, if the axis was referenced after controller power on, otherwise false. This makes use of the fact that the controllers UI[n] variables are set to default 0 after powerup. The server will write 666 to UI[1] after a successful run of the Home command. If this value is found in UI[1] at server startup the server assumes the axis to be referenced. If for some reason you cannot reach the reference mark safely (e.g. because something would crash) and have to move the motor, you can write `true` to this attribute to make the axis moveable. But generally this is not a good idea, rather change things so you can safely run the Home command. And this will only hold until the controller is power-cycled.
StepPositionScalar: DevLong64 Write / read position in encoder steps ( writing will start movement). UnitLimitMin/Max is not taken into acoount.

Commands:

Name Description
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.
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.
HomeInput: DevVarDoubleArray
arg[0] : Speed in unit/secs when doing reference search arg[1]: Value to set counter to after reference mark was found
Output: DevVoid
Drive axis to the reference mark. You must make sure the axis can move to the reference mark, i.e. does not crash into something.
JogInput: DevDouble
Movement speed in units/sec, sign determins direction For rotation: CW/CCW (`+ `= CCW, `- `= CW)
Output: DevVoid
Let axis move continuously. Unit limits are ignored.
StopInput: DevVoid
Output: DevVoid
Stop movement
CtrlCmdInput: DevString
Output: DevString
Execute deliberate command on the controller. If characters like `[` are part of the command include command in double quotes.

Pipes:

Properties:

Name Description
HostNameDevString hostname or IP address if connecting via terminal server
PortNumberDevString port number or service name on terminal server
BaudRateDevLong BaudRate id connecting via RS232
DeviceFileDevString name of device file if connecting via RS232
ConnectTypeDevString Can be `serial` for RS232 connection `net` for connection via terminal server
MotorOffOnExitDevBoolean If set to true, motor will be disabled on server termination.

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



21 Sep 2019, DS Admin
Updated:
The device class has been updated.
You are looking at this version now.



22 May 2019, DS Admin
Created:
The device class has been added to catalogue.
Added by:dadmin on:21 Sep 2019, 3:52 a.m.