TANGO
Device Server


Mechanical 1,2 or 4 motors generic bender.
Device Attributes Description

MechanicalGenericBender Class

Revision: - Author:

Scalar Attributes
Attribute name
Data Type
R/W Type
Expert
bender: This value represent the pseudo motor bender. The equation used is C=a'/R+b' with a' and b' the mean of the different a and b values of each motor equation. And we can deduce 1/R thanks the previous equation and use this value like entry point for the curvature attribute.
DEV_DOUBLE
READ_WRITE
No
bender1: Value of the first bender.
DEV_DOUBLE
READ_WRITE
Yes
bender2: Value of the second bender.
DEV_DOUBLE
READ_WRITE
Yes
bender3: Value of the third bender.
DEV_DOUBLE
READ_WRITE
Yes
bender4: Value of the fourth bender.
DEV_DOUBLE
READ_WRITE
Yes
asymmetry: Represents the assymetry value between the two bender motors.
DEV_DOUBLE
READ
No
curvature: This value represents the curvature value (inverse of the curvature radius)
DEV_DOUBLE
READ_WRITE
No
curvatureRadius: This attribute represents the curvature radius of the bender. It's the real value of curvature.
DEV_DOUBLE
READ_WRITE
No
meanCurvature: This the mean curvature (inverse of the mean curvature radius)
DEV_DOUBLE
READ
No
meanCurvatureRadius: The bender mean curvature radius. It is computed thanks the values of the motors
DEV_DOUBLE
READ
No
numberOfMotors: The number of piloted motors
DEV_SHORT
READ
No
autoSendValues: This attribute indicate if the values computed are automatically send to the motors. If not, the user must use the SendValue command to send the computed values.
DEV_BOOLEAN
READ_WRITE
No






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