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

java.lang.Object
  java.util.Observable
      org.lsst.ccs.framework.Module
          org.lsst.ccs.subsystems.fcs.ClampActuatorModule
              org.lsst.ccs.subsystems.fcs.drivers.CanOpenClampActuatorModule

All Implemented Interfaces:

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

public class CanOpenClampActuatorModule
extends ClampActuatorModule
implements PieceOfHardware

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

static class

CanOpenClampActuatorModule.ActuatorMode

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

protected boolean

enabling

Fields inherited from class org.lsst.ccs.subsystems.fcs.ClampActuatorModule

on, readValue, sentCurrentMaxValue, sentCurrentMinValue, sentValue

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

environment, log, name, nObserverThreads, registry, tickMillis

Constructor Summary

CanOpenClampActuatorModule()

CanOpenClampActuatorModule(String nodeID, int inputID, String serial, Motor motor)

Method Summary

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	displayErrorHistory()
String	displayErrorRegister()
String	displayMotorParameters()
String	enable() This methods enable the actuator : i.e.
void	faultReset()
String	getMode()
int	getMotor_continuousCurrentLimit()
int	getMotor_maxSpeedInCurrentMode()
String	getMotor_mode()
int	getMotor_outputCurrentLimit()
int	getMotor_polePairNumber()
int	getMotor_thermalTimeConstantWinding()
int	getMotor_type()
Motor	getMotor()
String	getNodeID()
int	getPositionSensorType()
String	getSerialNB()
String	initializeHardware() This methods write some configuration data on the hardware CPU.
void	initModule()
boolean	isEnable()
boolean	isInitalized()
boolean	isNodeIdBootedAndOK()
String	maintainUnclamped()
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.
String[]	readErrorHistory() The error history holds errors that have occurred on the device and have been signalled via the emergency object.
String	readErrorRegister() At index 1001 there deviceErrorFile an error register for the device.
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	readNumberOfErrors() Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1.
int	readPositionSensorType() This command read the position sensor type on the actuator.
String	readSDO(String index, String subindex)
String	readStatusword() Read the status world (index=6041, subindex=0,size=2)
int	readVelocity()
String	release() This is the user name for the command off.
Object	restoreParameters()
Object	saveParameters() This method save the parameters in the actuator memory.
void	setMaxiAcceleration(int acceleration)
void	setMaxiVelocity(int velocity)
void	setMode(String modeInString)
void	setMotor(Motor motor)
void	setNodeID(String nodeID)
void	setSerialNB(String serialNB)
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()
String	toString()
String	unclamp() This is the user name of the command ON in single filter test.
void	updateReadValue()
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)
String	writeSDO(String index, String subindex, String length, String newValue)

Methods inherited from class org.lsst.ccs.subsystems.fcs.ClampActuatorModule

getReadValue, getSentCurrentMaxValue, getSentCurrentMinValue, getSentValue, getStatusData, isOff, isOn, setSentCurrentMaxValue, setSentCurrentMinValue

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

change, checkHardware, dropConfigurationContext, getCheckedValueFromConfiguration, getChildren, getContext, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, newConfigurationContext, notifyChange, notifyChangeWithoutPreliminaryChecks, processUpdate, publishData, publishData, publishData, publishData, register, register, sendToReply, sendToStatus, setBeanName, setContext, setEnvironment, 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.PieceOfHardware

getName

Field Detail

enabling

protected volatile boolean enabling

Constructor Detail

CanOpenClampActuatorModule

public CanOpenClampActuatorModule()

CanOpenClampActuatorModule

public CanOpenClampActuatorModule(String nodeID,
                                  int inputID,
                                  String serial,
                                  Motor motor)

Method Detail

getNodeID

public String getNodeID()

Specified by:

getNodeID in interface PieceOfHardware

Specified by:

getNodeID in class ClampActuatorModule

Returns:

the receivedNodeID

setNodeID

public void setNodeID(String nodeID)

Parameters:

receivedNodeID - the receivedNodeID to set

getSerialNB

public String getSerialNB()

Specified by:

getSerialNB in interface PieceOfHardware

Specified by:

getSerialNB in class ClampActuatorModule

Returns:

the serialNB

setSerialNB

public void setSerialNB(String serialNB)

Parameters:

serialNB - the serialNB to set

getMotor

public Motor getMotor()

Returns:

the motor

setMotor

public void setMotor(Motor motor)

Parameters:

motor - the motor to set

getMode

public String getMode()

Returns:

the mode as a String

setMode

public void setMode(String modeInString)

Parameters:

mode - the mode to set

isNodeIdBootedAndOK

public boolean isNodeIdBootedAndOK()

Specified by:

isNodeIdBootedAndOK in interface PieceOfHardware

Returns:

true If this piece of hardware is booted and the nodeID on the hardware is the same than the one in the Configuration DB.

isInitalized

public boolean isInitalized()

Specified by:

isInitalized in interface PieceOfHardware

Returns:

true if the hardware has been initialized with success, false otherwise.

updateReadValue

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

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestError

getMotor_continuousCurrentLimit

public int getMotor_continuousCurrentLimit()

Specified by:

getMotor_continuousCurrentLimit in class ClampActuatorModule

getMotor_maxSpeedInCurrentMode

public int getMotor_maxSpeedInCurrentMode()

Specified by:

getMotor_maxSpeedInCurrentMode in class ClampActuatorModule

getMotor_mode

public String getMotor_mode()

Specified by:

getMotor_mode in class ClampActuatorModule

getMotor_outputCurrentLimit

public int getMotor_outputCurrentLimit()

Specified by:

getMotor_outputCurrentLimit in class ClampActuatorModule

getMotor_polePairNumber

public int getMotor_polePairNumber()

Specified by:

getMotor_polePairNumber in class ClampActuatorModule

getMotor_thermalTimeConstantWinding

public int getMotor_thermalTimeConstantWinding()

Specified by:

getMotor_thermalTimeConstantWinding in class ClampActuatorModule

getMotor_type

public int getMotor_type()

Specified by:

getMotor_type in class ClampActuatorModule

getPositionSensorType

public int getPositionSensorType()

Specified by:

getPositionSensorType in class ClampActuatorModule

initModule

public void initModule()

Overrides:

initModule in class org.lsst.ccs.framework.Module

initializeHardware

public String initializeHardware()
                          throws Exception

Description copied from interface: PieceOfHardware

This methods write some configuration data on the hardware CPU.

Specified by:

initializeHardware in interface PieceOfHardware

Returns:

a message for the end user if evering is OK otherwise throws an exception.

Throws:

Exception

isEnable

public boolean isEnable()
                 throws SDORequestError

Throws:

SDORequestError

faultReset

public void faultReset()
                throws SDORequestError

Throws:

SDORequestError

enable

public String enable()
              throws SDORequestError

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

Returns:

Throws:

SDORequestError

shutdown

public String shutdown()
                throws SDORequestError

Throws:

SDORequestError

switchOnEnableOperation

public void switchOnEnableOperation()
                             throws SDORequestError

Throws:

SDORequestError

saveParameters

public Object saveParameters()
                      throws SDORequestError

This method save the parameters in the actuator memory.

Returns:

Throws:

SDORequestError

restoreParameters

public Object restoreParameters()
                         throws SDORequestError

Throws:

SDORequestError

writeControlWord

public void writeControlWord(String value)
                      throws SDORequestError

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

Parameters:

value - in hexa

Throws:

SDORequestError

readControlWord

public String readControlWord()
                       throws SDORequestError

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

Returns:

value in hexa

Throws:

SDORequestError

readStatusword

public String readStatusword()
                      throws SDORequestError

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

Returns:

value in hexa

Throws:

SDORequestError

quickStop

public void quickStop()
               throws SDORequestError

Throws:

SDORequestError

unclamp

public String unclamp()
               throws 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:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

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

Specified by:

on in class ClampActuatorModule

Returns:

a message

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

maintainUnclamped

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

Specified by:

maintainUnclamped in class ClampActuatorModule

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

release

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

This is the user name for the command off.

Returns:

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

Specified by:

off in class ClampActuatorModule

Returns:

Throws:

org.lsst.ccs.bus.BadCommandException

org.lsst.ccs.bus.ErrorInCommandExecutionException

readErrorRegister

public String readErrorRegister()
                         throws SDORequestError

At index 1001 there deviceErrorFile an error register for the device. The device maps internal errors in this byte.

Returns:

error code in Hexa

Throws:

SDORequestError

displayErrorRegister

public String displayErrorRegister()
                            throws SDORequestError

Throws:

SDORequestError

readErrorHistory

public String[] readErrorHistory()
                          throws SDORequestError

The error history holds errors that have occurred on the device and have been signalled via the emergency object. This methods reads the Maxon Motor Error History and returns an array of error code.

Returns:

errors : a list of device error code

Throws:

SDORequestError

displayErrorHistory

public String displayErrorHistory()
                           throws SDORequestError

Throws:

SDORequestError

readNumberOfErrors

public int readNumberOfErrors()
                       throws SDORequestError

Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1. Writing a “0” deletes the error history (empties the array). Values higher then “0” (zero) are not allowed to write." Read and returns the number of errors registred in the Error History

Throws:

SDORequestError

writeMotorParameters

public void writeMotorParameters()
                          throws SDORequestError

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

Throws:

SDORequestError

writeMotorType

public void writeMotorType(int value)
                    throws SDORequestError

This command set the motor type on the actuator.

Throws:

SDORequestError

readMotorType

public int readMotorType()
                  throws SDORequestError

This command read the motor type on the actuator.

Returns:

the motor type in decimal

Throws:

SDORequestError

readPositionSensorType

public int readPositionSensorType()
                           throws SDORequestError

This command read the position sensor type on the actuator.

Returns:

the position sensor type in decimal

Throws:

SDORequestError

writePositionSensorType

public void writePositionSensorType(int value)
                             throws SDORequestError

Throws:

SDORequestError

writeMaxSpeed

public void writeMaxSpeed(int value)
                   throws SDORequestError

Throws:

SDORequestError

writeMotorData

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

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:

SDORequestError

readMotorData

public int readMotorData(String subindex)
                  throws SDORequestError

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:

SDORequestError

checkMotorParameters

public boolean checkMotorParameters()
                             throws ClampMotorConfigurationError,
                                    SDORequestError

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

ClampMotorConfigurationError

SDORequestError

displayMotorParameters

public String displayMotorParameters()
                              throws SDORequestError

Throws:

SDORequestError

writeCurrent

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

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

SDORequestError

readCurrent

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

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

SDORequestError

stopCurrent

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

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

SDORequestError

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

writeSDO

public String writeSDO(String index,
                       String subindex,
                       String length,
                       String newValue)
                throws SDORequestError

Throws:

SDORequestError

readSDO

public String readSDO(String index,
                      String subindex)
               throws SDORequestError

Throws:

SDORequestError

toString

public String toString()

Overrides:

toString in class Object