Development status:
Released,
Release: Release_1_10
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Encoder/IK220
Contact:
Class Description
Class for encoder talking to IK220 PCI card of Heidenhain
Families: Instrumentation
Key words:
Platform: Unix Like
Language: Cpp
Contact:
Hardware
Manufacturer: none
Bus: Not Applicable
Class interface
Attributes:
| Name | Description |
|---|---|
| PositionScalar: DevDouble | Calculated position from encoder |
| OffsetScalar: DevDouble | Offset for position calculation |
| ConversionScalar: DevDouble | Conversion factor for position calculation |
| StatusPortScalar: DevLong | — |
| P1Scalar: DevLong | 0: Incremental encoder (default)\n1: EnDat encoder\n2: SSI encoder |
| P2Scalar: DevLong | 0: 11 muApp (current measurement)\n1: 1 Vpp (voltage measurement) (default) |
| P3Scalar: DevLong | 0: Linear axis\n1: Angular axis +/- infinite |
| P4Scalar: DevLong | 0: Positive counting direction\n1: Negative counting direction |
| P5Scalar: DevLong | 0 to 0xffffffff: Signal periods/revolution for angular\naxes, effective only if parameter 3 = 1, Default value 0 |
| P6Scalar: DevLong | 0: Single REF mark (default)\n500: distance-coded REF marks. Fixed interval 500 x GP\n1000: distance-coded REF marks. Fixed interval 1000 x GP\n2000: distance-coded REF marks. Fixed interval 2000 x GP\n5000: distance-coded REF marks. Fixed interval 5000 x GP |
| P7Scalar: DevLong | 0 to 12: Number of interpolation bits (default 12)\nThe interpolation value (16-bit width, max 12 significant bits, \nleft-aligned) is rounded off to the number of set bits. |
| P8Scalar: DevLong | 0: compensation for position value off (default).\n1: compensation for position value on |
| P9Scalar: DevLong | 0: acquisition of compensation value off (default) \n1: acquisition of compensation value on |
| P10Scalar: DevLong | 1 to 8: Number of measuring points per octant \nwithin a signal period for calculation of compensantion\nvalues. Default value 1. |
| P11Scalar: DevLong | 16 to 47: Time interval for timer.\nDefault value 33 corresponds to 1 ms. |
| FlagIgnoreStatusScalar: DevLong | If true: ignore status in reading position. |
Commands:
| Name | Description |
|---|---|
| CalibrateInput: DevDouble Calibrate position Output: DevLong Completion status |
Calibrate encoder. Compute offset from calibrate and current positions. |
| InitEncoderInput: DevVoid Output: DevLong Completion status |
Init encoder |
| 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. |
| SetCorrectionOffOnInput: DevLong 0 -> correction off, 1-> correction on (P9) Output: DevLong Completion status |
Set correction off or on setting P9 to 0 or 1 respectively. |
| DoReferenceInput: DevVoid Output: DevLong Completion status |
Start reference-seeking |
| CancelReferenceInput: DevVoid Output: DevLong Completion status |
Cancel reference |
Pipes:
Properties:
| Name | Description |
|---|---|
| ChannelDevUShort | Channel number. 0 or 1, selecting /dev/enc/0 or /dev/enc/1. |
| ModeDevUShort | 0 -> current measurement 1 -> voltage measurement |
| SimulationModeDevULong | 0 real mode, 1 simulation mode |
| DeviceDirDevString | Directory containing the encoder device files, e.g. /dev/ik220. Devices are expetected to be named DeviceDir/channelNumber, e.g. /dev/ik220/0, /dev/ik220/1 etc. |
Please log in to comment.