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:

Observer, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.SignalHandler, Actuator, EPOSController, PieceOfHardware

Direct Known Subclasses:

CanOpenEPOS24, CanOpenEPOS70

public class CanOpenEPOS
extends CanOpenDevice
implements Actuator, EPOSController

A general model for a controller EPOS.

Author:

virieux

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	CanOpenEPOS.EposMode Here are all the modes that can be configurated for an EPOS controller.
static class	CanOpenEPOS.Parameter Here are the parameters that we can set in an Epos controller.

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
int	currentValue The value of current that has to be sent to the motor to make it move.
protected boolean	enabling
protected CanOpenEPOS.EposMode	mode
boolean	on
int	readValue
int	sentValue
int	targetPosition position we want to reach UNIT= mA given in decimal mode

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, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming, CanOpenEPOS.EposMode aMode, int currentValue)

Method Summary

Methods

Modifier and Type	Method and Description
void	activateCurrentMode()
void	activateHomingMode()
void	activateProfilePositionMode()
String	changeMode(CanOpenEPOS.EposMode newMode) This methods changes the mode to the new mode given as an argument.
String	changeMode(String modeInString) Changes the mode to the new mode given as a String argument.
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).
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
static String	displayListParameters() Displays the list of parameters.
static String	displayListParameters(String modeInString) Displays the list of parameters that we have to define for a given mode.
String	displayMotorParameters() Read the values of the motor parameters and displays them for the end user.
String	enable() This methods enable the actuator : i.e.
void	faultReset()
int	getMotor_continuousCurrentLimit() Deprecated.
int	getMotor_maxSpeedInCurrentMode() Deprecated.
int	getMotor_outputCurrentLimit() Deprecated.
int	getMotor_polePairNumber() Deprecated.
int	getMotor_thermalTimeConstantWinding() Deprecated.
int	getMotor_type() Deprecated.
int	getMotorParameterValue(String parameterName)
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()
boolean	isTargetPositionReached(int position)
static void	main(String[] args)
String	off()
String	offOld() This method set to zero the current value and stops the motor motion.
String	on()
String	onOld() This methods enables the actuator and puts the motor on in sending the appropriate current value to the actuator.
String	printParameters(Map<String,Integer> paramMap)
String	printParameters(String modeInString) Print the configured parameters for this EPOS for a mode name given in argument.
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.
String	readMode() Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.
int	readMotorData(String subindex) Deprecated.
int	readMotorType() Deprecated.
int	readParameter(CanOpenEPOS.Parameter param) Reads in the EPOS CPU the value of the Parameter.
int	readParameter(String parameterName) Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.
String	readParameters()
String	readParameters(String modeInString) This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
int	readPosition()
int	readPositionActualValue() To make end user's life more easy : reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
int	readPositionSensorType() Deprecated.
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.
String	setHomePosition(int position) Set the Home Position with the value given as argument in decimal format.
String	setHomingMethodActual() Writes value 35 in hexa to set the Homing method as Actual (See EPOS documentation)
void	setVelocity()
String	shutdown()
void	startHoming() Starts homing : (See EPOS documentation) For engineering mode.
void	stopCurrent() In current mode this methods set to zero the value of the current sent to the motor.
void	stopVelocity() Stop the motion in the mode VELOCITY.
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) Deprecated.
protected void	writeMotorData(String subindex, String sizeInHexa, int value) Deprecated.
void	writeMotorType(int value) This command set the motor type on the actuator.
String	writeParameter(CanOpenEPOS.Parameter param, int value)
String	writeParameter(String parameterName, int value) This method writes a parameter in the CPU of the EPOS.
void	writeParameters(CanOpenEPOS.EposMode mode) This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode.
void	writeParameters(Map<String,Integer> paramMap) Write to the CPU of the EPOS a map of parameters.
void	writeParameters(String modeInString)
void	writePositionSensorType(int value) Deprecated.
void	writeTargetPosition(int aValue) In PROFILE_POSITION mode this methods set the target position.

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, getComponentByName, getComponentDictionariesTree, getComponentTree, getContext, getDictionary, getEnvironment, getMainDictionary, getModule, getName, getNObserverThreads, getObservables, getParent, getSubsystem, getTickMillis, init, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, percolateSignal, processUpdate, publish, publish, publish, publish, publish, publish, publishData, publishData, publishData, publishData, publishData, publishData, publishData, register, sendSignal, sendSignal, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, setName, setNObserverThreads, setObservables, setStateModularSubsystem, setStateModularSubsystem, setTickMillis, shutdownCommand, shutdownNow, signal, 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

currentValue

public int currentValue

The value of current that has to be sent to the motor to make it move. UNIT= mA given in decimal mode

targetPosition

public int targetPosition

position we want to reach UNIT= mA given in decimal mode

mode

protected CanOpenEPOS.EposMode mode

enabling

protected volatile boolean enabling

Constructor Detail

CanOpenEPOS

public CanOpenEPOS(String aName,
           int aTickMillis,
           String nodeID,
           String serialNB,
           Map<String,Integer> paramsForCurrent,
           Map<String,Integer> paramsForProfilePosition,
           Map<String,Integer> paramsForHoming,
           CanOpenEPOS.EposMode aMode,
           int currentValue)

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

getMotorParameterValue

public int getMotorParameterValue(String parameterName)
                           throws EPOSConfigurationException

Throws:

EPOSConfigurationException

printParameters

public String printParameters(String modeInString)

Print the configured parameters for this EPOS for a mode name given in argument. This methods doesnt't read the CPU of the EPOS. So if no writeParameters(modeInString) command has been done before, the values in the EPOS CPU can be different.

Parameters:

modeInString -

Returns:

printParameters

public String printParameters(Map<String,Integer> paramMap)

getMotor_continuousCurrentLimit

@Deprecated
public int getMotor_continuousCurrentLimit()
                                    throws SDORequestException

Deprecated.

Throws:

SDORequestException

getMotor_maxSpeedInCurrentMode

@Deprecated
public int getMotor_maxSpeedInCurrentMode()
                                   throws SDORequestException

Deprecated.

Throws:

SDORequestException

getMotor_outputCurrentLimit

@Deprecated
public int getMotor_outputCurrentLimit()
                                throws SDORequestException

Deprecated.

Throws:

SDORequestException

getMotor_polePairNumber

@Deprecated
public int getMotor_polePairNumber()
                            throws SDORequestException

Deprecated.

Throws:

SDORequestException

getMotor_thermalTimeConstantWinding

@Deprecated
public int getMotor_thermalTimeConstantWinding()
                                        throws SDORequestException

Deprecated.

Throws:

SDORequestException

getMotor_type

@Deprecated
public int getMotor_type()
                  throws SDORequestException

Deprecated.

Throws:

SDORequestException

readMode

public String readMode()
                throws SDORequestException

Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.

Returns:

Throws:

SDORequestException

changeMode

@Command(type=ACTION,
         level=3,
         description="Change EPOS mode .")
public String changeMode(String modeInString)
                  throws SDORequestException

Changes the mode to the new mode given as a String argument.

Parameters:

modeInString -

Returns:

Throws:

SDORequestException

changeMode

public String changeMode(CanOpenEPOS.EposMode newMode)
                  throws SDORequestException

This methods changes the mode to the new mode given as an argument. It writes the new mode in the CPU of the EPOS controller and updates the field mode.

Specified by:

changeMode in interface EPOSController

Parameters:

newMode -

Returns:

Throws:

SDORequestException

displayListParameters

public static String displayListParameters(String modeInString)

Displays the list of parameters that we have to define for a given mode.

Parameters:

modeInString -

Returns:

displayListParameters

public static String displayListParameters()

Displays the list of parameters.

Returns:

readParameters

public String readParameters(String modeInString)
                      throws SDORequestException

This methods reads in the CPU of the EPOS the values of the parameters for a given mode.

Parameters:

modeInString -

Returns:

Throws:

SDORequestException

readParameters

public String readParameters()
                      throws SDORequestException

Throws:

SDORequestException

writeParameters

public void writeParameters(String modeInString)
                     throws SDORequestException,
                            org.lsst.ccs.bus.ErrorInCommandExecutionException

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

writeParameters

public void writeParameters(CanOpenEPOS.EposMode mode)
                     throws SDORequestException,
                            org.lsst.ccs.bus.ErrorInCommandExecutionException

This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode. Usually the values of the parameters are given by the configuration system.

Specified by:

writeParameters in interface EPOSController

Parameters:

mode -

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

writeParameters

public void writeParameters(Map<String,Integer> paramMap)
                     throws SDORequestException

Write to the CPU of the EPOS a map of parameters.

Specified by:

writeParameters in interface EPOSController

Parameters:

paramMap -

Throws:

SDORequestException

writeParameter

@Command(type=ACTION,
         level=3,
         description="Set EPOS parameter with the value given as argument.")
public String writeParameter(String parameterName,
                            int value)
                      throws SDORequestException

This method writes a parameter in the CPU of the EPOS.

Parameters:

parameterName - the name of the parameter

value - in decimal

Returns:

Throws:

SDORequestException

writeParameter

public String writeParameter(CanOpenEPOS.Parameter param,
                    int value)
                      throws SDORequestException

Throws:

SDORequestException

readParameter

public int readParameter(String parameterName)
                  throws SDORequestException

Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.

Parameters:

parameterName -

Returns:

value of the parameter in decimal format.

Throws:

SDORequestException

readParameter

public int readParameter(CanOpenEPOS.Parameter param)
                  throws SDORequestException

Reads in the EPOS CPU the value of the Parameter.

Parameters:

param -

Returns:

value of the parameter in decimal format.

Throws:

SDORequestException

isTargetPositionReached

public boolean isTargetPositionReached(int position)
                                throws SDORequestException

Specified by:

isTargetPositionReached in interface EPOSController

Throws:

SDORequestException

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.

Specified by:

enable in interface EPOSController

Returns:

Throws:

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:

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

onOld

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

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

Returns:

a message

Throws:

org.lsst.ccs.bus.BadCommandException

EPOSConfigurationException

org.lsst.ccs.bus.ErrorInCommandExecutionException

on

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

Specified by:

on in interface Actuator

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

offOld

public String offOld()
              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.

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

off

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

Specified by:

off in interface Actuator

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

writeMotorType

public void writeMotorType(int value)
                    throws SDORequestException

This command set the motor type on the actuator.

Throws:

SDORequestException

readMotorType

@Deprecated
public int readMotorType()
                  throws SDORequestException

Deprecated.

This command read the motor type on the actuator.

Returns:

the motor type in decimal

Throws:

SDORequestException

readPositionSensorType

@Deprecated
public int readPositionSensorType()
                           throws SDORequestException

Deprecated.

This command read the position sensor type on the actuator.

Returns:

the position sensor type in decimal

Throws:

SDORequestException

writePositionSensorType

@Deprecated
public void writePositionSensorType(int value)
                             throws SDORequestException

Deprecated.

Throws:

SDORequestException

writeMaxSpeed

@Deprecated
public void writeMaxSpeed(int value)
                   throws SDORequestException

Deprecated.

Throws:

SDORequestException

writeMotorData

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

Deprecated.

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

@Deprecated
public int readMotorData(String subindex)
                  throws SDORequestException

Deprecated.

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 EPOSConfigurationException,
                                    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).

Specified by:

checkMotorParameters in interface EPOSController

Returns:

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

Throws:

EPOSConfigurationException

SDORequestException

displayMotorParameters

public String displayMotorParameters()
                              throws SDORequestException

Read the values of the motor parameters and displays them for the end user.

Returns:

Throws:

SDORequestException

writeCurrent

@Command(type=ACTION,
         level=3,
         description="Set the current value in the EPOS CPU.")
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.

Specified by:

writeCurrent in interface EPOSController

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

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,
                         SDORequestException

Stop the motion in the mode VELOCITY. Not used in single-filter-test, neither in testbenchLPSC.

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

readPositionActualValue

public int readPositionActualValue()
                            throws SDORequestException

To make end user's life more easy : reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.

Returns:

value in decimal format

Throws:

SDORequestException

setHomingMethodActual

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

Writes value 35 in hexa to set the Homing method as Actual (See EPOS documentation)

Returns:

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException - if the EPOS is not enable.

startHoming

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

Starts homing : (See EPOS documentation) For engineering mode.

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException - if the EPOS

org.lsst.ccs.bus.ErrorInCommandExecutionException

setHomePosition

public String setHomePosition(int position)
                       throws SDORequestException,
                              org.lsst.ccs.bus.BadCommandException

Set the Home Position with the value given as argument in decimal format.

Parameters:

position - in decimal format

Returns:

Throws:

SDORequestException

org.lsst.ccs.bus.BadCommandException

defineAbsolutePosition

@Command(type=ACTION,
         level=3,
         description="Define the actual position as position given as argument.")
public void defineAbsolutePosition(int position)
                            throws SDORequestException,
                                   org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                   org.lsst.ccs.bus.BadCommandException

Defines the actual position as the absolute position which value is given as an argument.

Specified by:

defineAbsolutePosition in interface EPOSController

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.bus.BadCommandException

writeTargetPosition

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

In PROFILE_POSITION mode this methods set the target position. This make run the motor.

Specified by:

writeTargetPosition in interface EPOSController

Parameters:

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

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

readPosition

public int readPosition()
                 throws SDORequestException

Specified by:

readPosition in interface EPOSController

Throws:

SDORequestException

activateCurrentMode

public void activateCurrentMode()
                         throws SDORequestException

Throws:

SDORequestException

activateHomingMode

public void activateHomingMode()
                        throws SDORequestException

Throws:

SDORequestException

activateProfilePositionMode

public void activateProfilePositionMode()
                                 throws SDORequestException

Throws:

SDORequestException

main

public static void main(String[] args)

Parameters:

args - the command line arguments