org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenClampActuatorModule

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS24

org.lsst.ccs.subsystems.fcs.drivers.CanOpenClampActuatorModule

All Implemented Interfaces:

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

public class CanOpenClampActuatorModule
extends CanOpenEPOS24

This deviceErrorFile a model for the clamp actuator in the Single Filter Test. The actuator deviceErrorFile used to unlock or release a clamp. To unlock a clamp, the actuator must be ON and to release the clamp it has to be OFF. There deviceErrorFile 2 clamps actuators on the carousel : one for side X-, one for side X+ For the Single Filter Test the actuator will be Maxon Motor EPOS2 24/5. (cf EPOS2_Firmware_Specification_En.pdf) There deviceErrorFile many operation modes for this actuators. For the Single Filter Test, we will use VELOCITY mode or CURRENT mode.

Author:

virieux

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

CanOpenEPOS.EposMode, CanOpenEPOS.Parameter

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 inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

enabling, mode, motor, on, readValue, sentValue, targetPosition

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

Constructors

Constructor and Description
CanOpenClampActuatorModule(String aName, int aTickMillis, String nodeID, String serialNB, Motor aMotor, CanOpenEPOS.EposMode mode, Map<String,Integer> paramsForHoming, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForCurrent)

Method Summary

Methods

Modifier and Type	Method and Description
StatusDataPublishedByClampActuator	getStatusData()
void	setMode(String modeInString)
String	unclamp() This is the user name of the command ON in single filter test.

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

activateCurrentMode, activateHomingMode, activateProfilePositionMode, changeMode, changeMode, checkMotorParameters, defineAbsolutePosition, displayListParameters, displayMotorParameters, enable, faultReset, getMotor_continuousCurrentLimit, getMotor_maxSpeedInCurrentMode, getMotor_outputCurrentLimit, getMotor_polePairNumber, getMotor_thermalTimeConstantWinding, getMotor_type, getReadValue, getSentCurrentMaxValue, getSentCurrentMinValue, getSentValue, initializeHardware, initModule, isEnable, isOff, isOn, main, off, offOld, on, onOld, quickStop, readControlWord, readCurrent, readMode, readMotorData, readMotorType, readParameter, readParameter, readParameters, readParameters, readPositionActualValue, readPositionSensorType, readStatusWord, readVelocity, restoreParameters, saveParameters, setHomePosition, setHomingMethodActual, setMaxiAcceleration, setMaxiVelocity, setVelocity, shutdown, startHoming, stopCurrent, stopVelocity, switchOnEnableOperation, updateReadValue, writeControlWord, writeCurrent, writeMaxSpeed, writeMotorData, writeMotorParameters, writeMotorType, writeParameter, writeParameter, writeParameters, writeParameters, writeParameters, writePositionSensorType, writeTargetPosition

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

Constructor Detail

CanOpenClampActuatorModule

public CanOpenClampActuatorModule(String aName,
                          int aTickMillis,
                          String nodeID,
                          String serialNB,
                          Motor aMotor,
                          CanOpenEPOS.EposMode mode,
                          Map<String,Integer> paramsForHoming,
                          Map<String,Integer> paramsForProfilePosition,
                          Map<String,Integer> paramsForCurrent)

Method Detail

setMode

public void setMode(String modeInString)

unclamp

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

This is the user name of the command ON in single filter test.

Returns:

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

getStatusData

public StatusDataPublishedByClampActuator getStatusData()