org.lsst.ccs.subsystems.fcs.common

Interface EPOSController

All Superinterfaces:

PieceOfHardware

All Known Subinterfaces:

EPOS24Controller, EPOS70Controller

All Known Implementing Classes:

CanOpenEPOS, CanOpenEPOS24, CanOpenEPOS70, SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController, SimuCarouselClampController, SimuCarouselController, SimuEPOSControllerModule, SimuLoaderCarrierController, SimuLoaderClampController, SimuOnlineClampController

public interface EPOSController
extends PieceOfHardware

Author:

virieux

Method Summary

Modifier and Type	Method and Description
void	activateBrake()
String	changeMode(EPOSEnumerations.EposMode newMode) This methods changes the mode to the new mode given as an argument.
void	checkFault()
void	checkParameters(EPOSEnumerations.EposMode aMode)
void	checkParameters(String modeInString) For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a HardwareException if these values are not equal.
boolean	checkTargetReached()
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
void	disable()
String	displayErrorHistory()
String	enable()
String[]	getErrorHistory()
String	getErrorRegister()
int	getMaxCurrent()
int	getMaxPosition()
int	getMaxSpeed()
int	getMinCurrent()
int	getMinPosition()
String	getModeInString()
Map<String,Integer>	getParamsForCurrent()
Map<String,Integer>	getParamsForHoming()
Map<String,Integer>	getParamsForProfilePosition()
boolean	isEnabled()
boolean	isEnabledToPublish()
boolean	isInError()
boolean	isParametersOK() This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.
boolean	isTargetPositionReached(int position)
boolean	isTurnedOff()
String	off()
void	quickStop()
int	readCurrent()
EPOSEnumerations.EposMode	readMode()
int	readNumberOfErrors()
String	readParameters(EPOSEnumerations.EposMode mode)
int	readPosition()
int	readProfileVelocity()
int	readSSIPosition()
void	releaseBrake()
String	shutdown()
void	switchOnEnableOperation()
void	writeControlWord(String f)
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
String	writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string)
void	writeParameters(EPOSEnumerations.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.PieceOfHardware

getName, getNodeID, getSerialNB, initializeAndCheckHardware, isBooted, isInitialized, setBooted

Method Detail

isTurnedOff

boolean isTurnedOff()

off

String off()
    throws org.lsst.ccs.messaging.BadCommandException,
           org.lsst.ccs.messaging.ErrorInCommandExecutionException,
           FcsHardwareException

Throws:

org.lsst.ccs.messaging.BadCommandException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

FcsHardwareException

getMaxCurrent

int getMaxCurrent()
           throws FcsHardwareException

Throws:

FcsHardwareException

getMinCurrent

int getMinCurrent()
           throws FcsHardwareException

Throws:

FcsHardwareException

getMaxSpeed

int getMaxSpeed()
         throws FcsHardwareException

Throws:

FcsHardwareException

getMaxPosition

int getMaxPosition()
            throws FcsHardwareException

Throws:

FcsHardwareException

getMinPosition

int getMinPosition()
            throws FcsHardwareException

Throws:

FcsHardwareException

isParametersOK

boolean isParametersOK()

This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.

Returns:

changeMode

String changeMode(EPOSEnumerations.EposMode newMode)
           throws SDORequestException,
                  FcsHardwareException

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

FcsHardwareException

defineAbsolutePosition

@Command(type=ACTION,
         level=1,
         description="Defines the actual position as the absolute position which value is given as an argument.")
void defineAbsolutePosition(int position)
                                                                                                                                                                               throws SDORequestException,
                                                                                                                                                                                      org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                                                                                                                                                                                      org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                                                      FcsHardwareException

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

Parameters:

position -

Throws:

SDORequestException

org.lsst.ccs.messaging.ErrorInCommandExecutionException

org.lsst.ccs.messaging.BadCommandException

FcsHardwareException

readNumberOfErrors

int readNumberOfErrors()
                throws SDORequestException,
                       ShortResponseToSDORequestException,
                       FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

displayErrorHistory

String displayErrorHistory()
                    throws SDORequestException,
                           ShortResponseToSDORequestException,
                           FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

checkFault

void checkFault()
         throws SDORequestException,
                ShortResponseToSDORequestException,
                FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

writeParameters

void writeParameters(EPOSEnumerations.EposMode mode)
              throws SDORequestException,
                     org.lsst.ccs.messaging.ErrorInCommandExecutionException,
                     FcsHardwareException

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.messaging.ErrorInCommandExecutionException

FcsHardwareException

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.")
void writeTargetPosition(int aValue)
                                                                                                                                                 throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                                        SDORequestException,
                                                                                                                                                        FcsHardwareException

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.messaging.BadCommandException

SDORequestException

FcsHardwareException

writeParameters

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

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

Parameters:

paramMap -

Throws:

SDORequestException

FcsHardwareException

writeCurrent

@Command(type=ACTION,
         level=1,
         description="In current mode this methods send a current to the motor.")
void writeCurrent(int aValue)
                                                                                                                                     throws org.lsst.ccs.messaging.BadCommandException,
                                                                                                                                            EPOSConfigurationException,
                                                                                                                                            SDORequestException,
                                                                                                                                            FcsHardwareException

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.messaging.BadCommandException

EPOSConfigurationException

SDORequestException

FcsHardwareException

isTargetPositionReached

@Command(type=QUERY,
         level=1,
         description="Return true if the target position has been reached.")
boolean isTargetPositionReached(int position)
                                                                                                                                             throws SDORequestException,
                                                                                                                                                    ShortResponseToSDORequestException,
                                                                                                                                                    FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readPosition

int readPosition()
          throws SDORequestException,
                 ShortResponseToSDORequestException,
                 FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readSSIPosition

int readSSIPosition()
             throws SDORequestException,
                    ShortResponseToSDORequestException,
                    FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readCurrent

int readCurrent()
         throws org.lsst.ccs.messaging.BadCommandException,
                SDORequestException,
                ShortResponseToSDORequestException,
                FcsHardwareException

Throws:

org.lsst.ccs.messaging.BadCommandException

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readParameters

String readParameters(EPOSEnumerations.EposMode mode)
               throws SDORequestException,
                      ShortResponseToSDORequestException,
                      FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readProfileVelocity

int readProfileVelocity()
                 throws SDORequestException,
                        ShortResponseToSDORequestException,
                        FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

enable

String enable()
       throws SDORequestException,
              FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

isEnabled

boolean isEnabled()
           throws SDORequestException,
                  FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

readMode

EPOSEnumerations.EposMode readMode()
                            throws SDORequestException,
                                   ShortResponseToSDORequestException,
                                   FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

quickStop

void quickStop()
        throws SDORequestException,
               FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

checkParameters

void checkParameters(String modeInString)
              throws org.lsst.ccs.HardwareException,
                     FcsHardwareException,
                     SDORequestException,
                     ShortResponseToSDORequestException

For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a HardwareException if these values are not equal. values stored in the controller CPU.

Parameters:

modeInString -

Throws:

org.lsst.ccs.HardwareException

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

checkParameters

void checkParameters(EPOSEnumerations.EposMode aMode)
              throws org.lsst.ccs.HardwareException,
                     FcsHardwareException,
                     SDORequestException,
                     ShortResponseToSDORequestException,
                     FcsHardwareException

Throws:

org.lsst.ccs.HardwareException

FcsHardwareException

SDORequestException

ShortResponseToSDORequestException

writeControlWord

void writeControlWord(String f)
               throws SDORequestException,
                      FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

shutdown

String shutdown()
         throws SDORequestException,
                FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

checkTargetReached

boolean checkTargetReached()
                    throws SDORequestException,
                           ShortResponseToSDORequestException,
                           FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

activateBrake

void activateBrake()
            throws SDORequestException,
                   ShortResponseToSDORequestException,
                   FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

releaseBrake

void releaseBrake()
           throws SDORequestException,
                  ShortResponseToSDORequestException,
                  FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

switchOnEnableOperation

void switchOnEnableOperation()
                      throws SDORequestException,
                             FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

getParamsForCurrent

Map<String,Integer> getParamsForCurrent()

getParamsForHoming

Map<String,Integer> getParamsForHoming()

getParamsForProfilePosition

Map<String,Integer> getParamsForProfilePosition()

isEnabledToPublish

boolean isEnabledToPublish()

isInError

boolean isInError()

getErrorRegister

String getErrorRegister()

getErrorHistory

String[] getErrorHistory()

getModeInString

String getModeInString()

writeParameterInHexa

String writeParameterInHexa(EPOSEnumerations.Parameter parameter,
                            String string)
                     throws SDORequestException,
                            FcsHardwareException

Throws:

SDORequestException

FcsHardwareException

disable

void disable()
      throws SDORequestException,
             ShortResponseToSDORequestException,
             FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException