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Development status: New development
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/LABMotionDB3UDP
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Class Description


Tango server to drive axes connected to a Drivebox Motion Controller via UDP

Families: Motion

Key words:

Platform: Unix Like

Language: Python

License: GPL

Contact:

Hardware


Manufacturer: LAB Motion Systems

Product:

Bus: Not Applicable

Class interface


Attributes:

Name Description
JogSpeedScalar: DevDouble Velocity in units/sec used when running the Jog command. Sign defines the direction.
HomePositionScalar: DevDouble Position value in units which will be set when reference mark is hit when running Home.
HomeSpeedScalar: DevDouble Velocity in units/sec used when running a home sequence. Sign defines the direction.
StepPositionScalar: DevLong64 Write / read position in encoder steps ( writing will start movement). UnitLimitMin/Max is not taken into acoount.
ReverseLimitSwitchScalar: DevBoolean State of reverse limit switch (true = hit)
ForwardLimitSwitchScalar: DevBoolean State of forward limit switch (true = hit)
ServoStateScalar: DevBoolean Read servo state (true = on, false = off).
MotorStateScalar: DevBoolean Read motor state / turn motor on / off (true = on, false = off).
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.
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.
DecelerationScalar: DevDouble maximum allowed deceleration in units/s^2
AccelerationScalar: DevDouble maximum allowed acceleration in units/s^2
SlewRateScalar: 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)
UnitLimitMaxScalar: DevDouble Maximum value to be given to the Position attribute. If both UnitLimitMin/UnitLimitMax are set to 0 limits are disabled.
UnitLimitMinScalar: DevDouble Minimum value to be given to the Position attribute. If both UnitLimitMin/UnitLimitMax are set to 0 limits are disabled.
PositionScalar: DevDouble Write / read position in units ( writing will start movement)
MoveUnhomedScalar: DevBoolean If set to true, it is possible to move the axis even if it was not referenced (i.i. PositionKnow = false)
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.
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.

Commands:

Name Description
CalibrateInput: DevDouble
new position
Output: DevVoid
Define current position as position given in input argument
CtrlCmdInput: DevString
Output: DevString
Execute deliberate command on the controller. If characters like `[` are part of the command include command in double quotes.
StopInput: DevVoid
Output: DevVoid
Stop movement
JogInput: DevVoid
Output: DevVoid
Let axis move continuously. Velocity / direction is set via Attribute JogSpeed.
HomeInput: DevVoid
Output: DevVoid
Drive axis to the reference mark. Check HomeSpeed/HomePosition before running this command.
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
MotorOffOnExitDevBoolean If set to true, motor will be disabled on server termination.
PortNumberDevLong port number
HostNameDevString hostname or IP address if connecting via terminal server


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3 Sep 2022, DS Admin
Updated:
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23 Jul 2022, DS Admin
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16 Jul 2022, DS Admin
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9 Jul 2022, DS Admin
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2 Jul 2022, DS Admin
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25 Jun 2022, DS Admin
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18 Jun 2022, DS Admin
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11 Jun 2022, DS Admin
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4 Jun 2022, DS Admin
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30 May 2022, DS Admin
Updated:
The device class has been updated.
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28 May 2022, DS Admin
Updated:
The device class has been updated.
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21 May 2022, DS Admin
Updated:
The device class has been updated.
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14 May 2022, DS Admin
Updated:
The device class has been updated.
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7 May 2022, DS Admin
Updated:
The device class has been updated.
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30 Apr 2022, DS Admin
Updated:
The device class has been updated.
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23 Apr 2022, DS Admin
Updated:
The device class has been updated.
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16 Apr 2022, DS Admin
Updated:
The device class has been updated.
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9 Apr 2022, DS Admin
Updated:
The device class has been updated.
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2 Apr 2022, DS Admin
Updated:
The device class has been updated.
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26 Mar 2022, DS Admin
Updated:
The device class has been updated.
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19 Mar 2022, DS Admin
Updated:
The device class has been updated.
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12 Mar 2022, DS Admin
Updated:
The device class has been updated.
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5 Mar 2022, DS Admin
Updated:
The device class has been updated.
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26 Feb 2022, DS Admin
Updated:
The device class has been updated.
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19 Feb 2022, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



12 Feb 2022, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



5 Feb 2022, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



29 Jan 2022, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



22 Jan 2022, DS Admin
Updated:
The device class has been updated.
You can see previous version here .



15 Jan 2022, DS Admin
Created:
The device class has been added to catalogue.
Added by:dadmin on:15 Jan 2022, 4:50 a.m.