org.lsst.ccs.drivers.nanotec

Class NanotecPD4N

java.lang.Object

org.lsst.ccs.drivers.ascii.Ascii

org.lsst.ccs.drivers.nanotec.NanotecPD4N

All Implemented Interfaces:

org.lsst.ccs.drivers.commons.DriverConstants

public class NanotecPD4N
extends org.lsst.ccs.drivers.ascii.Ascii

Driver for Nanotec PD4-N stepper motor.

Author:

Al Eisner

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	NanotecPD4N.CmndGeneral Hardware commands for setting or reading general parameters.
static class	NanotecPD4N.CmndMotion Hardware commands to set/read parameters of a motion (run) record.
static class	NanotecPD4N.MotorErrors Meaning of error bits (in error memory)

Nested classes/interfaces inherited from class org.lsst.ccs.drivers.ascii.Ascii

org.lsst.ccs.drivers.ascii.Ascii.DataBits, org.lsst.ccs.drivers.ascii.Ascii.FlowCtrl, org.lsst.ccs.drivers.ascii.Ascii.Option, org.lsst.ccs.drivers.ascii.Ascii.Parity, org.lsst.ccs.drivers.ascii.Ascii.StopBits, org.lsst.ccs.drivers.ascii.Ascii.Terminator

Nested classes/interfaces inherited from interface org.lsst.ccs.drivers.commons.DriverConstants

org.lsst.ccs.drivers.commons.DriverConstants.ConnType

Constructor Summary

Constructors

Constructor and Description
NanotecPD4N() Constructor.

Method Summary

Modifier and Type	Method and Description
boolean	getErrorFlag() Read error flag (assumed assigned to digital output 1)
String	getErrorType() Read error type.
int	getLimitSwitches() Read limit switches (assigned to digital inputs 1 and 2)
boolean	isMotorReady() Check if motor is in a ready state (for a new move command)
boolean	isPositionError() Check if motor status shows a position error
void	loadRecord(int record) Load movement record from EEPROM
void	open(org.lsst.ccs.drivers.commons.DriverConstants.ConnType connType, String ident, int baudRate, int commParm) Override underlying open method of Ascii class.
void	open(String serialName) Open serial connection, default data characteristics and baud rate
void	open(String serialName, int baudRate) Open serial connection with selected baud rate
boolean	readChecksumUsage() Read whether checksum is in use
String	readGeneral(NanotecPD4N.CmndGeneral cmnd) Read general datum from motor controller
String	readMotion(NanotecPD4N.CmndMotion cmnd) Read motion-record datum from motor controller
int	readStatus() Read status.
double	readTemperature() Read controller-temperature ADC and decode to degrees C
void	resetError() Reset error flag (and position-error flag) Only the default (no-parameter) version is implemented here: if error is in position-following, the motor's position value is set to that of the encoder.
void	saveRecord(int record) Save current movement record to EEPROM
void	setLimitSwitchBehavior(boolean value) Set limit-switch behavior.
void	startMotor() Start motor (move according to parameters in current record)
void	stopMotor(int ramp) Stop motor (if currently moving)
void	writeGeneral(NanotecPD4N.CmndGeneral cmnd, int value) Write general datum to motor controller
void	writeMotion(NanotecPD4N.CmndMotion cmnd, int value) Write motion-record datum to motor controller

Methods inherited from class org.lsst.ccs.drivers.ascii.Ascii

close, closeSilent, flush, getTimeout, isOpen, makeDataCharacteristics, open, open, openFtdi, openFtdi, openFtdi, openNet, openNet, openSerial, openSerial, openSerial, read, read, readBytes, readBytes, setCommandTerm, setDefaultParm, setMultidrop, setOptions, setResponseTerm, setTerminator, setTimeout, setTimeout, write, writeBytes, writeBytes

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

NanotecPD4N

public NanotecPD4N()

Constructor.

Method Detail

open

public void open(org.lsst.ccs.drivers.commons.DriverConstants.ConnType connType,
                 String ident,
                 int baudRate,
                 int commParm)
          throws org.lsst.ccs.drivers.commons.DriverException

Override underlying open method of Ascii class. Note that default communication parameters (specified with 0 for commParm) match what is used by the motor controller.

Overrides:

open in class org.lsst.ccs.drivers.ascii.Ascii

Parameters:

connType - The enumerated connection type: FTDI or SERIAL

ident - The USB ID (FTDI) or port name (SERIAL)

baudRate - The baud rate, or 0 for the default (115200)

commParm - The communications parameters (ignored, 0 used)

Throws:

org.lsst.ccs.drivers.commons.DriverException

open

public void open(String serialName)
          throws org.lsst.ccs.drivers.commons.DriverException

Open serial connection, default data characteristics and baud rate

Parameters:

serialName - Serial device name

Throws:

org.lsst.ccs.drivers.commons.DriverException

open

public void open(String serialName,
                 int baudRate)
          throws org.lsst.ccs.drivers.commons.DriverException

Open serial connection with selected baud rate

Parameters:

serialName - Serial device name

baudRate - Baud rate

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeGeneral

public void writeGeneral(NanotecPD4N.CmndGeneral cmnd,
                         int value)
                  throws org.lsst.ccs.drivers.commons.DriverException

Write general datum to motor controller

Parameters:

cmnd - enumerated command identifier

ndata - integer data to write

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeMotion

public void writeMotion(NanotecPD4N.CmndMotion cmnd,
                        int value)
                 throws org.lsst.ccs.drivers.commons.DriverException

Write motion-record datum to motor controller

Parameters:

cmnd - enumerated command identifier

ndata - integer data to write

Throws:

org.lsst.ccs.drivers.commons.DriverException

readGeneral

public String readGeneral(NanotecPD4N.CmndGeneral cmnd)
                   throws org.lsst.ccs.drivers.commons.DriverException

Read general datum from motor controller

Parameters:

cmnd - enumerated command identifier

Returns:

String data

Throws:

org.lsst.ccs.drivers.commons.DriverException

readMotion

public String readMotion(NanotecPD4N.CmndMotion cmnd)
                  throws org.lsst.ccs.drivers.commons.DriverException

Read motion-record datum from motor controller

Parameters:

cmnd - enumerated command identifier

Returns:

integer data

Throws:

org.lsst.ccs.drivers.commons.DriverException

readStatus

public int readStatus()
               throws org.lsst.ccs.drivers.commons.DriverException

Read status. (Necessary because readGeneral(READ_STATUS) returns two extra leading 0's, which the company hasn't explained.

Returns:

int

Throws:

Drier - Exception

org.lsst.ccs.drivers.commons.DriverException

isMotorReady

public boolean isMotorReady()
                     throws org.lsst.ccs.drivers.commons.DriverException

Check if motor is in a ready state (for a new move command)

Returns:

boolean (true if ready)

Throws:

org.lsst.ccs.drivers.commons.DriverException

isPositionError

public boolean isPositionError()
                        throws org.lsst.ccs.drivers.commons.DriverException

Check if motor status shows a position error

Returns:

boolean (true if position error)

Throws:

org.lsst.ccs.drivers.commons.DriverException

getLimitSwitches

public int getLimitSwitches()
                     throws org.lsst.ccs.drivers.commons.DriverException

Read limit switches (assigned to digital inputs 1 and 2)

Returns:

int limitSwithces (two-bit pattern)

Throws:

org.lsst.ccs.drivers.commons.DriverException

getErrorFlag

public boolean getErrorFlag()
                     throws org.lsst.ccs.drivers.commons.DriverException

Read error flag (assumed assigned to digital output 1)

Returns:

boolean errorFlag (true if error)

Throws:

org.lsst.ccs.drivers.commons.DriverException

getErrorType

public String getErrorType()
                    throws org.lsst.ccs.drivers.commons.DriverException

Read error type. If the error flag is true, find last entry in error memory, and list error type(s) which are set.

Returns:

String space-separated list of error types

Throws:

org.lsst.ccs.drivers.commons.DriverException

resetError

public void resetError()
                throws org.lsst.ccs.drivers.commons.DriverException

Reset error flag (and position-error flag) Only the default (no-parameter) version is implemented here: if error is in position-following, the motor's position value is set to that of the encoder.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readTemperature

public double readTemperature()
                       throws org.lsst.ccs.drivers.commons.DriverException

Read controller-temperature ADC and decode to degrees C

Returns:

double temperature in degrees C

Throws:

org.lsst.ccs.drivers.commons.DriverException

setLimitSwitchBehavior

public void setLimitSwitchBehavior(boolean value)
                            throws org.lsst.ccs.drivers.commons.DriverException

Set limit-switch behavior.

Parameters:

boolean - for

Throws:

org.lsst.ccs.drivers.commons.DriverException

startMotor

public void startMotor()
                throws org.lsst.ccs.drivers.commons.DriverException

Start motor (move according to parameters in current record)

Throws:

org.lsst.ccs.drivers.commons.DriverException

stopMotor

public void stopMotor(int ramp)
               throws org.lsst.ccs.drivers.commons.DriverException

Stop motor (if currently moving)

Parameters:

int - ramp <0|1> for

Throws:

org.lsst.ccs.drivers.commons.DriverException

loadRecord

public void loadRecord(int record)
                throws org.lsst.ccs.drivers.commons.DriverException

Load movement record from EEPROM

Parameters:

int - record record number (1 to 32)

Throws:

org.lsst.ccs.drivers.commons.DriverException

saveRecord

public void saveRecord(int record)
                throws org.lsst.ccs.drivers.commons.DriverException

Save current movement record to EEPROM

Parameters:

int - record record number (1 to 32)

Throws:

org.lsst.ccs.drivers.commons.DriverException

readChecksumUsage

public boolean readChecksumUsage()

Read whether checksum is in use

Returns:

boolean if checksum