TANGO
Device Server



XPSV2
Device Attributes Description

XPSTrajectory Class

Revision: - Author:

Scalar Attributes
Attribute name
Data Type
R/W Type
Expert
currentTrajectoryOK
DEV_BOOLEAN
READ
No





Image Attributes
Attribute name
Data Type
X Data Length
Y Data Length
Expert
pvt: PVT trajectory input For each point you must issue all motor positions for the group in the group order All positions must be provided absolute You must provide only the <> points, the device computes the starting and stopping points Time in seconds in <> way (from the start point) position in (units) velocity in units/sec. line 0 : time 0=0, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n line 1 : time 1, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n line m : time m, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n last line : time z, abs pos.1, speed pos.1, abs pos.2 , speed pos.2, abs pos.n , speed pos.n
DEV_DOUBLE
17
1000
Yes
pt: PT trajectory input The device computes the velocities For each point you must issue all motor positions for the group in the group order All positions must be provided absolute You must provide only the <> points, the device computes the starting and stopping points Time in seconds in <> way (from the start point) position in (units) line 0 : time 0=0, abs pos.1, abs pos.2 , abs pos.n line 1 : time 1, abs pos.1, abs pos.2, abs pos.n line m : time m, abs pos.1, abs pos.2, abs pos.n last line : time z, abs pos.1, abs pos.2, abs pos.n
DEV_DOUBLE
17
1000
Yes
rawPVT: raw PVT Trajectory in the form : T1, P1m1,V1m1, P1m2, V1m2... where Tx is an relative time Pxmi is the relative move of motor i Vxmi is the speed for motor i
DEV_DOUBLE
17
1000
Yes
uploadedRawPVT: uploaded raw PVT Trajectory in the form : T1, P1m1,V1m1, P1m2, V1m2... where Tx is an relative time Pxmi is the relative move of motor i Vxmi is the speed for motor i
DEV_DOUBLE
17
1000
Yes


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