org.lsst.ccs.drivers.yaskawa

Class A1000

java.lang.Object

org.lsst.ccs.drivers.yaskawa.A1000

public class A1000
extends Object

Routines for controlling a Yaskawa A1000 series motor drive..

Author:

Owen Saxton

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	A1000.AccessLevel
static class	A1000.BaudRate
static class	A1000.ControlMode
static class	A1000.ErrorAction
static class	A1000.FreqRefSrc
static class	A1000.Language Public constants.
static class	A1000.Parity
static class	A1000.RunCmndSrc
static class	A1000.RunProg
static class	A1000.StopMethod
static class	A1000.VfSelection
static class	A1000.VoltageUnits

Field Summary

Fields

Modifier and Type	Field and Description
static int	STATUS_ALARM
static int	STATUS_FAULT
static int	STATUS_FAULT_RESET
static int	STATUS_READY
static int	STATUS_REVERSE
static int	STATUS_RUNNING
static int	STATUS_SPEED_AGREE
static int	STATUS_ZERO_SPEED

Constructor Summary

Constructors

Constructor and Description
A1000() Constructor.

Method Summary

Modifier and Type	Method and Description
void	close() Closes the connection to the device.
void	enterParameters() Makes new parameter values available.
A1000.AccessLevel	getAccessLevel() Gets the access level
A1000.BaudRate	getBaudRate() Gets the drive baud rate
A1000.ControlMode	getControlMode() Gets the control mode
int	getDriveStatus() Gets the drive status
A1000.ErrorAction	getErrorAction() Gets the communications error action
A1000.FreqRefSrc	getFreqRefSrc() Gets the frequency reference source
double	getFrequency() Gets the set frequency
double	getFrequencyApp() Gets the applied frequency
double	getInputVoltage() Gets the input voltage
String	getModelName() Gets the model name
int	getNodeAddress() Gets the node address.
A1000.Parity	getParity() Gets the drive parity.
double	getRatedCurrent() Gets the rated current
A1000.RunCmndSrc	getRunCmndSrc() Gets the run command source
A1000.RunProg	getRunProg() Gets the interaction between running and programming
A1000.StopMethod	getStopMethod() Gets the stop method
A1000.VfSelection	getVfSelection() Gets the V/f profile
A1000.VoltageUnits	getVoltageUnits() Gets the voltage units
boolean	isEnterRequired() Gets whether enter command is required for parameter application
boolean	isFaultDetected() Gets whether communications faults are detected
boolean	isReversePermitted() Gets whether reverse running is permitted
boolean	isRunCmndFwdRev() Gets whether run command is forward/reverse style
void	open(String device) Opens a connection to the device.
void	open(String device, int address) Opens a connection to the device.
void	open(String device, int address, int baudRate) Opens a connection to the device.
void	open(String device, int address, int baudRate, int dataChar) Opens a connection to the device.
double	readBusVoltage() Reads the bus voltage
double	readCurrent() Reads the current
double	readFrequency() Reads the frequency
int	readRegister(short addr) Reads a register.
short[]	readRegisters(short addr, short count) Reads a set of registers.
double	readVoltage() Reads the voltage
void	runForward() Runs the motor forwards
void	runReverse() Runs the motor in reverse
void	saveParameters() Saves parameter values in EEPROM.
void	setAccessLevel(A1000.AccessLevel level) Sets the access level
void	setBaudRate(A1000.BaudRate rate) Sets the drive baud rate.
void	setControlMode(A1000.ControlMode mode) Sets the control mode
void	setEnterRequired(boolean require) Sets whether enter command is required for parameter application
void	setErrorAction(A1000.ErrorAction action) Sets the communications error action
void	setFaultDetected(boolean detect) Sets whether communications faults are detected
void	setFreqRefSrc(A1000.FreqRefSrc src) Sets the frequency reference source
void	setFrequency(double freq) Sets the frequency
void	setInputVoltage(double voltage) Sets the input voltage
void	setLocalControl() Sets control to be local.
void	setNodeAddress(int address) Sets the node address.
void	setParity(A1000.Parity parity) Sets the drive parity
void	setRemoteControl() Sets control to be remote.
void	setReversePermitted(boolean permit) Sets whether reverse running is permitted
void	setRunCmndFwdRev(boolean fwdRev) Sets whether run command is forward/reverse style
void	setRunCmndSrc(A1000.RunCmndSrc src) Sets the run command source
void	setRunProg(A1000.RunProg runProg) Sets the interaction between running and programming
void	setStopMethod(A1000.StopMethod method) Sets the stop method
void	setVfSelection(A1000.VfSelection level) Sets the V/f profile
void	setVoltageUnits(A1000.VoltageUnits units) Sets the voltage units
void	stop() Stops the motor
void	writeRegister(short addr, short value) Writes a register.
void	writeRegisters(short addr, short[] value) Writes a set of registers.

Methods inherited from class java.lang.Object

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

Field Detail

STATUS_RUNNING

public static final int STATUS_RUNNING

See Also:

Constant Field Values

STATUS_ZERO_SPEED

public static final int STATUS_ZERO_SPEED

See Also:

Constant Field Values

STATUS_REVERSE

public static final int STATUS_REVERSE

See Also:

Constant Field Values

STATUS_FAULT_RESET

public static final int STATUS_FAULT_RESET

See Also:

Constant Field Values

STATUS_SPEED_AGREE

public static final int STATUS_SPEED_AGREE

See Also:

Constant Field Values

STATUS_READY

public static final int STATUS_READY

See Also:

Constant Field Values

STATUS_ALARM

public static final int STATUS_ALARM

See Also:

Constant Field Values

STATUS_FAULT

public static final int STATUS_FAULT

See Also:

Constant Field Values

Constructor Detail

A1000

public A1000()

Constructor.

Method Detail

open

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

Opens a connection to the device.

Parameters:

device - The serial device name

address - The slave address

baudRate - The baud rate

dataChar - The data characteristics

Throws:

org.lsst.ccs.drivers.commons.DriverException

open

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

Opens a connection to the device.

Parameters:

device - The serial device name

address - The slave address

baudRate - The baud rate

Throws:

org.lsst.ccs.drivers.commons.DriverException

open

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

Opens a connection to the device.

Parameters:

device - The serial device name

address - The slave address

Throws:

org.lsst.ccs.drivers.commons.DriverException

open

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

Opens a connection to the device.

Parameters:

device - The serial device name

Throws:

org.lsst.ccs.drivers.commons.DriverException

close

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

Closes the connection to the device.

Throws:

org.lsst.ccs.drivers.commons.DriverException

readRegisters

public short[] readRegisters(short addr,
                             short count)
                      throws org.lsst.ccs.drivers.commons.DriverException

Reads a set of registers.

Parameters:

addr - The first register address

count - The number of registers to read

Returns:

An array of register values

Throws:

org.lsst.ccs.drivers.commons.DriverException

readRegister

public int readRegister(short addr)
                 throws org.lsst.ccs.drivers.commons.DriverException

Reads a register.

Parameters:

addr - The register address

Returns:

The read value as a signed integer

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeRegister

public void writeRegister(short addr,
                          short value)
                   throws org.lsst.ccs.drivers.commons.DriverException

Writes a register.

Parameters:

addr - The register address

value - The value to write

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeRegisters

public void writeRegisters(short addr,
                           short[] value)
                    throws org.lsst.ccs.drivers.commons.DriverException

Writes a set of registers.

Parameters:

addr - The first register address

value - The array of values to write

Throws:

org.lsst.ccs.drivers.commons.DriverException

enterParameters

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

Makes new parameter values available.

Throws:

org.lsst.ccs.drivers.commons.DriverException

saveParameters

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

Saves parameter values in EEPROM.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setNodeAddress

public void setNodeAddress(int address)
                    throws org.lsst.ccs.drivers.commons.DriverException

Sets the node address.

Parameters:

address - The device address (1 - 255)

Throws:

org.lsst.ccs.drivers.commons.DriverException

getNodeAddress

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

Gets the node address.

Returns:

The device address (1 - 255)

Throws:

org.lsst.ccs.drivers.commons.DriverException

setBaudRate

public void setBaudRate(A1000.BaudRate rate)
                 throws org.lsst.ccs.drivers.commons.DriverException

Sets the drive baud rate.

Parameters:

rate - The baud rate enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getBaudRate

public A1000.BaudRate getBaudRate()
                           throws org.lsst.ccs.drivers.commons.DriverException

Gets the drive baud rate

Returns:

The baud rate enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setParity

public void setParity(A1000.Parity parity)
               throws org.lsst.ccs.drivers.commons.DriverException

Sets the drive parity

Parameters:

parity - The parity enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getParity

public A1000.Parity getParity()
                       throws org.lsst.ccs.drivers.commons.DriverException

Gets the drive parity.

Returns:

The parity enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getModelName

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

Gets the model name

Returns:

The model name

Throws:

org.lsst.ccs.drivers.commons.DriverException

getRatedCurrent

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

Gets the rated current

Returns:

The rated current

Throws:

org.lsst.ccs.drivers.commons.DriverException

setLocalControl

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

Sets control to be local.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setRemoteControl

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

Sets control to be remote.

Throws:

org.lsst.ccs.drivers.commons.DriverException

setAccessLevel

public void setAccessLevel(A1000.AccessLevel level)
                    throws org.lsst.ccs.drivers.commons.DriverException

Sets the access level

Parameters:

level - Access level enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getAccessLevel

public A1000.AccessLevel getAccessLevel()
                                 throws org.lsst.ccs.drivers.commons.DriverException

Gets the access level

Returns:

Access level enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setControlMode

public void setControlMode(A1000.ControlMode mode)
                    throws org.lsst.ccs.drivers.commons.DriverException

Sets the control mode

Parameters:

mode - Control mode enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getControlMode

public A1000.ControlMode getControlMode()
                                 throws org.lsst.ccs.drivers.commons.DriverException

Gets the control mode

Returns:

Control mode enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setFreqRefSrc

public void setFreqRefSrc(A1000.FreqRefSrc src)
                   throws org.lsst.ccs.drivers.commons.DriverException

Sets the frequency reference source

Parameters:

src - Frequency reference source enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getFreqRefSrc

public A1000.FreqRefSrc getFreqRefSrc()
                               throws org.lsst.ccs.drivers.commons.DriverException

Gets the frequency reference source

Returns:

Frequency reference source enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setRunCmndSrc

public void setRunCmndSrc(A1000.RunCmndSrc src)
                   throws org.lsst.ccs.drivers.commons.DriverException

Sets the run command source

Parameters:

src - Run command source enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getRunCmndSrc

public A1000.RunCmndSrc getRunCmndSrc()
                               throws org.lsst.ccs.drivers.commons.DriverException

Gets the run command source

Returns:

Run command source enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setStopMethod

public void setStopMethod(A1000.StopMethod method)
                   throws org.lsst.ccs.drivers.commons.DriverException

Sets the stop method

Parameters:

method - Stop method enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getStopMethod

public A1000.StopMethod getStopMethod()
                               throws org.lsst.ccs.drivers.commons.DriverException

Gets the stop method

Returns:

Stop method enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setRunProg

public void setRunProg(A1000.RunProg runProg)
                throws org.lsst.ccs.drivers.commons.DriverException

Sets the interaction between running and programming

Parameters:

runProg - Interaction enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getRunProg

public A1000.RunProg getRunProg()
                         throws org.lsst.ccs.drivers.commons.DriverException

Gets the interaction between running and programming

Returns:

Interaction enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setErrorAction

public void setErrorAction(A1000.ErrorAction action)
                    throws org.lsst.ccs.drivers.commons.DriverException

Sets the communications error action

Parameters:

action - Error action enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getErrorAction

public A1000.ErrorAction getErrorAction()
                                 throws org.lsst.ccs.drivers.commons.DriverException

Gets the communications error action

Returns:

Error action enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setReversePermitted

public void setReversePermitted(boolean permit)
                         throws org.lsst.ccs.drivers.commons.DriverException

Sets whether reverse running is permitted

Parameters:

permit - Whether reverse permitted

Throws:

org.lsst.ccs.drivers.commons.DriverException

isReversePermitted

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

Gets whether reverse running is permitted

Returns:

Whether reverse permitted

Throws:

org.lsst.ccs.drivers.commons.DriverException

setFaultDetected

public void setFaultDetected(boolean detect)
                      throws org.lsst.ccs.drivers.commons.DriverException

Sets whether communications faults are detected

Parameters:

detect - Whether faults are detected

Throws:

org.lsst.ccs.drivers.commons.DriverException

isFaultDetected

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

Gets whether communications faults are detected

Returns:

Whether faults are detected

Throws:

org.lsst.ccs.drivers.commons.DriverException

setEnterRequired

public void setEnterRequired(boolean require)
                      throws org.lsst.ccs.drivers.commons.DriverException

Sets whether enter command is required for parameter application

Parameters:

require - Whether enter required

Throws:

org.lsst.ccs.drivers.commons.DriverException

isEnterRequired

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

Gets whether enter command is required for parameter application

Returns:

Whether enter required

Throws:

org.lsst.ccs.drivers.commons.DriverException

setRunCmndFwdRev

public void setRunCmndFwdRev(boolean fwdRev)
                      throws org.lsst.ccs.drivers.commons.DriverException

Sets whether run command is forward/reverse style

Parameters:

fwdRev - Whether forward/reverse style

Throws:

org.lsst.ccs.drivers.commons.DriverException

isRunCmndFwdRev

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

Gets whether run command is forward/reverse style

Returns:

Whether forward/reverse style

Throws:

org.lsst.ccs.drivers.commons.DriverException

setVoltageUnits

public void setVoltageUnits(A1000.VoltageUnits units)
                     throws org.lsst.ccs.drivers.commons.DriverException

Sets the voltage units

Parameters:

units - The voltage units enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getVoltageUnits

public A1000.VoltageUnits getVoltageUnits()
                                   throws org.lsst.ccs.drivers.commons.DriverException

Gets the voltage units

Returns:

The voltage units enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setInputVoltage

public void setInputVoltage(double voltage)
                     throws org.lsst.ccs.drivers.commons.DriverException

Sets the input voltage

Parameters:

voltage - The input voltage

Throws:

org.lsst.ccs.drivers.commons.DriverException

getInputVoltage

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

Gets the input voltage

Returns:

The input voltage

Throws:

org.lsst.ccs.drivers.commons.DriverException

setVfSelection

public void setVfSelection(A1000.VfSelection level)
                    throws org.lsst.ccs.drivers.commons.DriverException

Sets the V/f profile

Parameters:

level - The V/f profile enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

getVfSelection

public A1000.VfSelection getVfSelection()
                                 throws org.lsst.ccs.drivers.commons.DriverException

Gets the V/f profile

Returns:

The V/f profile enum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setFrequency

public void setFrequency(double freq)
                  throws org.lsst.ccs.drivers.commons.DriverException

Sets the frequency

Parameters:

freq - The frequency to set

Throws:

org.lsst.ccs.drivers.commons.DriverException

getFrequency

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

Gets the set frequency

Returns:

The set drive frequency

Throws:

org.lsst.ccs.drivers.commons.DriverException

getFrequencyApp

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

Gets the applied frequency

Returns:

The applied drive frequency

Throws:

org.lsst.ccs.drivers.commons.DriverException

readFrequency

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

Reads the frequency

Returns:

The drive frequency

Throws:

org.lsst.ccs.drivers.commons.DriverException

readVoltage

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

Reads the voltage

Returns:

The drive voltage

Throws:

org.lsst.ccs.drivers.commons.DriverException

readCurrent

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

Reads the current

Returns:

The drive current

Throws:

org.lsst.ccs.drivers.commons.DriverException

readBusVoltage

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

Reads the bus voltage

Returns:

The bus voltage

Throws:

org.lsst.ccs.drivers.commons.DriverException

getDriveStatus

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

Gets the drive status

Returns:

The drive status word

Throws:

org.lsst.ccs.drivers.commons.DriverException

runForward

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

Runs the motor forwards

Throws:

org.lsst.ccs.drivers.commons.DriverException

runReverse

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

Runs the motor in reverse

Throws:

org.lsst.ccs.drivers.commons.DriverException

stop

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

Stops the motor

Throws:

org.lsst.ccs.drivers.commons.DriverException