This is historical information of device classes implemented in Spk device server.

Use this link to find the valid information.

Development status: Released
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/Spk
Contact:


Class Description

the interface to the large offset monochromator motors

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License:

Contact:

Hardware

Manufacturer: none

Bus: Not Applicable

Class interface

Attributes:

Name Description
CwLimitScalar: DevLong CW limit status, hardware
CcwLimitScalar: DevLong CCW limit status, hardware
UnitLimitMaxScalar: DevDouble software limit, rw
UnitLimitMinScalar: DevDouble software limit, rw
SettleTimeScalar: DevDouble Online sleeps SettleTime seconds after each move
FlagProtectedScalar: DevLong if 1, no write operations to the server are allowed
FlagMotorReadyScalar: DevLong OmsVme58 compatibility feature
StepPositionControllerScalar: DevLong compatibility feature
StepPositionInternalScalar: DevLong —
SlewRateScalar: DevLong compatibility feature
UnitBacklashScalar: DevDouble if > 0, the backlash is done when goind down
PositionScalar: DevDouble —
HomePositionScalar: DevDouble Setting the offset effectively sets the home position,\nmaintained by the PLC - no need to memorize
FlagEncoderHomedScalar: DevLong 1, if the encoder was homed
FlagEncoderHomeDefinedScalar: DevLong always 1
CurrentUnitPositionScalar: DevDouble obsolete, use Position instead
ErrorCodeScalar: DevLong the error code\n0 no error\n1 emergency power off\n2 unexpected limit switch\n3 at a limit during power-on\n4 both limits\n5 homing blocked by limit switch\n6 wrong limit during homing\n7 schlupf more than 1 mm\n8 inconsistent limits\n9 hardware error, motor\n10 hardware error, encoder
ConversionFactorScalar: DevDouble the factor is used to convert the PLC positions to \nphysical quantities, pos = PlcUnits*convFactor/1000. \n'1000' because the PLC measures the position in microns.
IgnoreLimitsScalar: DevLong if set, the limit switches are ignored
PositionSetPointScalar: DevDouble stores the setpoint
UnitLimitMaxHWScalar: DevDouble the hardware limit, in units, conversion and home position\nare taken into account, ro
UnitLimitMinHWScalar: DevDouble the hardware limit, in unit, conversion and home position\nare taken into account, ro
EncoderOffsetScalar: DevDouble in micrometer, posPLC = Encoder + HomePosition + EncoderOffset, \npos = posPLC/1000*conversion

Commands:

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.
CompleteMoveInput: DevVoid
Output: DevLong
return status of execution		 It no action
SetupUnitMoveInput: DevDouble
final position, in units
Output: DevLong
completion status		 prepares a move, calulates the new step position from the argument, the calibration value and the conversion factor, takes backlash into account, sets FlagMotorReady
StartMoveInput: DevVoid
Output: DevLong
completion status		 a motor with FlagMotorReady == 1 is started, the function returns immediately, Better: move a motor by writing to Position attribute
StopMoveInput: DevVoid
Output: DevLong
completion status		 stop a movement, return immediately, don't wait for de-acceleation, don't do backlash
MoveInput: DevDouble
Final position, in units
Output: DevLong
Completion status		 Setup motor, start move, complete move. Better: move a motor by writing to the 'Position' attribute
ResetMotorInput: DevVoid

Output: DevLong
Completion status		 Sets and clears the 'Reinitialisierung'-Bit
CalibrateInput: DevDouble
Value to be calibrated
Output: DevLong
Completion status		 Calibrate the motor: current position is calibrated to be the value given as an argument, changes the home position
UserCalibrateInput: DevDouble
Value to be calibrated
Output: DevLong
Completion status		 Uses an user calibration for calibrating the motor keeping the general one.
CheckMoveInput: DevVoid
Output: DevLong		 returns MOVING or ON
GetStepPositionInput: DevVoid
Output: DevLong		 —
MoveHomeInput: DevVoid
Output: DevVoid		 Start the homing procedure
ClearErrorInput: DevVoid
Output: DevVoid		 resets the errors
SaveEncoderOffsetInput: DevVoid
Output: DevVoid		 saves the encoder offset
LoadEncoderOffsetInput: DevVoid
Output: DevVoid		 loads the encoder offset
CalibrateEncoderInput: DevDouble
Value to be calibrated
Output: DevLong
Completion status		 changes the encoder offset
ResetLimitPositionsInput: DevVoid
Output: DevVoid		 resets the PLC limit positions
ClearLimitPositionsInput: DevVoid
Output: DevVoid		 If limts are hit, the SPS memorized the positions and uses the value as a hardware limit. This command restores the default hardware limits.

Pipes:

Name Description

Properties:

Name Description
PlcServerDevString the server which exports the SPK PLC
ChannelDevLong the channel selects the motor, the first motor starts at offset 512, the next motor at 512 + 256
SimulationModeDevULong 0 real mode, 1 simulation mode
FlagUseCollisionsSensorDevLong Set to 1 for using CollisionsSensor Server for checking possible collisions
CollisionsSensorDSDevString Name of the CollisionsSensor Device Server to be connected to.
CollisionsSensorBLDevString Beamline identification as string, needs for sending to CollisionsSensor.

README

b"\nthis server controls a Beckhoff PLC the steers 4 axes\n\nit depends on the ADS class\n\nit creates the Spk and Slt servers, they are identical\n\nFor DESY\n\n to make a new release: \n\n - edit Makefile to set a new version number and say 'make tag'\n\n to update an existing release\n\n - copy the relevant files to the release directory and commit it\n\n"

23 Feb 2017, Piotr Goryl
Updated:
The device class has been updated.
You are looking at this version now.


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


2 Jan 2017, Piotr Goryl
Created:
The device server has been added to catalogue.
Added by:pgoryl2 on:23 Feb 2017, 10:48 a.m.