Development status:
Released,
Release: release_1_0_3
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexapodPI
Contact:
Class Description
controls hexapods from PI
Families: Motion
Key words: Hexapods
Platform: All Platforms
Language: Cpp
Contact:
Hardware
Manufacturer: PI (Physik Instrument)
Product:
PI M810
Bus: Ethernet
Class interface
Attributes:
| Name | Description |
|---|---|
| xScalar: DevDouble | — |
| yScalar: DevDouble | — |
| zScalar: DevDouble | — |
| uScalar: DevDouble | — |
| vScalar: DevDouble | — |
| wScalar: DevDouble | — |
| freezeScalar: DevBoolean | — |
| velocityScalar: DevDouble | — |
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 |
starts the homing process |
| GoToPositionInput: DevVarDoubleArray Output: DevVoid |
sends the hexapod to the 6 given positions values X Y Z U V W |
| SetSystemCoordinatesInput: DevVarDoubleArray Output: DevVoid |
sets the system coordinates (Pivot Point) to the 3 XYZ coordinates must be at home point (0,0,0,0,0,0) to accept the change of Pivot point |
| GetSystemCoordinatesInput: DevVoid Output: DevVarDoubleArray |
gets Pivot Point coordinates |
| StopInput: DevVoid Output: DevVoid |
Stops all movements |
| OffInput: DevVoid Output: DevVoid |
disble servos |
| OnInput: DevVoid Output: DevVoid |
enable servos |
Pipes:
Properties:
| Name | Description |
|---|---|
| UrlDevString | IP Address of the HXP Controller |
| PortDevLong | port to connect to HXP |
| PeriodDevShort | polling period |
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Generated
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.