TANGO
Device Server



 

 

 

 

XPSV2
User's Guide
 


XPSTrajectory Class
 

Revision: - Author:
Implemented in C++





 

 

Introduction:




Class Identification:


 

Class Inheritance:


 

 

 

Properties:




Device Properties
Property name
Property type
Description
TrajectoryAlgoType Tango::DEV_SHORT Enumerated type Trajectory Algorithm:
0 = native algorithm
1 = SIXS python script algorithm
TrajectoryUploadEOL Tango::DEV_STRING Define the end of line sent to the driver (MultipleAxesPVTLoadToMemory) when use Upload command:
NUL (i.e \0 ) (OLD FIRMWARE)
# (NEW FIRMWARE)






Device Properties Default Values:
Property Name Default Values
TrajectoryAlgoType 0
TrajectoryUploadEOL NUL



There is no Class properties.





 

 

Attributes:


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
1000000
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
1000000
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
1000000
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
1000000
Yes

 

 

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
GoToOrigin DEV_VOID DEV_VOID
Reset DEV_VOID DEV_VOID
CheckValidity DEV_VOID DEV_BOOLEAN
Start DEV_VOID DEV_VOID
Upload DEV_VOID DEV_VOID
Stop DEV_VOID DEV_VOID



Device Commands for Expert Level Only
Command name
Argument In
Argument Out
GetOrderedAxisList DEV_VOID DEVVAR_STRINGARRAY
ExecLowLevelCmd DEV_STRING DEV_STRING

 



1 - Init



2 - State



3 - Status



4 - GoToOrigin



5 - Reset



6 - CheckValidity



7 - Start



8 - Upload



9 - Stop



10 - GetOrderedAxisList (for expert only)



11 - ExecLowLevelCmd (for expert only)




 

 


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