CanOpenEPOS (LSST CCS - Subsystem FCS Main 4.0.0 API)

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.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, EPOSController, PieceOfHardware, org.lsst.ccs.UsesSubsystem

Direct Known Subclasses:

CanOpenEPOS24, CanOpenEPOS70
```
public class CanOpenEPOS
extends CanOpenDevice
implements EPOSController
```
A general model for a controller EPOS.

Author:

virieux

Nested Class Summary
- 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

protected EPOSEnumerations.EposMode mode
- Fields inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice
  booted, bridge, errorHistory, errorRegister, inError, initialized, nodeID, serialNB, tcpProxy
- Fields inherited from class org.lsst.ccs.framework.Module
  name, nObserverThreads, tickMillis

Fields
Modifier and Type	Field and Description
`protected EPOSEnumerations.EposMode`	`mode`

Constructor Summary

Constructors
Constructor and Description
`CanOpenEPOS(String nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming)` Construction of a CanOpenEPOS.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`activateBrake()` A holding brake can be associated to a Controller.
`void`	`activateCurrentMode()`
`void`	`activateHomingMode()`
`void`	`activateProfilePositionMode()`
`String`	`changeMode(EPOSEnumerations.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.
`void`	`changeParameterForCurrent(String clef, int value)`
`void`	`changeParameterForHoming(String clef, int value)`
`void`	`changeParameterForProfilePosition(String clef, int value)`
`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(Map<String,Integer> paramsMap)` Compare values of parameters in the map with the values of parameters in the 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()` In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.
`void`	`defineAbsolutePosition(int position)` Defines the actual position as the absolute position which value is given as an argument.
`void`	`disable()` Disable controller.
`String`	`enable()` This methods enables the controller : i.e.
`void`	`faultReset()` Clear faults on the controller.
`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 Epos mode for GUI.
`int`	`getMotorParameterValue(String parameterName)` Return the value configured for a motor parameter.
`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.
`StatusDataPublishedByEPOSController`	`getStatusData()` Return the status object to be published on the STATUS bus.
`String`	`initializeAndCheckHardware()` Check if the parameters in the cPU of the controller have the right values.
`boolean`	`isEnabled()` Return true if the controller is enabled and so ready to receive commands.
`boolean`	`isEnabledToPublish()` For GUI.
`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 after a command writeTarget(position), the position is reached.
`boolean`	`isTurnedOff()` Return true if the controller is turned OFF;
`String`	`off()` Turn off controller.
`String`	`printConfigurationParameters(String modeInString)` Print the configured parameters for this EPOS for a mode name given in argument.
`String`	`printParameters()` Print the configured parameters for this EPOS for a mode name given in argument.
`void`	`publishData()` Publish Data on status bus for trending data base and GUIs.
`void`	`quickStop()` Send a quickStop command to the controller.
`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.
`int`	`readCurrentAverageValue()` In Current Mode this methods returns the average of the current received by the motor.
`EPOSEnumerations.EposMode`	`readMode()` Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.
`int`	`readParameter(EPOSEnumerations.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`	`readParameterInHexa(EPOSEnumerations.Parameter param)` Reads in the EPOS CPU the value of the Parameter.
`String`	`readParameterInHexa(String parameterName)` Reads in the EPOS CPU the hexadecimal value of the Parameter.
`String`	`readParameters()`
`String`	`readParameters(EPOSEnumerations.EposMode aMode)` Read all the value of parameters for a given EPOS mode and return a printed list of this values.
`String`	`readParameters(String modeInString)` This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
`int`	`readPosition()` Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
`int`	`readProfileVelocity()` In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
`int`	`readSSIPosition()` Read the position returned by the absolute encoder (single serial data).
`String`	`readStatusWord()` Read the status world (index=6041, subindex=0,size=2)
`void`	`releaseBrake()` A holding brake can be associated to a Controller.
`Object`	`restoreParameters()` Restore default parameters.
`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`	`setParamsForCurrent(Map<String,Integer> newMap)`
`String`	`shutdown()` Shutdown the controller.
`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`	`switchOnEnableOperation()` SwitchOn and enable controller.
`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.
`String`	`writeParameter(EPOSEnumerations.Parameter param, int value)` Set the parameter given as argument with the decimal value given as argument and write it in the controller CPU.
`String`	`writeParameter(String parameterName, int value)` This method writes a parameter in the CPU of the EPOS.
`String`	`writeParameterInHexa(EPOSEnumerations.Parameter param, String hexaValue)` Set the parameter given as argument with the hexadecimal value given as argument and write it in the controller CPU.
`String`	`writeParameterInHexa(String parameterName, String hexaValue)` This method writes a parameter in the CPU of the EPOS.
`void`	`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.
`void`	`writeParameters(Map<String,Integer> paramMap)` Write to the CPU of the EPOS a map of parameters.
`void`	`writeParameters(String modeInString)`
`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
configAsHeartbeatConsumer, configAsHeartbeatProducer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorHistory, displayErrorRegister, getErrorHistory, getErrorRegister, getNodeID, getSerialNB, getTcpProxy, initModule, isBooted, isInError, isInitialized, processUpdate, readErrorHistory, readErrorHistoryNames, readErrorRegister, readNumberOfErrors, readSDO, saveParameters, setBooted, toString, writeSDO

Methods inherited from class org.lsst.ccs.framework.Module
getNObserverThreads, getObservables, getTickMillis, init, listens, sendSignal, sendSignalWithTimeLimit, setNObserverThreads, setObservables, setTickMillis, shutdownNow, signal, 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.EPOSController
displayErrorHistory, getErrorHistory, getErrorRegister, isInError, readNumberOfErrors

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.PieceOfHardware
getNodeID, getSerialNB, isBooted, isInitialized, printState, setBooted

Methods inherited from interface org.lsst.ccs.UsesSubsystem
getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser
raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.framework.Configurable
change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, isParameterConfigurable, postStart, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler
setParameterBulk

- Field Detail
  - mode
```
protected EPOSEnumerations.EposMode mode
```
- Constructor Detail
  - CanOpenEPOS
```
public CanOpenEPOS(String nodeID,
                   String serialNB,
                   Map<String,Integer> paramsForCurrent,
                   Map<String,Integer> paramsForProfilePosition,
                   Map<String,Integer> paramsForHoming)
```
    Construction of a CanOpenEPOS.
    
    Parameters:
    
    nodeID -
    
    serialNB -
    
    paramsForCurrent -
    
    paramsForProfilePosition -
    
    paramsForHoming -
- Method Detail
  - isEnabledToPublish
```
public boolean isEnabledToPublish()
```
    Description copied from interface: EPOSController
    
    For GUI. Doesn't read again controller CPU. Return true if controller is enabled.
    
    Specified by:
    
    isEnabledToPublish in interface EPOSController
    
    Returns:
  - isTurnedOff
```
public boolean isTurnedOff()
```
    Description copied from interface: EPOSController
    
    Return true if the controller is turned OFF;
    
    Specified by:
    
    isTurnedOff in interface EPOSController
    
    Returns:
  - isParametersOK
```
public boolean isParametersOK()
```
    Description copied from interface: EPOSController
    
    This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.
    
    Specified by:
    
    isParametersOK in interface EPOSController
    
    Returns:
    
    true if parameters in the CPU of the controllers have the same values than in configuration system.
  - getParamsForHoming
```
public Map<String,Integer> getParamsForHoming()
```
    Description copied from interface: EPOSController
    
    Return the list of parameters in Homing mode that are in Configuration System for this controller.
    
    Specified by:
    
    getParamsForHoming in interface EPOSController
    
    Returns:
  - getParamsForProfilePosition
```
public Map<String,Integer> getParamsForProfilePosition()
```
    Description copied from interface: EPOSController
    
    Return the list of parameters in Homing mode that are in Configuration System for this controller.
    
    Specified by:
    
    getParamsForProfilePosition in interface EPOSController
    
    Returns:
  - getParamsForCurrent
```
public Map<String,Integer> getParamsForCurrent()
```
    Description copied from interface: EPOSController
    
    Return the list of parameters in Current mode that are in Configuration System for this controller.
    
    Specified by:
    
    getParamsForCurrent in interface EPOSController
    
    Returns:
  - setParamsForCurrent
```
@ConfigurationParameterChanger
public void setParamsForCurrent(Map<String,Integer> newMap)
```
  - changeParameterForCurrent
```
@Command(description="Change a parameter for mode CURRENT, and write the new value on the CPU of the controller.",
         type=QUERY,
         level=1)
public void changeParameterForCurrent(String clef,
                                                                                                                                                                                                int value)
```
  - changeParameterForProfilePosition
```
@Command(description="Change a parameter for mode ProfilePosition, and write the new value on the CPU of the controller.",
         type=QUERY,
         level=1)
public void changeParameterForProfilePosition(String clef,
                                                                                                                                                                                                                int value)
```
  - changeParameterForHoming
```
@Command(description="Change a parameter for mode Homing, and write the new value on the CPU of the controller.",
         type=QUERY,
         level=1)
public void changeParameterForHoming(String clef,
                                                                                                                                                                                              int value)
```
  - getMode
```
public EPOSEnumerations.EposMode getMode()
```
    Return Epos mode for GUI.
    
    Specified by:
    
    getMode in interface EPOSController
    
    Returns:
  - getMaxCurrent
```
public int getMaxCurrent()
```
    Description copied from interface: EPOSController
    
    Return the max value of current which can be sent to this controller.
    
    Specified by:
    
    getMaxCurrent in interface EPOSController
    
    Returns:
  - getMinCurrent
```
public int getMinCurrent()
```
    Description copied from interface: EPOSController
    
    Return the min value of current which can be sent to this controller.
    
    Specified by:
    
    getMinCurrent in interface EPOSController
    
    Returns:
  - getMaxSpeed
```
public int getMaxSpeed()
```
    Description copied from interface: EPOSController
    
    Return the min value of speed for the motor controlled by this controller.
    
    Specified by:
    
    getMaxSpeed in interface EPOSController
    
    Returns:
  - getMaxPosition
```
public int getMaxPosition()
```
    Description copied from interface: EPOSController
    
    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)
    
    Specified by:
    
    getMaxPosition in interface EPOSController
    
    Returns:
  - getMinPosition
```
public int getMinPosition()
```
    Description copied from interface: EPOSController
    
    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)
    
    Specified by:
    
    getMinPosition in interface EPOSController
    
    Returns:
  - getMotorParameterValue
```
public int getMotorParameterValue(String parameterName)
                           throws EPOSConfigurationException
```
    Return the value configured for a motor parameter. Doesn't read the CPU of the controller.
    
    Parameters:
    
    parameterName -
    
    Returns:
    
    Throws:
    
    EPOSConfigurationException
  - printParameters
```
@Command(type=QUERY,
         level=1,
         description="Print the configured parameters for this EPOS for this mode.This command doesn\'t read the controlle.")
public String printParameters()
```
    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(modeIS) command has been done before, the values in the EPOS CPU can be different.
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - printConfigurationParameters
```
@Command(type=QUERY,
         level=1,
         description="Print the configured parameters for this EPOS for a mode name given in argument. This command doesn\'t read the controller.")
public String printConfigurationParameters(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(modeIS) command has been done before, the values in the EPOS CPU can be different.
    
    Parameters:
    
    modeInString -
    
    Returns:
  - readMode
```
@Command(type=QUERY,
         level=1,
         description="Reads the EPOS mode in the CPU of the EPOS device and updates the field mode.")
public EPOSEnumerations.EposMode readMode()
```
    Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.
    
    Specified by:
    
    readMode in interface EPOSController
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - changeMode
```
@Command(type=ACTION,
         level=3,
         description="Change EPOS mode .")
public String changeMode(String modeInString)
```
    Changes the mode to the new mode given as a String argument.
    
    Parameters:
    
    modeInString -
    
    Returns:
    
    Throws:
    
    SDORequestException
  - changeMode
```
public 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.
    
    Specified by:
    
    changeMode in interface EPOSController
    
    Parameters:
    
    newMode -
    
    Returns:
    
    Throws:
    
    SDORequestException
  - readParameters
```
@Command(type=QUERY,
         level=1,
         description="This methods reads in the CPU of the EPOS the values of the parameters for a given mode.")
public String readParameters(String modeInString)
```
    This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
    
    Parameters:
    
    modeInString -
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - readParameters
```
public String readParameters(EPOSEnumerations.EposMode aMode)
```
    Description copied from interface: EPOSController
    
    Read all the value of parameters for a given EPOS mode and return a printed list of this values.
    
    Specified by:
    
    readParameters in interface EPOSController
    
    Returns:
  - readParameters
```
@Command(type=QUERY,
         level=1,
         description="Read the parameters for the actual mode.")
public String readParameters()
```
  - writeParameters
```
@Command(type=ACTION,
         level=3,
         description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode.")
public void writeParameters()
```
  - writeParameters
```
@Command(type=ACTION,
         level=3,
         description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode given as argument")
public void writeParameters(String modeInString)
```
  - writeParameters
```
public 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.
    
    Specified by:
    
    writeParameters in interface EPOSController
    
    Parameters:
    
    mode -
    
    Throws:
    
    SDORequestException
  - writeParameters
```
public void writeParameters(Map<String,Integer> paramMap)
```
    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)
```
    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(EPOSEnumerations.Parameter param,
                             int value)
```
    Set the parameter given as argument with the decimal value given as argument and write it in the controller CPU.
    
    Parameters:
    
    param - parameter to be set
    
    value - decimal value
    
    Returns:
    
    Throws:
    
    SDORequestException
  - writeParameterInHexa
```
@Command(type=ACTION,
         level=3,
         description="Set EPOS parameter with the hexadecimal value given as argument.")
public String writeParameterInHexa(String parameterName,
                                                                                                                                                                    String hexaValue)
```
    This method writes a parameter in the CPU of the EPOS.
    
    Parameters:
    
    parameterName - the name of the parameter
    
    hexaValue - value of the parameter given in hexa
    
    Returns:
    
    Throws:
    
    SDORequestException
  - writeParameterInHexa
```
public String writeParameterInHexa(EPOSEnumerations.Parameter param,
                                   String hexaValue)
```
    Set the parameter given as argument with the hexadecimal value given as argument and write it in the controller CPU.
    
    Specified by:
    
    writeParameterInHexa in interface EPOSController
    
    Parameters:
    
    param -
    
    hexaValue -
    
    Returns:
    
    Throws:
    
    SDORequestException
  - readParameter
```
@Command(type=QUERY,
         level=1,
         description="Reads in the EPOS CPU the decimal value of the Parameter which parameter name is given as argument.")
public int readParameter(String parameterName)
```
    Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.
    
    Parameters:
    
    parameterName - name of the parameter to read
    
    Returns:
    
    value of the parameter in decimal format.
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - readParameter
```
public int readParameter(EPOSEnumerations.Parameter param)
```
    Reads in the EPOS CPU the value of the Parameter.
    
    Parameters:
    
    param -
    
    Returns:
    
    value of the parameter in decimal format.
    
    Throws:
    
    FcsHardwareException
  - readParameterInHexa
```
@Command(type=QUERY,
         level=1,
         description="Reads in the EPOS CPU the hexadecimal value of the Parameter which parameter name is given as argument.")
public String readParameterInHexa(String parameterName)
```
    Reads in the EPOS CPU the hexadecimal value of the Parameter.
    
    Parameters:
    
    parameterName -
    
    Returns:
    
    value of the parameter in hexa format.
    
    Throws:
    
    FcsHardwareException
  - readParameterInHexa
```
public String readParameterInHexa(EPOSEnumerations.Parameter param)
```
    Reads in the EPOS CPU the value of the Parameter.
    
    Parameters:
    
    param -
    
    Returns:
    
    value of the parameter in hexa format.
    
    Throws:
    
    FcsHardwareException
  - isTargetPositionReached
```
public boolean isTargetPositionReached(int position)
```
    Return true if after a command writeTarget(position), the position is reached.
    
    Specified by:
    
    isTargetPositionReached in interface EPOSController
    
    Parameters:
    
    position -
    
    Returns:
    
    Throws:
    
    FcsHardwareException
  - initializeAndCheckHardware
```
@Command(type=QUERY,
         level=1,
         description="Read controller\'s parameter in the CPU for each mode and warn if a parameter has not the same value as in the configuration.Then publish data.")
public String initializeAndCheckHardware()
```
    Check if the parameters in the cPU of the controller have the right values. And if the controller is not in fault.
    
    Specified by:
    
    initializeAndCheckHardware in interface PieceOfHardware
    
    Overrides:
    
    initializeAndCheckHardware in class CanOpenDevice
    
    Returns:
    
    Throws:
    
    FcsHardwareException
  - isEnabled
```
@Command(type=QUERY,
         level=1,
         description="Returns true if the controller is enabled.")
public boolean isEnabled()
```
    Description copied from interface: EPOSController
    
    Return true if the controller is enabled and so ready to receive commands.
    
    Specified by:
    
    isEnabled in interface EPOSController
    
    Returns:
  - enable
```
@Command(type=ACTION,
         level=1,
         description="This methods enables the controller : i.e. this makes it able to receive commands.")
public String enable()
```
    This methods enables the controller : i.e. this makes it able to receive commands.
    
    Specified by:
    
    enable in interface EPOSController
    
    Returns:
    
    Throws:
    
    SDORequestException
  - shutdown
```
@Command(type=ACTION,
         level=1,
         description="Shutdown the controller.")
public String shutdown()
```
    Shutdown the controller.
    
    Specified by:
    
    shutdown in interface EPOSController
    
    Returns:
    
    Throws:
    
    SDORequestException
  - switchOnEnableOperation
```
@Command(type=ACTION,
         level=1,
         description="writeControlWord(\"F\")")
public void switchOnEnableOperation()
```
    Description copied from interface: EPOSController
    
    SwitchOn and enable controller.
    
    Specified by:
    
    switchOnEnableOperation in interface EPOSController
  - restoreParameters
```
@Command(type=ACTION,
         level=3,
         description="Restore default parameters. AT YOUR OWN RISK.")
public Object restoreParameters()
```
    Restore default parameters.
    
    Returns:
    
    Throws:
    
    SDORequestException
  - writeControlWord
```
@Command(type=ACTION,
         level=1,
         description="Write a value in hexa in the control world (index=6040, subindex=0,size=2)")
public void writeControlWord(String value)
```
    Write a value in hexa in the control world (index=6040, subindex=0,size=2)
    
    Specified by:
    
    writeControlWord in interface EPOSController
    
    Parameters:
    
    value - in hexa
    
    Throws:
    
    SDORequestException
  - readControlWord
```
@Command(type=QUERY,
         level=1,
         description="Read the control world (index=6040, subindex=0,size=2)")
public String readControlWord()
```
    Read the control world (index=6040, subindex=0,size=2)
    
    Returns:
    
    value in hexa
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - readStatusWord
```
@Command(type=QUERY,
         level=1,
         description="Read the status world (index=6041, subindex=0,size=2)")
public String readStatusWord()
```
    Read the status world (index=6041, subindex=0,size=2)
    
    Returns:
    
    value in hexa
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - quickStop
```
@Command(type=ACTION,
         level=1,
         description="QuickStop.")
public void quickStop()
```
    Description copied from interface: EPOSController
    
    Send a quickStop command to the controller.
    
    Specified by:
    
    quickStop in interface EPOSController
  - off
```
@Command(type=ACTION,
         level=1,
         description="Turn OFF controller (in mode CURRENT, stop CURRENT) and shutdown.")
public String off()
```
    Description copied from interface: EPOSController
    
    Turn off controller.
    
    Specified by:
    
    off in interface EPOSController
    
    Returns:
  - writeCurrent
```
@Command(type=ACTION,
         level=3,
         description="Set the current value in the EPOS CPU.")
public void writeCurrent(int aValue)
```
    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:
    
    FcsHardwareException
  - readCurrent
```
@Command(type=QUERY,
         level=1,
         alias="readCurrentActualValue",
         description="In Current Mode this methods returns the current actualy received by the motor.")
public int readCurrent()
```
    In Current Mode this methods returns the current actualy received by the motor.
    
    Specified by:
    
    readCurrent in interface EPOSController
    
    Returns:
    
    the current UNIT=mA / FORMAT=decimal
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - readCurrentAverageValue
```
@Command(type=QUERY,
         level=1,
         alias="readCurrentAverage",
         description="In Current Mode this methods returns the average of the current  received by the motor.")
public int readCurrentAverageValue()
```
    In Current Mode this methods returns the average of the current received by the motor.
    
    Returns:
    
    the current UNIT=mA / FORMAT=decimal
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - stopCurrent
```
public void stopCurrent()
```
    In current mode this methods set to zero the value of the current sent to the motor. This stops the motor.
    
    Throws:
    
    SDORequestException
  - readPosition
```
@Command(type=QUERY,
         level=1,
         alias="readPositionActualValue",
         description="In PROFILE_POSITION Mode this methods returns the actual position.")
public int readPosition()
```
    Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
    
    Specified by:
    
    readPosition in interface EPOSController
    
    Returns:
    
    value in decimal format
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - readSSIPosition
```
@Command(type=QUERY,
         level=1,
         description="Read the position returned by the absolute encoder (single serial data).")
public int readSSIPosition()
```
    Read the position returned by the absolute encoder (single serial data).
    
    Specified by:
    
    readSSIPosition in interface EPOSController
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - readProfileVelocity
```
@Command(type=QUERY,
         level=1,
         description="In PROFILE_POSITION returns the value of the parameter ProfileVelocity.")
public int readProfileVelocity()
```
    In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
    
    Specified by:
    
    readProfileVelocity in interface EPOSController
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - setHomingMethodActual
```
public String setHomingMethodActual()
```
    Writes value 35 in hexa to set the Homing method as Actual (See EPOS documentation)
    
    Returns:
    
    Throws:
    
    RejectedCommandException - if not in HOMING mode.
    
    FcsHardwareException
  - startHoming
```
public void startHoming()
```
    Starts homing : (See EPOS documentation) For engineering mode.
    
    Throws:
    
    SDORequestException
    
    RejectedCommandException
  - setHomePosition
```
public String setHomePosition(int position)
```
    Set the Home Position with the value given as argument in decimal format.
    
    Parameters:
    
    position - in decimal format
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    RejectedCommandException
  - defineAbsolutePosition
```
@Command(type=ACTION,
         level=3,
         description="Define the actual position as position given as argument.")
public void defineAbsolutePosition(int position)
```
    Defines the actual position as the absolute position which value is given as an argument.
    
    Specified by:
    
    defineAbsolutePosition in interface EPOSController
    
    Throws:
    
    SDORequestException
    
    RejectedCommandException
  - writeTargetPosition
```
@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position. Target position has to be given in microns.")
public void writeTargetPosition(int aValue)
```
    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:
    
    RejectedCommandException
    
    SDORequestException
  - checkTargetReached
```
@Command(type=QUERY,
         level=1,
         description="In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.")
public boolean checkTargetReached()
```
    In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.
    
    Specified by:
    
    checkTargetReached in interface EPOSController
    
    Returns:
    
    true if the position is reached.
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - checkFault
```
@Command(type=QUERY,
         level=1,
         description="Check if the Controller is in fault.")
public void checkFault()
```
    Check if the Controller is in fault.
    
    Specified by:
    
    checkFault in interface EPOSController
    
    Throws:
    
    FcsHardwareException
  - faultReset
```
@Command(type=ACTION,
         level=1,
         description="Clear faults on the controller.",
         alias="resetFault")
public void faultReset()
```
    Clear faults on the controller.
  - checkParameters
```
public void checkParameters(EPOSEnumerations.EposMode aMode)
```
    Description copied from interface: EPOSController
    
    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.
    
    Specified by:
    
    checkParameters in interface EPOSController
  - checkParameters
```
@Command(type=QUERY,
         level=1,
         description="For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPUand throws a HardwareException if these values are not equal.")
public 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. values stored in the controller CPU.
    
    Specified by:
    
    checkParameters in interface EPOSController
    
    Parameters:
    
    modeInString -
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - checkParameters
```
public void checkParameters(Map<String,Integer> paramsMap)
```
    Compare values of parameters in the map with the values of parameters in the controller CPU.
    
    Parameters:
    
    paramsMap -
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - activateCurrentMode
```
@Command(type=ACTION,
         level=3,
         description="Change mode to CURRENT mode and initialize theCURRENT mode parameters from configuration values.")
public void activateCurrentMode()
```
  - activateHomingMode
```
@Command(type=ACTION,
         level=3,
         description="Change mode to HOMING mode and initialize theHOMING mode parameters from configuration values.")
public void activateHomingMode()
```
  - activateProfilePositionMode
```
@Command(type=ACTION,
         level=3,
         description="Change mode to PROFILE_POSITION mode and initialize thePROFILE_POSITION mode parameters from configuration values.")
public void activateProfilePositionMode()
```
  - activateBrake
```
@Command(type=ACTION,
         level=1,
         description="Put the brake on to prevent the trucks motion.")
public void activateBrake()
```
    A holding brake can be associated to a Controller. This brake is activated when the controller is powered off. In CPPM test bench a Brake is associated with the controllers of the trucks. This command activates the brake to prevent the trucks motion.
    
    Specified by:
    
    activateBrake in interface EPOSController
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - releaseBrake
```
@Command(type=ACTION,
         level=1,
         description="Release the brake in order to be able to move the trucks.")
public void releaseBrake()
```
    A holding brake can be associated to a Controller. In CPPM test bench a Brake is associated with the controllers of the trucks. Release the brake in order to be able to move the trucks.
    
    Specified by:
    
    releaseBrake in interface EPOSController
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - disable
```
@Command(type=ACTION,
         level=1,
         description="Activate the holding brake and shutdown the controller.")
public void disable()
```
    Description copied from interface: EPOSController
    
    Disable controller.
    
    Specified by:
    
    disable in interface EPOSController
  - getStatusData
```
public StatusDataPublishedByEPOSController getStatusData()
```
    Return the status object to be published on the STATUS bus.
    
    Overrides:
    
    getStatusData in class CanOpenDevice
    
    Returns:
  - publishData
```
@Command(type=QUERY,
         level=1,
         alias="refreshGUI",
         description="Publish data for the controller on the status bus.")
public void publishData()
```
    Publish Data on status bus for trending data base and GUIs.
    
    Overrides:
    
    publishData in class CanOpenDevice

Class CanOpenEPOS

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

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

Constructor Summary

Method Summary

Methods inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

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

Methods inherited from class java.util.Observable

Methods inherited from class java.lang.Object

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

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

Methods inherited from interface org.lsst.ccs.UsesSubsystem

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

Methods inherited from interface org.lsst.ccs.framework.Configurable

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

Field Detail

mode

Constructor Detail

CanOpenEPOS

Method Detail

isEnabledToPublish

isTurnedOff

isParametersOK

getParamsForHoming

getParamsForProfilePosition

getParamsForCurrent

setParamsForCurrent

changeParameterForCurrent

changeParameterForProfilePosition

changeParameterForHoming

getMode

getMaxCurrent

getMinCurrent

getMaxSpeed

getMaxPosition

getMinPosition

getMotorParameterValue

printParameters

printConfigurationParameters

readMode

changeMode

changeMode

readParameters

readParameters

readParameters

writeParameters

writeParameters

writeParameters

writeParameters

writeParameter

writeParameter

writeParameterInHexa

writeParameterInHexa

readParameter

readParameter

readParameterInHexa

readParameterInHexa

isTargetPositionReached

initializeAndCheckHardware

isEnabled

enable

shutdown

switchOnEnableOperation

restoreParameters

writeControlWord

readControlWord

readStatusWord

quickStop

off

writeCurrent

readCurrent

readCurrentAverageValue

stopCurrent

readPosition

readSSIPosition

readProfileVelocity