This is historical information of device classes implemented in SmarActMCS2Ctrl device server.
Use this link to find the valid information.
Development status:
Released,
Release: Release_1_2
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/Smaract/SmarActMCS2Ctrl
Contact:
Class Description
Controller device server for MCS2 Smaract Control System.
Commands / attributes of this class should never be called directly, they are meant to be called from the SmarActMCS2Motor devices.
Families: Motion
Key words:
Platform: Unix Like
Language: Cpp
License: GPL
Contact:
Hardware
Manufacturer: Smaract
Product:
Bus: Not Applicable
Class interface
Attributes:
| Name | Description |
|---|---|
| StreamBaseRateScalar: DevLong | Stream base rate for trajectory streaming. Range: 10 - 1000 hz |
Commands:
| Name | Description |
|---|---|
| SetActuatorModeInput: DevVarLongArray 0: axis number 1: actuator mode Output: DevVoid |
— |
| HomeInput: DevULong axis number Output: DevVoid |
— |
| 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. |
| AxisStateInput: DevULong Axis number Output: DevUShort Axis status |
Returns 16-bit value describing channel state: 0 SA_CTL_CH_STATE_BIT_ACTIVELY_MOVING 0x0001 1 SA_CTL_CH_STATE_BIT_CLOSED_LOOP_ACTIVE 0x0002 2 SA_CTL_CH_STATE_BIT_CALIBRATING 0x0004 3 SA_CTL_CH_STATE_BIT_REFERENCING 0x0008 4 SA_CTL_CH_STATE_BIT_MOVE_DELAYED 0x0010 5 SA_CTL_CH_STATE_BIT_SENSOR_PRESENT 0x0020 6 SA_CTL_CH_STATE_BIT_IS_CALIBRATED 0x0040 7 SA_CTL_CH_STATE_BIT_IS_REFERENCED 0x0080 8 SA_CTL_CH_STATE_BIT_END_STOP_REACHED 0x0100 9 SA_CTL_CH_STATE_BIT_RANGE_LIMIT_REACHED 0x0200 10 SA_CTL_CH_STATE_BIT_FOLLOWING_LIMIT_REACHED 0x0400 11 SA_CTL_CH_STATE_BIT_MOVEMENT_FAILED 0x0800 12 SA_CTL_CH_STATE_BIT_IS_STREAMING 0x1000 14 SA_CTL_CH_STATE_BIT_OVER_TEMPERATURE 0x4000 15 SA_CTL_CH_STATE_BIT_REFERENCE_MARK 0x8000 |
| GetPositionInput: DevULong Axis number Output: DevLong64 Current position |
returns current position in encoder steps |
| SetMoveModeInput: DevVarLongArray 0: axis number 1: move mode: - 0 : closed loop absolute - 1 : closed loop relative - 2 : scan mode absolute - 3 : scan mode relative - 4 : step mode Output: DevVoid |
set move mode 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode |
| GetMoveModeInput: DevULong axis number Output: DevLong move mode: 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode |
get move mode 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode |
| GetStepAmplitudeInput: DevULong axis number Output: DevLong currently set step amplitude |
Gets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V |
| SetStepAmplitudeInput: DevVarLongArray 0: axis number 1: step amplitude Output: DevVoid |
Sets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V |
| GetStepFrequencyInput: DevULong axis number Output: DevLong currently set step frequency |
Gets step frequency for open-loop movements. Value range: 1 - 20000 Hz |
| SetStepFrequencyInput: DevVarLongArray 0: axis number 1: step frequency Output: DevVoid |
Sets step frequency for open-loop movements. Value range: 1 - 20000 Hz |
| SetPositionInput: DevVarLong64Array 0: Axis number 1: target position Output: DevVoid |
moves axis the effect of writing a position value depends on the set move mode |
| SetAutoZeroInput: DevVarULongArray 0: axis number 1: true = set position counter to 0 after reference mark was found 2: false = do nothing after reference mark was found Output: DevVoid |
sets auto zero property |
| GetAutoZeroInput: DevULong 0: axis number Output: DevBoolean true = position counter to will be set to 0 after reference mark was found false = nothing happens to position counter after reference mark was found |
gets auto zero property |
| GetVelocityInput: DevULong axis number Output: DevLong64 currently set closed loop velocity |
Gets closed loop velocity. |
| SetVelocityInput: DevVarLong64Array 0: axis number 1: new closed loop velocity Output: DevVoid |
Sets closed loop velocity Value range: 0 - 100000000000 |
| GetHoldTimeInput: DevULong axis number Output: DevULong currently set hold time |
Gets hold time for closed -loop movements. |
| SetHoldTimeInput: DevVarULongArray 0: axis number 1: hold time Output: DevVoid |
Sets hold time (time in ms the position is actively held after reaching the target posi-tion) for closed-loop movements. Value range: 0 - 4294967295 (0 disables holding, max value is for infinite, i.e. hold until motor is stopped) |
| GetPositionKnownInput: DevULong axis number Output: DevBoolean true: physical position is known false: physical position is not known |
Finds out whether the physical position of this axis is known. If false and the motor has an encoder with reference mark, run command `Home`. |
| GetAxisTypeInput: DevULong axis number Output: DevULong axis type: 0: linear movement 1: rotary movement 2: goniometer 3: tilt movement |
— |
| GetMaxFrequencyInput: DevULong axis number Output: DevLong currently set maximum closed loop frequency |
Gets maximumfrequency for closed-loop movements. |
| SetMaxFrequencyInput: DevVarLongArray 0: axis number 1: maximum closed loop frequency Output: DevVoid |
Sets maximum frequency for closed-loop movements. Value range: 50 - 20000 Hz |
| GetSensorTypeInput: DevULong axis number Output: DevULong Sensor type number |
Get sensor type number, check with hardware doc |
| GetMaxStepLimitInput: DevULong axis number Output: DevLong64 currently set range limit maximum |
— |
| GetMinStepLimitInput: DevULong axis number Output: DevLong64 currently set range limit minimum |
— |
| SetMaxStepLimitInput: DevVarLong64Array 0: axis number 1: maximum range limit Output: DevVoid |
— |
| SetMinStepLimitInput: DevVarLong64Array 0: axis number 1: minimum range limit Output: DevVoid |
— |
| CalibrateInput: DevULong axis number Output: DevVoid |
Perform calibration for channnel <axis number>. Should only be necessary if setup was changed (e.g. new / different positioner connected). Requires encoded positioner, encoder has to be enabled. |
| SetCalibrationOptionsInput: DevVarULongArray 0: axis number 1: calibration options bit field Output: DevVoid |
Set calibration option (used with Calibrate command) bit 0: Direction bit 1: Detect Distance Code Inversion bit 2: Advanced Sensor Correction bit 8: Limited Travel Range all other bits are reserved |
| GetCalibrationOptionsInput: DevULong axis number Output: DevULong currently set calibration options |
Get calibration option (used with Calibrate command) bit 0: Direction bit 1: Detect Distance Code Inversion bit 2: Advanced Sensor Correction bit 8: Limited Travel Range all other bits are reserved |
| HoldPositionInput: DevULong axis number Output: DevVoid |
Enables holding the current position by setting the move mode to closed loop relative movement and then driving by 0 encoder steps. (c.f. programmer manual, 2.6.4) |
| StopInput: DevULong axis number Output: DevVoid |
Stop movement on axis <axis number> |
| SetSensorModeInput: DevVarLongArray 0: axis number 1: sensor mode 0: sensor disabled 1: sensor continuously supplied with power 2: sensor power supply pulsed to keep the heat generation low Output: DevVoid |
— |
| GetSensorModeInput: DevULong axis number Output: DevLong sensor mode 0: sensor disabled 1: sensor continuously supplied with power 2: sensor power supply pulsed to keep the heat generation low |
— |
| GetAccelerationInput: DevULong axis number Output: DevLong64 currently set closed loop acceleration |
Gets closed loop acceleration |
| SetAccelerationInput: DevVarLong64Array 0: axis number 1: new closed loop acceleration Output: DevVoid |
Sets closed loop acceleration |
| GetActuatorModeInput: DevULong axis number Output: DevLong currently set actuator mode |
Gets currently set actuator mode |
| GetFollowingErrorLimitInput: DevULong axis number Output: DevLong64 currently set following error limit |
Gets currently set following error limit |
| SetFollowingErrorLimitInput: DevVarLong64Array 0: axis number 1: new following error limit Output: DevVoid |
Sets following error limit Value range: 0 - 100000000000000 |
| StartStreamingInput: DevString trajectory data file name Output: DevVoid |
Start trajectoy streaming. A file with trajectory data must exist and it`s path/name supplied as argument to this command. |
| SetSearchDirectionInput: DevVarULongArray 0: axis number 1: toggling true / false will reverse search direction on reference mark search Output: DevVoid |
sets search direction property |
| GetSearchDirectionInput: DevULong 0: axis number Output: DevBoolean |
gets search direction property |
Pipes:
Properties:
| Name | Description |
|---|---|
| HostNameDevString | Hostname / IP address of device |
| PortNumberDevString | Port number of controller |
| ConnectTypeDevString | either `net` or `usb` |
| USBIDDevString | Usb id of the device |
| PicoScaleHostNameDevString | If any axis use a Picoscale interferometer as encoder and the PicoScale is connected via network, put the Picoscales hostname/ip address here. |
| PicoScaleUSBIDDevString | If any axis use a Picoscale interferometer as encoderan an the Picoscale is connected vi usb, put the Picoscales usb id here. |
| PicoScaleConnectTypeDevString | either `net` or `usb` |
13 Nov 2021, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
11 Sep 2021, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
14 Aug 2021, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
27 Mar 2021, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
13 Jun 2020, DS Admin
Updated:
The device class has been updated.
You are looking at this version now.
12 Oct 2019, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
24 Aug 2019, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
10 Aug 2019, DS Admin
Created:
The device class has been added to catalogue.
Updated:
The device class has been updated.
You can see previous version here .
11 Sep 2021, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
14 Aug 2021, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
27 Mar 2021, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
13 Jun 2020, DS Admin
Updated:
The device class has been updated.
You are looking at this version now.
12 Oct 2019, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
24 Aug 2019, DS Admin
Updated:
The device class has been updated.
You can see previous version here .
10 Aug 2019, DS Admin
Created:
The device class has been added to catalogue.
Added by:dadmin
on:13 Jun 2020, 3:59 a.m.