org.lsst.ccs.subsystems.fcs.common

Interface EPOSController

All Superinterfaces:

Actuator

All Known Implementing Classes:

CanOpenClampActuatorModule, CanOpenEPOS, CanOpenEPOS24, CanOpenEPOS70, SimuEPOSControllerModule

public interface EPOSController
extends Actuator

Author:

virieux

Method Summary

Modifier and Type	Method and Description
String	changeMode(CanOpenEPOS.EposMode newMode) This methods changes the mode to the new mode given as an 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.
String	enable()
boolean	isTargetPositionReached(int position)
int	readCurrent()
int	readPosition()
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
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	writeTargetPosition(int aValue) In PROFILE_POSITION mode this methods set the target position.

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

getName, getReadValue, getSentCurrentMaxValue, getSentCurrentMinValue, getSentValue, isOff, isOn, off, on

Method Detail

changeMode

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.

Parameters:

newMode -

Returns:

Throws:

SDORequestException

checkMotorParameters

boolean checkMotorParameters()
                      throws EPOSConfigurationException,
                             SDORequestException,
                             ShortResponseToSDORequestException

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:

EPOSConfigurationException

SDORequestException

ShortResponseToSDORequestException

defineAbsolutePosition

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.

Parameters:

position -

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.bus.BadCommandException

writeParameters

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.

Parameters:

mode -

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

writeTargetPosition

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.

Parameters:

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

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

writeParameters

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

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

Parameters:

paramMap -

Throws:

SDORequestException

writeCurrent

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

EPOSConfigurationException

SDORequestException

isTargetPositionReached

boolean isTargetPositionReached(int position)
                         throws SDORequestException

Throws:

SDORequestException

readPosition

int readPosition()
          throws SDORequestException,
                 ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readCurrent

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

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

enable

String enable()
       throws SDORequestException

Throws:

SDORequestException