org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOS

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

All Implemented Interfaces:

Serializable, Observer, org.lsst.ccs.framework.Configurable, Actuator, PieceOfHardware

Direct Known Subclasses:

CanOpenEPOS24, CanOpenEPOS70

public class CanOpenEPOS
extends CanOpenDevice
implements Actuator

A model general for a controller EPOS

Author:

virieux

See Also:

Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	CanOpenEPOS.EposMode

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

org.lsst.ccs.framework.Configurable.Environment

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	enabling
protected CanOpenEPOS.EposMode	mode
protected Motor	motor
boolean	on
int	readValue
int	sentValue

Fields inherited from class org.lsst.ccs.framework.Module

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOS(String aName, int aTickMillis, String nodeID, String serialNB, Motor aMotor, String aModeInString)

Method Summary

Methods

Modifier and Type	Method and Description
boolean	checkMotorParameters() This methods read the parameters of the motor stored in the actuator (hardware configuration)and compare with the configuration stored in the Configuration Data Base (software configuration).
String	displayMotorParameters()
String	enable() This methods enable the actuator : i.e.
void	faultReset()
int	getMotor_continuousCurrentLimit()
int	getMotor_maxSpeedInCurrentMode()
int	getMotor_outputCurrentLimit()
int	getMotor_polePairNumber()
int	getMotor_thermalTimeConstantWinding()
int	getMotor_type()
int	getReadValue()
int	getSentCurrentMaxValue()
int	getSentCurrentMinValue()
int	getSentValue()
String	initializeHardware() This methods has to be overridden if there is some initialization to do for the device.
void	initModule()
boolean	isEnable()
boolean	isOff()
boolean	isOn()
String	off() This method set to zero the current value and stops the motor motion.
String	on() This methods enables the actuator and puts the motor on in sending the appropriate current value to the actuator.
void	quickStop()
String	readControlWord() Read the control world (index=6040, subindex=0,size=2)
int	readCurrent() In Current Mode this methods returns the current actualy received by the motor.
int	readMotorData(String subindex) This methods reads the parameters of the motor stored in the actuator.
int	readMotorType() This command read the motor type on the actuator.
int	readPositionSensorType() This command read the position sensor type on the actuator.
String	readStatusWord() Read the status world (index=6041, subindex=0,size=2)
int	readVelocity()
Object	restoreParameters()
Object	saveParameters() This method save the parameters in the actuator memory.
void	setMaxiAcceleration(int acceleration)
void	setMaxiVelocity(int velocity)
void	setVelocity()
String	shutdown()
void	stopCurrent() In current mode this methods set to zero the value of the current sent to the motor.
void	stopVelocity()
void	switchOnEnableOperation()
void	updateReadValue() Reads the current value or the velocity value stored in the EPOS and updates the readValue field.
void	writeControlWord(String value) Write a value in hexa in the control world (index=6040, subindex=0,size=2)
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
void	writeMaxSpeed(int value)
protected void	writeMotorData(String subindex, String sizeInHexa, int value) This method writes the parameters for the motor on the actuator.
void	writeMotorParameters() Write the values of the motor fields in the actuator memory.
void	writeMotorType(int value) This command set the motor type on the actuator.
void	writePositionSensorType(int value)

Methods inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

displayErrorHistory, displayErrorRegister, getNodeID, getSerialNB, isInitalized, isNodeIdBootedAndOK, readErrorHistory, readErrorRegister, readNumberOfErrors, readSDO, toString, writeSDO

Methods inherited from class org.lsst.ccs.framework.Module

alias, change, checkHardware, dropConfigurationContext, getCheckedValueFromConfiguration, getChildren, getContext, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, processUpdate, publishData, publishData, publishData, publishData, publishData, publishData, publishData, register, removeLogPanicState, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setHandlerLevel, setLogLevel, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownCommand, shutdownNow, start, startTicking, tick, update

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.Actuator

getName

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.PieceOfHardware

getName

Field Detail

on

public boolean on

readValue

public int readValue

sentValue

public int sentValue

mode

protected CanOpenEPOS.EposMode mode

motor

protected final Motor motor

enabling

protected volatile boolean enabling

Constructor Detail

CanOpenEPOS

public CanOpenEPOS(String aName,
           int aTickMillis,
           String nodeID,
           String serialNB,
           Motor aMotor,
           String aModeInString)

Method Detail

isOn

public boolean isOn()

Specified by:

isOn in interface Actuator

isOff

public boolean isOff()

Specified by:

isOff in interface Actuator

getReadValue

public int getReadValue()

Specified by:

getReadValue in interface Actuator

getSentValue

public int getSentValue()

Specified by:

getSentValue in interface Actuator

getSentCurrentMinValue

public int getSentCurrentMinValue()

Specified by:

getSentCurrentMinValue in interface Actuator

getSentCurrentMaxValue

public int getSentCurrentMaxValue()

Specified by:

getSentCurrentMaxValue in interface Actuator

getMotor_continuousCurrentLimit

public int getMotor_continuousCurrentLimit()

getMotor_maxSpeedInCurrentMode

public int getMotor_maxSpeedInCurrentMode()

getMotor_outputCurrentLimit

public int getMotor_outputCurrentLimit()

getMotor_polePairNumber

public int getMotor_polePairNumber()

getMotor_thermalTimeConstantWinding

public int getMotor_thermalTimeConstantWinding()

getMotor_type

public int getMotor_type()

updateReadValue

public void updateReadValue()
                     throws org.lsst.ccs.bus.BadCommandException,
                            SDORequestException

Reads the current value or the velocity value stored in the EPOS and updates the readValue field.

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

initModule

public void initModule()

Overrides:

initModule in class CanOpenDevice

initializeHardware

public String initializeHardware()
                          throws Exception

Description copied from class: CanOpenDevice

This methods has to be overridden if there is some initialization to do for the device.

Specified by:

initializeHardware in interface PieceOfHardware

Overrides:

initializeHardware in class CanOpenDevice

Returns:

a message

Throws:

Exception

isEnable

public boolean isEnable()
                 throws SDORequestException

Throws:

SDORequestException

faultReset

public void faultReset()
                throws SDORequestException

Throws:

SDORequestException

enable

public String enable()
              throws SDORequestException

This methods enable the actuator : i.e. this makes the actuator able to receive commands.

Returns:

Throws:

SDORequestError

SDORequestException

shutdown

public String shutdown()
                throws SDORequestException

Throws:

SDORequestException

switchOnEnableOperation

public void switchOnEnableOperation()
                             throws SDORequestException

Throws:

SDORequestException

saveParameters

public Object saveParameters()
                      throws SDORequestException

This method save the parameters in the actuator memory.

Returns:

Throws:

SDORequestError

SDORequestException

restoreParameters

public Object restoreParameters()
                         throws SDORequestException

Throws:

SDORequestException

writeControlWord

public void writeControlWord(String value)
                      throws SDORequestException

Write a value in hexa in the control world (index=6040, subindex=0,size=2)

Parameters:

value - in hexa

Throws:

SDORequestException

readControlWord

public String readControlWord()
                       throws SDORequestException

Read the control world (index=6040, subindex=0,size=2)

Returns:

value in hexa

Throws:

SDORequestException

readStatusWord

public String readStatusWord()
                      throws SDORequestException

Read the status world (index=6041, subindex=0,size=2)

Returns:

value in hexa

Throws:

SDORequestException

quickStop

public void quickStop()
               throws SDORequestException

Throws:

SDORequestException

on

public String on()
          throws org.lsst.ccs.bus.BadCommandException,
                 org.lsst.ccs.bus.ErrorInCommandExecutionException

This methods enables the actuator and puts the motor on in sending the appropriate current value to the actuator.

Specified by:

on in interface Actuator

Returns:

a message

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

off

public String off()
           throws org.lsst.ccs.bus.BadCommandException,
                  org.lsst.ccs.bus.ErrorInCommandExecutionException

This method set to zero the current value and stops the motor motion. Then it disables the actuator.

Specified by:

off in interface Actuator

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

writeMotorParameters

public void writeMotorParameters()
                          throws SDORequestException

Write the values of the motor fields in the actuator memory.

Throws:

SDORequestError

SDORequestException

writeMotorType

public void writeMotorType(int value)
                    throws SDORequestException

This command set the motor type on the actuator.

Throws:

SDORequestException

readMotorType

public int readMotorType()
                  throws SDORequestException

This command read the motor type on the actuator.

Returns:

the motor type in decimal

Throws:

SDORequestException

readPositionSensorType

public int readPositionSensorType()
                           throws SDORequestException

This command read the position sensor type on the actuator.

Returns:

the position sensor type in decimal

Throws:

SDORequestException

writePositionSensorType

public void writePositionSensorType(int value)
                             throws SDORequestException

Throws:

SDORequestException

writeMaxSpeed

public void writeMaxSpeed(int value)
                   throws SDORequestException

Throws:

SDORequestException

writeMotorData

protected void writeMotorData(String subindex,
                  String sizeInHexa,
                  int value)
                       throws SDORequestException

This method writes the parameters for the motor on the actuator. The parameters for the motor data are stored in the index 6410.

Parameters:

subindex -

sizeInHexa - size of the parameter in Can Open

value - FORMAT=int the value of the parameter in decimal format

Throws:

SDORequestException

readMotorData

public int readMotorData(String subindex)
                  throws SDORequestException

This methods reads the parameters of the motor stored in the actuator. (index 6410)

Parameters:

subindex -

Returns:

value FORMAT=int the value of the parameter in decimal format

Throws:

SDORequestException

checkMotorParameters

public boolean checkMotorParameters()
                             throws ClampMotorConfigurationException,
                                    SDORequestException

This methods read the parameters of the motor stored in the actuator (hardware configuration)and compare with the configuration stored in the Configuration Data Base (software configuration).

Returns:

true if the hardware and software configuration are the same, false otherwise.

Throws:

MismatchMotorConfigurationError

ClampMotorConfigurationException

SDORequestException

displayMotorParameters

public String displayMotorParameters()
                              throws SDORequestException

Throws:

SDORequestException

writeCurrent

public void writeCurrent(int aValue)
                  throws org.lsst.ccs.bus.BadCommandException,
                         SDORequestException

In current mode this methods send a current to the motor. This make run the motor.

Parameters:

aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

readCurrent

public int readCurrent()
                throws org.lsst.ccs.bus.BadCommandException,
                       SDORequestException

In Current Mode this methods returns the current actualy received by the motor.

Returns:

the current UNIT=mA / FORMAT=decimal

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

stopCurrent

public void stopCurrent()
                 throws org.lsst.ccs.bus.BadCommandException,
                        SDORequestException

In current mode this methods set to zero the value of the current sent to the motor. This stops the motor.

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

setMaxiVelocity

public void setMaxiVelocity(int velocity)

setMaxiAcceleration

public void setMaxiAcceleration(int acceleration)

setVelocity

public void setVelocity()
                 throws org.lsst.ccs.bus.BadCommandException

Throws:

org.lsst.ccs.bus.BadCommandException

readVelocity

public int readVelocity()
                 throws org.lsst.ccs.bus.BadCommandException

Throws:

org.lsst.ccs.bus.BadCommandException

stopVelocity

public void stopVelocity()
                  throws org.lsst.ccs.bus.BadCommandException

Throws:

org.lsst.ccs.bus.BadCommandException