Development status:
New development
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Simulators/SimMotor
Contact:
Class Description
This class simulates a motor compliant to the standard Motor abstract class
Families: Motion
Key words:
Platform: All Platforms
Language: Cpp
Contact:
Hardware
Manufacturer: none
Bus: Not Applicable
Class interface
Attributes:
| Name | Description |
|---|---|
| Steps_per_unitScalar: DevDouble | — |
| StepsScalar: DevLong | number of steps in the step counter\n |
| PositionScalar: DevDouble | The actual motor position. |
| AccelerationScalar: DevDouble | The acceleration of the motor. |
| VelocityScalar: DevDouble | The constant velocity of the motor. |
| BacklashScalar: DevDouble | Backlash to be applied to each motor movement |
| Home_positionScalar: DevDouble | Position of the home switch |
| HardLimitLowScalar: DevBoolean | — |
| HardLimitHighScalar: DevBoolean | — |
| PresetPositionScalar: DevDouble | preset the position in the step counter |
| FirstVelocityScalar: DevDouble | number of step/s for the first step and for the move reference |
| Home_sideScalar: DevBoolean | indicates if the axis is below or above the position of the home switch |
| StepSizeScalar: DevDouble | Size of the relative step performed by the StepUp and StepDown commands.\nThe StepSize is expressed in physical unit. |
| InstantSpeedScalar: DevDouble | Instantaneous speed expressed in user unit |
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. |
| OnInput: DevVoid Output: DevVoid |
Enable power on motor |
| OffInput: DevVoid Output: DevVoid |
Desable power on motor |
| GoHomeInput: DevVoid Output: DevVoid |
Move the motor to the home position given by a home switch. |
| AbortInput: DevVoid Output: DevVoid |
Stop immediately the motor |
| StepUpInput: DevVoid Output: DevVoid |
perform a relative motion of "stepSize" in the forward direction. StepSize is defined as an attribute of the device. |
| StepDownInput: DevVoid Output: DevVoid |
perform a relative motion of "stepSize" in the backward direction. StepSize is defined as an attribute of the device. |
Pipes:
Properties:
| Name | Description |
|---|---|
| CalibratedDevBoolean | When this property is different from 0, the motor is considered as calibrated and a certain number of attributes cannot be changed anymore.( e.g. step_per_unit) The goal is to avoid undesired change when the calibratiuon process has been performed. |
| Auto_offDevUShort | When different of 0, the motor will be automatically switched OFF few minute after the end of last movment. The value of the property define the number of minutes ) means no auto_off |
| HighLimitPosDevLong | position of the high limit switch expressed in steps |
| LowLimitPosDevLong | Position of the low limit switch expressed in steps |
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