org.lsst.ccs.subsystems.fcs.common

Interface EPOSController

All Superinterfaces:

PieceOfHardware, org.lsst.ccs.UsesSubsystem

All Known Implementing Classes:

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

public interface EPOSController
extends PieceOfHardware

Author:

virieux

Method Summary

Modifier and Type	Method and Description
void	activateBrake() Activate brake for controller who manages a brake.
String	changeMode(EPOSEnumerations.EposMode newMode) This methods changes the mode to the new mode given as an argument.
void	checkFault() Check if the controller is in fault.
void	checkParameters(EPOSEnumerations.EposMode aMode) Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in controller CPU.
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() Throw an Exception if the target was not reached in the previous action.
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
void	disable() Disable controller.
String	displayErrorHistory() Return a printed list of errors that occured on this controller.
String	enable() enable the controller.
String[]	getErrorHistory()
String	getErrorRegister()
int	getMaxCurrent() Return the max value of current which can be sent to this controller.
int	getMaxPosition() Return the max position for the object moved by motor which is controlled by this controller.
int	getMaxSpeed() Return the min value of speed for the motor controlled by this controller.
int	getMinCurrent() Return the min value of current which can be sent to this controller.
int	getMinPosition() Return the min position for the object moved by motor which is controlled by this controller.
EPOSEnumerations.EposMode	getMode() Return the EPOS mode stored in field mode.
Map<String,Integer>	getParamsForCurrent() Return the list of parameters in Current mode that are in Configuration System for this controller.
Map<String,Integer>	getParamsForHoming() Return the list of parameters in Homing mode that are in Configuration System for this controller.
Map<String,Integer>	getParamsForProfilePosition() Return the list of parameters in Homing mode that are in Configuration System for this controller.
boolean	isEnabled() Return true if the controller is enabled and so ready to receive commands.
boolean	isEnabledToPublish() For GUI.
boolean	isInError() Return true if controller is enabled.
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) Return true if the target position has been reached.
boolean	isTurnedOff() Return true if the controller is turned OFF;
String	off() Turn off controller.
void	quickStop() Send a quickStop command to the controller.
int	readCurrent() Read actual current on the controller CPU.
EPOSEnumerations.EposMode	readMode() read the EPOS mode on the controller CPU.
int	readNumberOfErrors() Return the number of errors that occured on this controller.
String	readParameters(EPOSEnumerations.EposMode mode) Read all the value of parameters for a given EPOS mode and return a printed list of this values.
int	readPosition() Read actual position on the controller CPU.
int	readProfileVelocity() Read ProfileVelocity on the controller CPU.
int	readSSIPosition() Read the SSS position on the controller CPU.
void	releaseBrake() Release brake for controller who manages a brake.
String	shutdown() Shutdown the controller.
void	switchOnEnableOperation() SwitchOn and enable controller.
void	writeControlWord(String f) Write controlWord to the controller.
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
String	writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string) Write on the CPU of the controller a value given in hexadecimal format for a parameter.
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

getNodeID, getSerialNB, initializeAndCheckHardware, isBooted, isInitialized, printState, setBooted

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Method Detail

isTurnedOff

boolean isTurnedOff()

Return true if the controller is turned OFF;

Returns:

off

String off()

Turn off controller.

Returns:

Throws:

FcsHardwareException

getMaxCurrent

int getMaxCurrent()

Return the max value of current which can be sent to this controller.

Returns:

Throws:

FcsHardwareException

getMinCurrent

int getMinCurrent()

Return the min value of current which can be sent to this controller.

Returns:

Throws:

FcsHardwareException

getMaxSpeed

int getMaxSpeed()

Return the min value of speed for the motor controlled by this controller.

Returns:

Throws:

FcsHardwareException

getMaxPosition

int getMaxPosition()

Return the max position for the object moved by motor which is controlled by this controller. (example of objects moved by this controller: loader trucks or autochanger trucks)

Returns:

Throws:

FcsHardwareException

getMinPosition

int getMinPosition()

Return the min position for the object moved by motor which is controlled by this controller. (example of objects moved by this controller: loader trucks or autochanger trucks)

Returns:

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)

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

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)

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

Parameters:

position -

Throws:

SDORequestException

readNumberOfErrors

int readNumberOfErrors()

Return the number of errors that occured on this controller.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

displayErrorHistory

String displayErrorHistory()

Return a printed list of errors that occured on this controller.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

checkFault

void checkFault()

Check if the controller is in fault. Throw an Exception if the controller is in fault.

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

writeParameters

void writeParameters(EPOSEnumerations.EposMode mode)

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

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.")
void writeTargetPosition(int aValue)

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:

SDORequestException

writeParameters

void writeParameters(Map<String,Integer> paramMap)

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

Parameters:

paramMap -

Throws:

SDORequestException

writeCurrent

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

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:

EPOSConfigurationException

SDORequestException

isTargetPositionReached

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

Return true if the target position has been reached.

Parameters:

position -

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readPosition

int readPosition()

Read actual position on the controller CPU.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readSSIPosition

int readSSIPosition()

Read the SSS position on the controller CPU.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readCurrent

int readCurrent()

Read actual current on the controller CPU.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readParameters

String readParameters(EPOSEnumerations.EposMode mode)

Read all the value of parameters for a given EPOS mode and return a printed list of this values.

Parameters:

mode -

Returns:

Throws:

FcsHardwareException

readProfileVelocity

int readProfileVelocity()

Read ProfileVelocity on the controller CPU.

Returns:

Throws:

FcsHardwareException

enable

String enable()

enable the controller. (to be done before each action on the motor.)

Returns:

Throws:

FcsHardwareException

isEnabled

boolean isEnabled()

Return true if the controller is enabled and so ready to receive commands.

Returns:

Throws:

FcsHardwareException

readMode

EPOSEnumerations.EposMode readMode()

read the EPOS mode on the controller CPU.

Returns:

Throws:

FcsHardwareException

quickStop

void quickStop()

Send a quickStop command to the controller.

Throws:

FcsHardwareException

checkParameters

void checkParameters(String modeInString)
              throws org.lsst.ccs.HardwareException

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.

Parameters:

modeInString -

Throws:

org.lsst.ccs.HardwareException

SDORequestException

ShortResponseToSDORequestException

checkParameters

void checkParameters(EPOSEnumerations.EposMode aMode)
              throws org.lsst.ccs.HardwareException

Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in controller CPU. Raise a FcsHardwareException if some values are not equals.

Parameters:

aMode -

Throws:

org.lsst.ccs.HardwareException

FcsHardwareException

writeControlWord

void writeControlWord(String f)

Write controlWord to the controller. Use to send or start commands. See EPOS documentation.

Parameters:

f -

Throws:

FcsHardwareException

shutdown

String shutdown()

Shutdown the controller.

Returns:

Throws:

FcsHardwareException

checkTargetReached

boolean checkTargetReached()

Throw an Exception if the target was not reached in the previous action.

Returns:

Throws:

FcsHardwareException

activateBrake

void activateBrake()

Activate brake for controller who manages a brake. Use for autochanger ONLINE clamps.

Throws:

FcsHardwareException

releaseBrake

void releaseBrake()

Release brake for controller who manages a brake. Use for autochanger ONLINE clamps.

Throws:

FcsHardwareException

switchOnEnableOperation

void switchOnEnableOperation()

SwitchOn and enable controller.

Throws:

FcsHardwareException

getParamsForCurrent

Map<String,Integer> getParamsForCurrent()

Return the list of parameters in Current mode that are in Configuration System for this controller.

Returns:

getParamsForHoming

Map<String,Integer> getParamsForHoming()

Return the list of parameters in Homing mode that are in Configuration System for this controller.

Returns:

getParamsForProfilePosition

Map<String,Integer> getParamsForProfilePosition()

Return the list of parameters in Homing mode that are in Configuration System for this controller.

Returns:

getMode

EPOSEnumerations.EposMode getMode()

Return the EPOS mode stored in field mode. Doesn't read again controller CPU.

Returns:

isEnabledToPublish

boolean isEnabledToPublish()

For GUI. Doesn't read again controller CPU. Return true if controller is enabled.

Returns:

isInError

boolean isInError()

Return true if controller is enabled.

Returns:

getErrorRegister

String getErrorRegister()

Returns:

error register in printed format

getErrorHistory

String[] getErrorHistory()

Returns:

a printed list of errors.

writeParameterInHexa

String writeParameterInHexa(EPOSEnumerations.Parameter parameter,
                            String string)

Write on the CPU of the controller a value given in hexadecimal format for a parameter.

Parameters:

parameter -

string - HEXADECIMAL format of the new value.

Returns:

Throws:

FcsHardwareException

disable

void disable()

Disable controller.

Throws:

FcsHardwareException