Development status:
Released,
Release: release_1_2_17
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexapodFMB
Contact:
Class Description
provides 3 fixed positions for high level use of FMB Oxford
Families: Motion
Key words: - Hexapods
Platform: All Platforms
Language: Cpp
Contact:
Hardware
Manufacturer: none
Bus: Ethernet
Class interface
Attributes:
| Name | Description |
|---|---|
| selectedAttributeNameScalar: DevString | — |
| labelListSpectrum: DevString | — |
Commands:
| Name | Description |
|---|---|
| StateInput: DevVoid Output: State |
This command gets the device state (stored in its device_state data member) and returns it to the caller. |
| StatusInput: DevVoid Output: DevString |
This command gets the device status (stored in its device_status data member) and returns it to the caller. |
| InitializeReferencePositionInput: DevVoid Output: DevVoid |
Homes the hexapod (send it to Home position and stays there)) |
| StopInput: DevVoid Output: DevVoid |
None. |
Pipes:
Properties:
| Name | Description |
|---|---|
| UrlDevString | IP Address of the Hexapod Controller |
| PortDevShort | port to connect to Hexapod Controller |
| FixedPositionsPropString[]Type | Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1 |
| FixedPositionsSyntaxString[]Type | Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1 |
| DeadbandDouble[]Type | array of deadband (1 for each axis, ordered as in FixedPositionSyntax) the current position is considered good if position reaches the position +/- the deadbands |
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README
b'\nTechnical requirements\n=======================\n- The YAT library MUST be used by COSYLAB to manage Exceptions, Sockets , and String/numerical conversions. \nYAT library is available from the public projet tango-ds hosted on Sourceforge :\nhttp://tango-ds.cvs.sourceforge.net/viewvc/tango-ds/Libraries/YAT/\n- \n\nFunctional requirements\n=======================\nThe file hexapod.h and hexapod_states_definitions.h defines SOLEIL MANDATORY functional requirements to drive the hexapod and deal with states of the systems\n\n\nError handling \n===============\n....\n\nCoding requirements\n===================\nTo ease the future maintenance of the library, some good programming practices should be followed by COSYLAB. \nThe files hexapod_definitions.h and hexapod.cpp proposes first idea of code implementations.\n\n\n\n'
Updated:
The device class has been updated.
You can see previous version here .
23 Feb 2017, Piotr Goryl
Created:
The device class has been added to catalogue.