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Rating Count: 0

Development status: Released, Release: RELEASE_2_1
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/icepap
Contact:



Class Description


A class to control a motor via IcePAP driver board. It uses the IcePapController device server to communicate with the driver board via the IcePAP controller unit and TCP/IP socket.

Families: Motion

Key words:

Platform: All Platforms

Language: Cpp

License:

Contact:

Hardware


Manufacturer: none

Bus: Ethernet

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
HardLimitHighScalar: DevBoolean
HardLimitLowScalar: 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
ConfigModeScalar: DevShort the mode can be operation, program,test, fail, config
HomeVelocityScalar: DevDouble Home velocity
TemperatureScalar: DevDouble Temperature of the board
StepSizeScalar: DevDouble Size of the relative step performed by the StepUp and StepDown commands. The StepSize is expressed in physical unit.
JogVelocityScalar: DevDouble the current axis will move in jog mode at the specified velocity until other request The axis will stop only when this jog velocity is back to 0. If the jog velocity is not modifyed after jogtimeout, it will automatically be switch back to 0

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.
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
DefineEncoderPositionInput: DevDouble
Output: DevVoid
Change current position register (in user units)
RawComInput: DevString
Output: DevString
send manually raw protocol commands and get the answer
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.
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.

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.
ControllerDeviceDevString The TANGO device name of an IcePAP controller. Is used to access the corresponding IcePapController device server.
BoardNumberDevShort The number of a motor driver board in the IcePAP system. Decimal: XXN, where XX - rack number (0-15) and N - the driver board number in a rack (1-8)
Auto_offDevUShort if !=0, the axe will be automatically switched off few minutes after the last change
JogTimeoutDevDouble the time in second to stop a jog after the last request. if no further jog velocity is requested. This avoid infinite movement in case of broken communication between client and server If this property is 0, the jog will go forever

Class Description


A class to perform tcp/ip connections and data transmissions exchages with the IcePAP controller unit.

Families: Motion

Key words:

Platform: All Platforms

Language: Cpp

License:

Contact:

Hardware


Manufacturer: none

Bus: Socket

Class interface


Attributes:

Name Description
LocationScalar: DevString location of the icepap controller (useful in case of need)

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.
GetIPInput: DevVoid
Output: DevString
IP address or host name of the IcePAP controller
The command to extract an IP address of the IcePAP controller - this is the only command that has sence for this device server
GetTimeoutInput: DevVoid
Output: DevDouble
time-out in sec, for TCP/IP communications
Retrives from the property the TCP/IP communications time-out value in sec
raw_cmdInput: DevString
command to send
Output: DevString
answer
send a command on the socket

Pipes:

Properties:

Name Description
IPaddressDevString A string containing either the internet host name, or IP address of the IcePAP controller unit
Comm_timeoutDevDouble A time-out (in seconds) for the TCP/IP communication.
IPMASKDevString give the IP mask for write access. any client should be inside the IP mask to be allowed to write
LocationDevString name of the room hosting the icepap controller

Class Description


drive an axis which move on an excentric circular axis. It calculate the real position on the basis of the angle

Families: Motion

Key words:

Platform: All Platforms

Language: Cpp

License: GPL

Contact:

Hardware


Manufacturer: ESRF

Product:

Icepap

Bus: TCP/UDP

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
HardLimitHighScalar: DevBoolean
HardLimitLowScalar: 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
ConfigModeScalar: DevShort the mode can be operation, program,test, fail, config
HomeVelocityScalar: DevDouble Home velocity
TemperatureScalar: DevDouble Temperature of the board
AngleScalar: DevDouble The actual motor position.
SensorPositionScalar: DevDouble
PositionErrorScalar: DevDouble difference between the motor counter and the sensor position

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
DefineEncoderPositionInput: DevDouble
Output: DevVoid
Change current position register (in user units)
RawComInput: DevString
Output: DevString
send manually raw protocol commands and get the answer

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.
ControllerDeviceDevString The TANGO device name of an IcePAP controller. Is used to access the corresponding IcePapController device server.
BoardNumberDevShort The number of a motor driver board in the IcePAP system. Decimal: XXN, where XX - rack number (0-15) and N - the driver board number in a rack (1-8)
Auto_offDevUShort if !=0, the axe will be automatically switched off few minutes after the last change
ExcentricityDevDouble excentricity of the axis expressed in mm
SensorDeviceDevString name of the Tango device providing the position measurment


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23 Feb 2017, Piotr Goryl
Updated:
A device class has been added.
You can see previous version here .



23 Feb 2017, Piotr Goryl
Updated:
A device class has been added.
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 .



19 Jan 2017, Piotr Goryl
Updated:
The device server 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 .



3 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



3 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .



3 Jan 2017, Piotr Goryl
Created:
The device server has been added to catalogue.
Added by:pgoryl2 on:3 Jan 2017, 3 p.m.