Development status:
Released,
Release: Release_1_2
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexaSmarUnit
Contact:
Class Description
Class controlling one Smaract Hexapod rack module (for units using ascii interface and controlled via SmarAct Embedded Controller Module (ECM))
Families: Motion
Key words:
Platform: Unix Like
Language: Cpp
License: GPL
Contact:
Hardware
Manufacturer: Smaract
Product:
Bus: Not Applicable
Class interface
Attributes:
| Name | Description |
|---|---|
| VelocityScalar: DevDouble | Set closed loop movement speed (value of 0 deactivates the speed control feature). In this case speed is limited by the value for MaxFrequency. |
| AccelerationScalar: DevDouble | set closed loop acceleration (value of 0 deactivates the acceleration control feature.) If set to a value > 0 speed control will implicitly be enabled. |
| PivotModeScalar: DevString | Sets/gets the behavior of the pivot point when the stage is moved linearly. Valid values are `relative` or `fixed`. |
| MaxFrequencyScalar: DevDouble | The maximum closed-loop frequency in Hz. This value is used if Velocity is set to 0. |
| SensorModeScalar: DevShort | 0: sensors are disabled 1: sensors are permanently enabled 2: sensors are enabled in power-save mode |
| HomedScalar: DevBoolean | true: the positioners are referenced false: the positioners are not referenced |
| StopModeScalar: DevBoolean | true: movement will stop immediately false: movement will stop with waiting for deceleration |
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: DevVoid |
run reference mark search |
| StopInput: DevVoid Output: DevVoid |
stop all movements |
| MoveInput: DevVarDoubleArray 0: axis number 1: target position Output: DevVoid |
move a single axis (do not use directly, for use from HexaSmarMotor device) |
| SetPivotInput: DevVarDoubleArray 0: axis number 1: target pivot point Output: DevVoid |
set pivot point (do not use directly, for use from HexaSmarMotor device) |
| PositionInput: DevShort axis number Output: DevDouble current position |
get position for single axis (do not use directly, for use from HexaSmarMotor device) |
| GetPivotInput: DevShort axis number Output: DevDouble pivot point |
get pivot point (do not use directly, for use from HexaSmarMotor device) |
Pipes:
Properties:
| Name | Description |
|---|---|
| ControllerDeviceDevString | Name of SmarActMCSASCIICtrl controller device this unit is connected to |
| UnitNumberDevShort | Number of this unit (first = 0) |
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Generated
Updated:
The device class has been updated.
You can see previous version here .
23 Feb 2017, Piotr Goryl
Updated:
The device class has been updated.
You can see previous version here .
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.