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Development status: New development
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/StandardInterfaces/Motor

Class Description

An abstract class for stepper motot

Families: AbstractClasses

Key words:

Platform: All Platforms

Language: Cpp




Manufacturer: none

Bus: Not Applicable

Class interface


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 unit/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


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



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.

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23 Feb 2017, Piotr Goryl
The device class has been updated.
You can see previous version here .

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

3 Jan 2017, Piotr Goryl
The device server has been added to catalogue.
Added by:pgoryl2 on:3 Jan 2017, 3:02 p.m.