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Development status: Released, Release: Release_1_0
Information status: Updated
Repository: http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/OmsServo
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Class Description

Pro-Dex/OMS servo motor controller

Families: Motion

Key words:

Platform: Unix Like

Language: Cpp

License: GPL

Contact:

Hardware

Manufacturer: Pro-Dex

Product:

MaxV series

Bus: VME

Class interface

Attributes:

Name Description
ParkingActiveScalar: DevShort —
ParkingAutomaticScalar: DevShort —
ParkingSettleTimeScalar: DevDouble max = 1000\nmin = 0
ConversionScalar: DevDouble —
InvertEncoderDirectionScalar: DevShort —
InvertVoltageScalar: DevShort —
AccelerationScalar: DevDouble —
AccelerationUnitsScalar: DevDouble —
VelocityScalar: DevDouble —
VelocityUnitsScalar: DevDouble —
PIDProportionalGainScalar: DevDouble PID gain, proportional part
PIDIntegralGainScalar: DevDouble PID gain, integral part
PIDIntegralUpperSumLimitScalar: DevLong PID integral upper sum limit. Default is 200.
PIDDerivativeGainScalar: DevDouble PID gain, derivative part
PIDAccFeedforwardScalar: DevDouble PID Acceleration feedforward\nDefault = 0
PIDVelocityFeedforwardScalar: DevDouble PID Velocity feedforward\nDefault = 0
PIDFrictionCoefficientScalar: DevDouble PID Friction coefficient
PIDDeadbandHoldScalar: DevLong —
PIDDeadbandHoldUnitsScalar: DevDouble —
PIDDeadbandHoldTimeScalar: DevLong The axis has to hold the specified position for this many milliseconds before the axis signals done.
PIDMaxOutputVoltageScalar: DevDouble PID Maximum output voltage\nDefault = 0 (setting disabled)
PIDServoVoltageDeadbandScalar: DevDouble Deadband value for piezoelectric servo motors
PIDServoOffsetScalar: DevDouble PID offset.
PIDactiveScalar: DevShort —
PIDstatusScalar: DevString —
PositionScalar: DevDouble —
PositionRawScalar: DevDouble —
ResetModuloPositionScalar: DevDouble Divides the axis position counter by the parameter supplied and replaces the\naxis position counter with the resulting remainder.
RemainingMoveTimeScalar: DevDouble —
ServoOutputVoltageScalar: DevFloat —
FlagMotorHomedScalar: DevShort —
HomeFoundPositionScalar: DevDouble —
FlagSlipStatusScalar: DevShort —
FlagCwLimitScalar: DevShort —
FlagCcwLimitScalar: DevShort —
FlagOvertravelScalar: DevShort —
FlagSetupReadyScalar: DevShort —
FlagEncoderErrorScalar: DevShort —
DoneDetectionModeScalar: DevShort 0 = Interrupt when approx. done\n1 = Interrupt when in exact position (+/- deadband)
EncoderSlipToleranceScalar: DevLong Slip tolerance in counts. The closed loop will be turned off \nwhen the error exceeds this value.
EncoderSlipToleranceUnitsScalar: DevDouble Slip tolerance in units. The closed loop will be turned off \nwhen the error exceeds this value.
SlipKillModeScalar: DevShort —
RampDownLimitsActiveScalar: DevShort —
SoftLimitMinUnitsScalar: DevDouble —
SoftLimitMaxUnitsScalar: DevDouble —
HomeOffsetUnitsScalar: DevDouble —
AuxiliaryControlAtVelocityScalar: DevShort 0 = The auxiliary pin is left alone\n1 = The auxiliary pin will be turned on when the motor has reached\na constant velocity, and off when the motor stops.\n
AuxiliaryControlPolarityScalar: DevShort 0 = The auxiliary pin is HIGH during move.\n1 = The auxiliary pin is LOW during move.\n
ElectronicGearingActiveScalar: DevUShort 0 = Inactive\n1 = Active
ElectronicGearingMasterAxisScalar: DevUShort 0 = X\n1 = Y\n2 = Z\n3 = T\n4 = U\n5 = V\n6 = R\n7 = S
ElectronicGearingMasterAxisRatioScalar: DevLong 0 = X\n1 = Y\n2 = Z\n3 = T\n4 = U\n5 = V\n6 = R\n7 = S
ElectronicGearingSelfAxisRatioScalar: DevLong 0 = X\n1 = Y\n2 = Z\n3 = T\n4 = U\n5 = V\n6 = R\n7 = S

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.
AbortMoveInput: DevVoid
Output: DevShort
Completion status		 Aborts move
CheckMoveInput: DevVoid
Output: DevLong
return value		 The function returns 1 if the motor is moving
LoadPositionInput: DevLong
Position to load as current position
Output: DevShort
Completion status		 —
LoadPositionUnitsInput: DevFloat
Output: DevVoid		 Set the current position in user units
MoveAbsoluteInput: DevDouble
Absolute position in counts
Output: DevLong
Completion status		 —
MoveAbsoluteUnitsInput: DevFloat
Output: DevVoid		 Move to an absolute position in user units
MoveHomeInput: DevVoid
Output: DevLong
Completion status		 Homes the motor automatically. If no reference mark is found in either direction, it will generate an error.
MoveHomePositiveInput: DevVoid
Output: DevVoid		 —
ResetMotorInput: DevVoid
Output: DevLong
Completion status		 Reset the motor
GetBoardInfoInput: DevVoid
Output: DevString		 —
WriteReadInput: DevString
Output: DevString		 —

Pipes:

Name Description

Properties:

Name Description
BaseDevULong VME card base address
ChannelDevULong Channel number
TypeDevUShort Motor type. 0 -> Stepper motor 1 -> Servo motor 2 -> Stepper motor with encoder
IgnoreLimitSwitchesDevULong set to 1: the server will ignore any limit switch signals, so you can move a motor with no switches connected set to 0: the server will honour limit switch signals
InvertParkingLogicDevShort 0 means the Parking function is active when the Auxiliary bit is 1 1 means the Parking function is active when the Auxiliary bit is 0
HomeLogicDevString Defines the home logic (reference mark). Format is [Stepper home signal][Encoder reference][Encoder A][Encoder B]. See MaxV manual for more information.

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13 Jan 2018, DS Admin
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.
Added by:pgoryl2 on:2 Jan 2017, 2:53 p.m.