TANGO
Device Server



 

 

 

 

HexapodFMBOExpert
User's Guide
 


HexapodFMBOExpert Class
 

Revision: - Author: olivierroux
Implemented in C++ - CVS repository: tango-ds





 

 

Introduction:




Class Identification:


 

Class Inheritance:


 

 

 

Properties:




Device Properties
Property name
Property type
Description
Ip Tango::DEV_STRING Hexapod IOC IP
Port Tango::DEV_SHORT Hemci port






Device Properties Default Values:
Property Name Default Values
Ip 192.168.0.93
Port 7001



There is no Class properties.





 

 

States:




States
Names
Descriptions
STANDBY Hexapod ready for next move.
MOVING Hexapod is moving.
RUNNING Motion program is running, but motors are not moving.
FAULT Hexapod is not working properly.

 

 

Attributes:


Scalar Attributes
Attribute name
Data Type
R/W Type
Expert
RsPosition: Position readback of axis 1.
DEV_DOUBLE
READ
No
RxPosition: Position readback of axis 2.
DEV_DOUBLE
READ
No
RzPosition: Position readback of axis 3.
DEV_DOUBLE
READ
No
TsPosition: Position readback of axis 4.
DEV_DOUBLE
READ
No
TxPosition: Position readback of axis 5.
DEV_DOUBLE
READ
No
TzPosition: Position readback of axis 6.
DEV_DOUBLE
READ
No
RsSetPosition: Position setpoint for axis 1.
DEV_DOUBLE
READ_WRITE
No
RxSetPosition: Position setpoint for axis 2.
DEV_DOUBLE
READ_WRITE
No
RzSetPosition: Position setpoint for axis 3.
DEV_DOUBLE
READ_WRITE
No
TsSetPosition: Position setpoint for axis 4.
DEV_DOUBLE
READ_WRITE
No
TxSetPosition: Position setpoint for axis 5.
DEV_DOUBLE
READ_WRITE
No
TzSetPosition: Position setpoint for axis 6.
DEV_DOUBLE
READ_WRITE
No
Moving: Is hexapod moving
DEV_BOOLEAN
READ
No
Fault: Is hexapod in fault
DEV_BOOLEAN
READ
No
AllHomed
DEV_BOOLEAN
READ
No
Speed
DEV_DOUBLE
READ_WRITE
No





Spectrum Attributes
Attribute name
Data Type
X Data Length
Expert
CsStatus: Coordinate system status.
DEV_LONG
3
No
MotorStatus: Motor status for all 6 motors.
DEV_LONG
12
No
PmacStatus: Pmac status
DEV_LONG
3
No
LCS: Vector defining offset of hexapod coordinate system (3 rotations, 3 translations)
DEV_DOUBLE
6
No
TCP: Vector defining offset of hexapod coordinate system (3 rotations, 3 translations)
DEV_DOUBLE
6
No
MotorPositions
DEV_DOUBLE
6
No
IsMotorMoving
DEV_USHORT
6
No
IsNegativeOn
DEV_USHORT
6
No
IsPositiveOn
DEV_USHORT
6
No
IsAmplifierEnabled
DEV_USHORT
6
No
IsFollowingError
DEV_USHORT
6
No
IsHomed
DEV_USHORT
6
No
IsActivated
DEV_USHORT
6
No
LowLimits: Vector defining offset of hexapod coordinate system (3 rotations, 3 translations)
DEV_DOUBLE
6
No
HighLimits: Vector defining offset of hexapod coordinate system (3 rotations, 3 translations)
DEV_DOUBLE
6
No






 

 

Commands:



More Details on commands....


Device Commands for Operator Level
Command name
Argument In
Argument Out
Init DEV_VOID DEV_VOID
State DEV_VOID DEV_STATE
Status DEV_VOID CONST_DEV_STRING
Stop DEV_VOID DEV_VOID
Start DEV_VOID DEV_VOID
Home DEV_SHORT DEV_VOID
Zerouc DEV_VOID DEV_VOID
DisableAmplifiers DEV_VOID DEV_VOID
EnableMotors DEV_VOID DEV_VOID
Connect DEV_VOID DEV_VOID

 



1 - Init



2 - State



3 - Status



4 - Stop



5 - Start



6 - Home



7 - Zerouc



8 - DisableAmplifiers



9 - EnableMotors



10 - Connect




 

 


TANGO is an open source project hosted by :
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Core and Tools : CVS repository on tango-cs project
Device Servers : CVS repository on tango-ds project