Development status:
Released,
Release: RELEASE_2_1
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/MotorControllers/icepap
Contact:
Class Description
A class to perform tcp/ip connections and data transmissions exchages with the IcePAP controller unit.
Families: Motion
Key words:
Platform: All Platforms
Language: Cpp
Contact:
Hardware
Manufacturer: none
Bus: Socket
Class interface
Attributes:
| Name | Description |
|---|---|
| LocationScalar: DevString | location of the icepap controller (useful in case of need) |
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. |
| GetIPInput: DevVoid Output: DevString IP address or host name of the IcePAP controller |
The command to extract an IP address of the IcePAP controller - this is the only command that has sence for this device server |
| GetTimeoutInput: DevVoid Output: DevDouble time-out in sec, for TCP/IP communications |
Retrives from the property the TCP/IP communications time-out value in sec |
| raw_cmdInput: DevString command to send Output: DevString answer |
send a command on the socket |
Pipes:
Properties:
| Name | Description |
|---|---|
| IPaddressDevString | A string containing either the internet host name, or IP address of the IcePAP controller unit |
| Comm_timeoutDevDouble | A time-out (in seconds) for the TCP/IP communication. |
| IPMASKDevString | give the IP mask for write access. any client should be inside the IP mask to be allowed to write |
| LocationDevString | name of the room hosting the icepap controller |
Class Description
A class to control a motor via IcePAP driver board. It uses the IcePapController device server to communicate with the driver board via the IcePAP controller unit and TCP/IP socket.
Families: Motion
Key words:
Platform: All Platforms
Language: Cpp
Contact:
Hardware
Manufacturer: none
Bus: Ethernet
Class interface
Attributes:
| Name | Description |
|---|---|
| Steps_per_unitScalar: DevDouble | — |
| StepsScalar: DevLong | number of steps in the step counter\n |
| PositionScalar: DevDouble | The actual motor position. |
| AccelerationScalar: DevDouble | The acceleration of the motor. |
| VelocityScalar: DevDouble | The constant velocity of the motor. |
| BacklashScalar: DevDouble | Backlash to be applied to each motor movement |
| Home_positionScalar: DevDouble | Position of the home switch |
| HardLimitHighScalar: DevBoolean | — |
| HardLimitLowScalar: DevBoolean | — |
| PresetPositionScalar: DevDouble | preset the position in the step counter |
| FirstVelocityScalar: DevDouble | number of step/s for the first step and for the move reference |
| Home_sideScalar: DevBoolean | indicates if the axis is below or above the position of the home switch |
| ConfigModeScalar: DevShort | the mode can be operation, program,test, fail, config |
| HomeVelocityScalar: DevDouble | Home velocity |
| TemperatureScalar: DevDouble | Temperature of the board |
| StepSizeScalar: DevDouble | Size of the relative step performed by the StepUp and StepDown commands. The StepSize is expressed in physical unit. |
| JogVelocityScalar: DevDouble | the current axis will move in jog mode at the specified velocity until other request The axis will stop only when this jog velocity is back to 0. If the jog velocity is not modifyed after jogtimeout, it will automatically be switch back to 0 |
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. |
| OnInput: DevVoid Output: DevVoid |
Enable power on motor |
| OffInput: DevVoid Output: DevVoid |
Desable power on motor |
| GoHomeInput: DevVoid Output: DevVoid |
Move the motor to the home position given by a home switch. |
| AbortInput: DevVoid Output: DevVoid |
Stop immediately the motor |
| DefineEncoderPositionInput: DevDouble Output: DevVoid |
Change current position register (in user units) |
| RawComInput: DevString Output: DevString |
send manually raw protocol commands and get the answer |
| StepUpInput: DevVoid Output: DevVoid |
perform a relative motion of ``stepSize`` in the forward direction. StepSize is defined as an attribute of the device. |
| StepDownInput: DevVoid Output: DevVoid |
perform a relative motion of ``stepSize`` in the backward direction. StepSize is defined as an attribute of the device. |
| 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. |
Pipes:
Properties:
| Name | Description |
|---|---|
| CalibratedDevBoolean | When this property is different from 0, the motor is considered as calibrated and a certain number of attributes cannot be changed anymore.( e.g. step_per_unit) The goal is to avoid undesired change when the calibratiuon process has been performed. |
| ControllerDeviceDevString | The TANGO device name of an IcePAP controller. Is used to access the corresponding IcePapController device server. |
| BoardNumberDevShort | The number of a motor driver board in the IcePAP system. Decimal: XXN, where XX - rack number (0-15) and N - the driver board number in a rack (1-8) |
| Auto_offDevUShort | if !=0, the axe will be automatically switched off few minutes after the last change |
| JogTimeoutDevDouble | the time in second to stop a jog after the last request. if no further jog velocity is requested. This avoid infinite movement in case of broken communication between client and server If this property is 0, the jog will go forever |
Class Description
drive an axis which move on an excentric circular axis. It calculate the real position on the basis of the angle
Families: Motion
Key words:
Platform: All Platforms
Language: Cpp
License: GPL
Contact:
Hardware
Manufacturer: ESRF
Product:
Icepap
Bus: TCP/UDP
Class interface
Attributes:
| Name | Description |
|---|---|
| Steps_per_unitScalar: DevDouble | — |
| StepsScalar: DevLong | number of steps in the step counter\n |
| PositionScalar: DevDouble | The actual motor position. |
| AccelerationScalar: DevDouble | The acceleration of the motor. |
| VelocityScalar: DevDouble | The constant velocity of the motor. |
| BacklashScalar: DevDouble | Backlash to be applied to each motor movement |
| Home_positionScalar: DevDouble | Position of the home switch |
| HardLimitHighScalar: DevBoolean | — |
| HardLimitLowScalar: DevBoolean | — |
| PresetPositionScalar: DevDouble | preset the position in the step counter |
| FirstVelocityScalar: DevDouble | number of step/s for the first step and for the move reference |
| Home_sideScalar: DevBoolean | indicates if the axis is below or above the position of the home switch |
| ConfigModeScalar: DevShort | the mode can be operation, program,test, fail, config |
| HomeVelocityScalar: DevDouble | Home velocity |
| TemperatureScalar: DevDouble | Temperature of the board |
| AngleScalar: DevDouble | The actual motor position. |
| SensorPositionScalar: DevDouble | — |
| PositionErrorScalar: DevDouble | difference between the motor counter and the sensor position |
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. |
| OnInput: DevVoid Output: DevVoid |
Enable power on motor |
| OffInput: DevVoid Output: DevVoid |
Desable power on motor |
| GoHomeInput: DevVoid Output: DevVoid |
Move the motor to the home position given by a home switch. |
| AbortInput: DevVoid Output: DevVoid |
Stop immediately the motor |
| DefineEncoderPositionInput: DevDouble Output: DevVoid |
Change current position register (in user units) |
| RawComInput: DevString Output: DevString |
send manually raw protocol commands and get the answer |
Pipes:
Properties:
| Name | Description |
|---|---|
| CalibratedDevBoolean | When this property is different from 0, the motor is considered as calibrated and a certain number of attributes cannot be changed anymore.( e.g. step_per_unit) The goal is to avoid undesired change when the calibratiuon process has been performed. |
| ControllerDeviceDevString | The TANGO device name of an IcePAP controller. Is used to access the corresponding IcePapController device server. |
| BoardNumberDevShort | The number of a motor driver board in the IcePAP system. Decimal: XXN, where XX - rack number (0-15) and N - the driver board number in a rack (1-8) |
| Auto_offDevUShort | if !=0, the axe will be automatically switched off few minutes after the last change |
| ExcentricityDevDouble | excentricity of the axis expressed in mm |
| SensorDeviceDevString | name of the Tango device providing the position measurment |
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Updated:
A device class has been added.
You can see previous version here .
23 Feb 2017, Piotr Goryl
Updated:
A device class has been added.
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 .
19 Jan 2017, Piotr Goryl
Updated:
The device server 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 .
3 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .
3 Jan 2017, Piotr Goryl
Updated:
The device server has been updated.
You can see previous version here .
3 Jan 2017, Piotr Goryl
Created:
The device server has been added to catalogue.