Development status:
Released,
Release: Release_1_13
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexaSmarCtrl
Contact:
Class Description
Families: Motion
Key words:
Platform: Unix Like
Language: Cpp
Contact:
Hardware
Manufacturer: SmarAct
Bus: Not Applicable
Class interface
Attributes:
| Name | Description |
|---|---|
| VelocityScalar: DevDouble | Speed (for all axes) in m/s |
| AccelerationScalar: DevDouble | Acceleration (all axes) m/s2 |
| HomedScalar: DevBoolean | — |
| PivotModeScalar: DevBoolean | Pivot mode, false = relativ, true = fixed |
Commands:
| Name | Description |
|---|---|
| StateInput: DevVoid Output: State Device state |
This command gets the device state (stored in its device_state data member) and returns it to the caller. |
| StatusInput: DevVoid Output: ConstDevString Device status |
This command gets the device status (stored in its device_status data member) and returns it to the caller. |
| HomeInput: DevVoid Output: DevBoolean |
— |
| StopInput: DevBoolean if false, movement will be stopped with deceleration enabled if true, movement will be stopped at once Output: DevVoid |
Stop movement of all axes |
| MoveInput: DevString has to look like this: Output: DevVoid |
Move axis |
| PositionInput: DevString Output: DevDouble |
— |
| GetAxisNameInput: DevShort Output: DevString |
returns axis name for axis index number (0 - 5) |
| MovingInput: DevVoid Output: DevBoolean |
— |
| SetUnitInput: DevString Output: DevVoid |
— |
| GetUnitInput: DevString Output: DevString |
— |
| GetFactorInput: DevString Output: DevDouble |
— |
| ReachableInput: DevString has to look like this: Output: DevBoolean true: position is reachable false: position is not reachable |
Checks whether a position is reachable |
| SetAxisNameInput: DevString like this `` Output: DevBoolean |
set axis name for axis index number (0 - 8) |
Pipes:
Properties:
| Name | Description |
|---|---|
| HostNameDevString | ip hostname or address in case ConnectType is net |
| PortNumberDevString | tcp port number in case ConnectType is `net` |
| SimulationModeDevBoolean | — |
| ConnectTypeDevString | connection type, can be `net` or `serial` |
| DeviceFileDevString | serial line device file in case ConnectType is serial |
| BaudRateDevLong | baud rate of serial line in case ConnectType is serial |
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