Development status:
Released,
Release: Release_2_0
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/Pmac/PmacEth
Contact:
Class Description
Device Server for PMAC over Ethernet
Families: Motion
Key words: - MotorControllers
Language: Cpp
Contact:
Class interface
Attributes:
| Name | Description |
|---|---|
| PositionScalar: DevLong | — |
| VelocityScalar: DevLong | — |
| FollowErrScalar: DevLong | — |
Commands:
| Name | Description |
|---|---|
| DisablePLCInput: DevShort Output: DevVoid |
Disables PLC on Pmac. |
| GetFeedrateOverrideInput: DevVoid Output: DevDouble |
Report current feedrate override value. |
| 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. |
| OpenConnectionInput: DevVoid Output: DevVoid |
Open TCP connection with the PMAC controller card. The device property IP_address must contain the actual PMAC IP address. |
| CloseConnectionInput: DevVoid Output: DevVoid |
Close current TCP connection between PC & PMAC. |
| AboutPmacInput: DevVoid Output: DevString |
Display information about PMAC controller card. |
| FirmwareInfoInput: DevVoid Output: DevString |
Display information about PMAC firmware in use. |
| GetIPaddrInput: DevVoid Output: DevString |
Get current/set PMAC IP address from controller card. |
| SetIPaddrInput: DevString Output: DevVoid |
dotted decimal form. |
| JogPlusInput: DevVarShortArray Output: DevVoid |
Jog motor indefinitely in the positive direction. |
| JogMinusInput: DevVarShortArray Output: DevVoid |
Jog motor indefinitely in the negative direction. |
| JogStopInput: DevVarShortArray Output: DevVoid |
Stop jogging motor. Restore position control if motor was killed. |
| JogToPosInput: DevVarDoubleArray Output: DevVoid |
Jog motor to specified position. |
| JogDistFromPosInput: DevLong Output: DevVoid |
Jog motor specified distance from the current actual position. |
| JogDistFromCmdPosInput: DevLong Output: DevVoid |
Jog motor specified distance from the current commanded position. |
| SetFeedrateOverrideInput: DevFloat Output: DevVoid |
Set feedrate override (percentage). |
| ResetMotorInput: DevVarShortArray Output: DevVoid |
Reset feedback device(s) and phasing. |
| HomeMotorInput: DevVarShortArray Output: DevVoid |
Perform homing routine for current motor. |
| HomeZeroMotorInput: DevVarShortArray Output: DevVoid |
Perform zero-move routine for current motor. |
| KillMotorInput: DevVarShortArray Output: DevVoid |
Kill output for current motor. |
| ClearAmplifFaultInput: DevVoid Output: DevVoid |
Clear Geo amplifier fault display. (Geo PMAC only) |
| GlobalResetInput: DevVoid Output: DevVoid |
Global reset, including all motors & coordinate systems. |
| GlobalResetReinitInput: DevVoid Output: DevVoid |
Global reset & re-initialize controller card. |
| SendCtrlCharInput: DevString Output: DevString |
Send a control character to the PMAC card & get its response, if any. |
| GlobalStatusInput: DevVoid Output: DevString |
Report global status. |
| CoordSysStatusInput: DevVoid Output: DevString |
Report current coordinate system status. |
| GetIVariableInput: DevULong Output: DevDouble |
Report the value of the I variable indicated in Command Argin. |
| SetIVariableInput: DevVarDoubleArray Output: DevVoid |
Set the I variable indicated in the first element of Command Argin to the value specified by the second element of Command Argin. |
| GetMVariableInput: DevULong Output: DevDouble |
Report the value of the M variable indicated in Command Argin. |
| SetMVariableInput: DevVarDoubleArray Output: DevVoid |
Set the M variable indicated in the first element of Command Argin to the value specified by the second element of Command Argin. |
| GetPVariableInput: DevULong Output: DevDouble |
Report the value of the P variable indicated in Command Argin. |
| GetPVariableRangeInput: DevVarULongArray Output: DevVarDoubleArray |
None. |
| SetPVariableInput: DevVarDoubleArray Output: DevVoid |
Set the P variable indicated in the first element of Command Argin to the value specified by the second element of Command Argin. |
| SaveIVarsInput: DevVoid Output: DevVoid |
Save I variables into non-volatile memory. |
| DownloadFileInput: DevString Output: DevVoid |
Download file to PMAC card. |
| UploadVarsInput: DevString Output: DevVoid |
Upload variables from PMAC. |
| UploadProgInput: DevString Output: DevVoid |
Not implemented yet. |
| GetMotorNoInput: DevVoid Output: DevShort |
Get current motor number. |
| SetMotorNoInput: DevShort Output: DevVoid |
Set current motor number. |
| DefineCoordSysInput: DevVarDoubleArray Output: DevVoid |
Define a coordinate system for the current motor axis, specifying scale factor & offset. |
| GetCoordSysInput: DevVoid Output: DevString |
Report axis definition of current motor in current coordinate system. |
| OnlineCmdInput: DevString Output: DevString |
Executes an online command on Pmac. |
| EnablePLCInput: DevShort Output: DevVoid |
Enables PLC on Pmac. |
| RunMotionProgInput: DevShort Output: DevVoid |
Run motion program on Pmac. |
| GetMotorPosInput: DevShort Output: DevDouble |
Get motor position. |
| ListPLCInput: DevShort Output: DevVarStringArray |
None. |
Pipes:
Properties:
| Name | Description |
|---|---|
| IP_addressDevString | IP address of PMAC controller card. |
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README
b'Author: zreszela@cells.es\n\nHere you will find information how to compile and use PmacEth device server:\n\nPmacEth device server supports only linux platform, \nand is compatible with Pmac2 and Turbo Pmac2 motion controllers\nIt requires tango libraries (and includes - for compilation). \n\n1. Compilation of communication library\n\tIn comm_lib directory execute make command.\n\n2. Compilation of device server.\n\tMakefile uses SICILIA environment variable as a root place of tango system. \n\tSICILIA name comes from internal ALBA development configuration, \n\tand will be change soon to TANGO_HOME. For the moment please treat it as TANGO_HOME \n\tand forgive me that:)\n\tTANGO_HOME(SICILIA) environment variable points to tango system home.\n\tIt requires at least following directory structure:\n\n\tTANGO_HOME \n\t|---include (subdirectory with tango, omniORB include files)\n\t|---lib (subdirectory with tango, omniORG shared libraries)\n\n3. Configuration of PmacEth device server in Tango Database.\n\tIn database create device server PmacEth instance, with one device of class PmacEth.\n\tAdd device property IP_address with value corresponding to ip of the controller.\n\n4. Start your server. \n\n5. Device will be OFF state until you call OpenCommunication command. \n\tAfter that, you can enjoy work with PmacEth device server:)\n\n \n\n\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.