TANGO
Device Server



HexapodFMBOExpert
Device Attributes Description

HexapodFMBOExpert Class

Revision: - Author: olivierroux

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







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