org.lsst.ccs.drivers.parker

Enum AxisBit

java.lang.Object

java.lang.Enum<AxisBit>

org.lsst.ccs.drivers.parker.AxisBit

All Implemented Interfaces:

Serializable, Comparable<AxisBit>

public enum AxisBit
extends Enum<AxisBit>

Names and numbers the some controller bits associated with particular axes. The ACR binary comm protocol allows setting and clearing bits directly via their bit index numbers, but for some reason the only way you can get the value of a bit is to read the corresponding flag parameter word and examine the right bit.

Author:

tether

Enum Constant Summary

Enum Constants

Enum Constant and Description
AT_NEGATIVE_HARD_LIMIT Indicates that the axis position is somewhere in the zone defined by the negative (low coordinate) limit switch.
AT_NEGATIVE_SOFT_LIMIT Indicates that the axis position is at the negative (low coordinate) software travel limit.
AT_POSITIVE_HARD_LIMIT Indicates that the axis position is somewhere in the zone defined by the positive (high coordinate) limit switch.
AT_POSITIVE_SOFT_LIMIT Indicates that the axis position is somewhere in the zone defined by the positive (high coordinate) software travel limit.
CAPTURE_COMPLETE A capture started with the INTCAP command has completed.
DRIVE_FAULT When set this indicates that the motor drive has detected a problem while trying to command the motor.
ENABLE_CW_CCW If set, commands to a stepper motor drive will used the CW/CCW convention instead of Step/Direction.
ENABLE_DRIVE Set to enable the axis, clear to disable.
ENABLE_DRIVE_IO Used on ACR9000-series controllers, and set by default on them, to enable some motor-drive control features.
ENABLE_NEGATIVE_HARD_LIMIT Make the controller respect the negative hardware travel limit signal.
ENABLE_NEGATIVE_SOFT_LIMIT Make the controller respect the negative software travel limit.
ENABLE_POSITIVE_HARD_LIMIT Make the controller respect the positive hardware travel limit signal.
ENABLE_POSITIVE_SOFT_LIMIT Make the controller respect the positive software travel limit.
HIT_NEGATIVE_HARD_LIMIT Sometime previously we hit the hardware limit of travel at the negative (low coordinate) end of the axis.
HIT_NEGATIVE_SOFT_LIMIT Sometime previously we hit the software limit of travel at the negative (low coordinate) end of the axis.
HIT_POSITIVE_HARD_LIMIT Sometime previously we hit the hardware limit of travel at the positive (high coordinate) end of the axis, i.e, we tripped the limit switch.
HIT_POSITIVE_SOFT_LIMIT Sometime previously we hit the software limit of travel at the positive (high coordinate) end of axis.
HOME_FOUND A JOG HOME command succeeded.
HOME_NOT_FOUND A JOG HOME command failed.
HOMING_NEGATIVE_FINAL_APPROACH Require that the final approach to the selected home region edge be made from the negative side (lower encoder value), rather than from the positive side.
HOMING_SEEK_NEGATIVE_EDGE Seek the negative edge of the home region when homing, rather than the positive edge.
HOMING_USE_BACKUP When homing the axis, reverse the direction of motion after encountering a home region edge.
INVERT_HOME_REGION_SIGNAL Make the home region signal active low instead of active high.
INVERT_MOTION_DIRECTION Inverts the default direction of motion on the axis.
INVERT_NEGATIVE_HARD_LIMIT_SIGNAL Make the negative hard limit signal active low instead of active high.
INVERT_POSITIVE_HARD_LIMIT_SIGNAL Make the positive hard limit signal active low instead of active high.
JOG_ACTIVE A jog motion is in progress.
KILL_ALL_MOTION Setting this bit also sets MasterBit.KILL_ALL_MOVES for the master of the axis.
POSITIONING_ERROR Indicates that the final coordinate of a move isn't close enough the target even though the motion wasn't killed by some other error.

Method Summary

Modifier and Type	Method and Description
AxisUnsigned	flagParameter() Gets the name of the flag parameter containing this bit.
long	flagParameterMask() Gets the mask with a single 1 bit in the position assigned to this bit in the associated flag parameter.
int	index(AxisName axis) Gets the bit index used by the controller.
String	reference(AxisName axis) Gets the string used to refer to the bit in AcroBasic.
static AxisBit	valueOf(String name) Returns the enum constant of this type with the specified name.
static AxisBit[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

CAPTURE_COMPLETE

public static final AxisBit CAPTURE_COMPLETE

A capture started with the INTCAP command has completed.

JOG_ACTIVE

public static final AxisBit JOG_ACTIVE

A jog motion is in progress.

KILL_ALL_MOTION

public static final AxisBit KILL_ALL_MOTION

Setting this bit also sets MasterBit.KILL_ALL_MOVES for the master of the axis. The bit can be set manually or by any condition that kills motion: encountering end-of-travel limits, drive faults, positioning errors or sending CTRL-X or CTRL-Y to the controller.

POSITIONING_ERROR

public static final AxisBit POSITIONING_ERROR

Indicates that the final coordinate of a move isn't close enough the target even though the motion wasn't killed by some other error. This error disables the drive for the axis and stays latched until cleared with a DRIVE ON. Also sets KILL_ALL_MOTION, so you have to clear the related flags as well.

INVERT_MOTION_DIRECTION

public static final AxisBit INVERT_MOTION_DIRECTION

Inverts the default direction of motion on the axis. So if increasing coordinates went one way before they will go the other way after setting this.

ENABLE_CW_CCW

public static final AxisBit ENABLE_CW_CCW

If set, commands to a stepper motor drive will used the CW/CCW convention instead of Step/Direction. CW = clockwise, CCW = counter-clockwise.

ENABLE_DRIVE

public static final AxisBit ENABLE_DRIVE

Set to enable the axis, clear to disable. Enabling the drive automatically sets the commanded coordinate equal to the current coordinate in order to prevent unexpected motion. It also clears the Kill All Motion request, Drive Fault, and the latched Excess Position Error. The Enable Drive I/O bit must be set for this bit to be effective.

ENABLE_DRIVE_IO

public static final AxisBit ENABLE_DRIVE_IO

Used on ACR9000-series controllers, and set by default on them, to enable some motor-drive control features. Clear by default on other ACR controllers.

DRIVE_FAULT

public static final AxisBit DRIVE_FAULT

When set this indicates that the motor drive has detected a problem while trying to command the motor.

HIT_POSITIVE_HARD_LIMIT

public static final AxisBit HIT_POSITIVE_HARD_LIMIT

Sometime previously we hit the hardware limit of travel at the positive (high coordinate) end of the axis, i.e, we tripped the limit switch.

AT_POSITIVE_HARD_LIMIT

public static final AxisBit AT_POSITIVE_HARD_LIMIT

Indicates that the axis position is somewhere in the zone defined by the positive (high coordinate) limit switch.

HIT_NEGATIVE_HARD_LIMIT

public static final AxisBit HIT_NEGATIVE_HARD_LIMIT

Sometime previously we hit the hardware limit of travel at the negative (low coordinate) end of the axis.

AT_NEGATIVE_HARD_LIMIT

public static final AxisBit AT_NEGATIVE_HARD_LIMIT

Indicates that the axis position is somewhere in the zone defined by the negative (low coordinate) limit switch.

HIT_POSITIVE_SOFT_LIMIT

public static final AxisBit HIT_POSITIVE_SOFT_LIMIT

Sometime previously we hit the software limit of travel at the positive (high coordinate) end of axis.

AT_POSITIVE_SOFT_LIMIT

public static final AxisBit AT_POSITIVE_SOFT_LIMIT

Indicates that the axis position is somewhere in the zone defined by the positive (high coordinate) software travel limit.

HIT_NEGATIVE_SOFT_LIMIT

public static final AxisBit HIT_NEGATIVE_SOFT_LIMIT

Sometime previously we hit the software limit of travel at the negative (low coordinate) end of the axis.

AT_NEGATIVE_SOFT_LIMIT

public static final AxisBit AT_NEGATIVE_SOFT_LIMIT

Indicates that the axis position is at the negative (low coordinate) software travel limit.

HOME_FOUND

public static final AxisBit HOME_FOUND

A JOG HOME command succeeded.

HOME_NOT_FOUND

public static final AxisBit HOME_NOT_FOUND

A JOG HOME command failed. Hit both the positive and negative limits of travel while homing.

INVERT_POSITIVE_HARD_LIMIT_SIGNAL

public static final AxisBit INVERT_POSITIVE_HARD_LIMIT_SIGNAL

Make the positive hard limit signal active low instead of active high.

INVERT_NEGATIVE_HARD_LIMIT_SIGNAL

public static final AxisBit INVERT_NEGATIVE_HARD_LIMIT_SIGNAL

Make the negative hard limit signal active low instead of active high.

INVERT_HOME_REGION_SIGNAL

public static final AxisBit INVERT_HOME_REGION_SIGNAL

Make the home region signal active low instead of active high.

ENABLE_POSITIVE_HARD_LIMIT

public static final AxisBit ENABLE_POSITIVE_HARD_LIMIT

Make the controller respect the positive hardware travel limit signal.

ENABLE_NEGATIVE_HARD_LIMIT

public static final AxisBit ENABLE_NEGATIVE_HARD_LIMIT

Make the controller respect the negative hardware travel limit signal.

ENABLE_POSITIVE_SOFT_LIMIT

public static final AxisBit ENABLE_POSITIVE_SOFT_LIMIT

Make the controller respect the positive software travel limit.

ENABLE_NEGATIVE_SOFT_LIMIT

public static final AxisBit ENABLE_NEGATIVE_SOFT_LIMIT

Make the controller respect the negative software travel limit.

HOMING_USE_BACKUP

public static final AxisBit HOMING_USE_BACKUP

When homing the axis, reverse the direction of motion after encountering a home region edge. When this bit is clear, the controller will bring motion to a stop after encountering the desired edge of the home region. When this bit is set the controller will back up to the edge again after passing it.

HOMING_SEEK_NEGATIVE_EDGE

public static final AxisBit HOMING_SEEK_NEGATIVE_EDGE

Seek the negative edge of the home region when homing, rather than the positive edge. "Positive edge" means the one with higher encoder value.

HOMING_NEGATIVE_FINAL_APPROACH

public static final AxisBit HOMING_NEGATIVE_FINAL_APPROACH

Require that the final approach to the selected home region edge be made from the negative side (lower encoder value), rather than from the positive side.

Method Detail

values

public static AxisBit[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (AxisBit c : AxisBit.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static AxisBit valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null

index

public int index(AxisName axis)

Gets the bit index used by the controller.

Parameters:

axis - the axis name.

Returns:

the bit index.

reference

public String reference(AxisName axis)

Gets the string used to refer to the bit in AcroBasic.

Parameters:

axis -

Returns:

the bit-reference string.

flagParameter

public AxisUnsigned flagParameter()

Gets the name of the flag parameter containing this bit.

Returns:

the flag parameter name.

flagParameterMask

public long flagParameterMask()

Gets the mask with a single 1 bit in the position assigned to this bit in the associated flag parameter.

Returns:

the mask.