org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOSOnlineClamp

java.lang.Object

org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOSOnlineClamp

All Implemented Interfaces:

org.lsst.ccs.framework.AlertHandler, org.lsst.ccs.framework.ClearAlertHandler, org.lsst.ccs.framework.HasLifecycle, AlertRaiser, EPOSController, EPOSControllerForOnlineClamp, EPOSControllerWithBrake, PieceOfHardware, EmergencyMessageListener

public class CanOpenEPOSOnlineClamp
extends CanOpenEPOS
implements EPOSControllerForOnlineClamp

This class is the driver for the EPOS controller which controls the Autochanger ONLINE clamps. The model is EPOS2 25/5.

Author:

virieux

Nested Class Summary

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

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Field Summary

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

current, enabledToPublish, followingError, mode, parametersOK, position, statusWord, velocity

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

booted, errorHistory, errorRegister, inError, initialized, lastErrorCode, lastErrorName, name, nodeID, serialNB, subs, tcpProxy

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOSOnlineClamp(int nodeID, String serialNB) build a new CanOpenEPOSOnlineClamp

Method Summary

Modifier and Type	Method and Description
void	activateBrakeAndDisable()
void	homing() homing of a ONLINE clamp in final products AC1 and AC2, the ONLINE clamps have encoders.
boolean	isHomingDone() return true if homing is done: the controller knows its absolute position.
void	releaseBrake() Release brake to be able to open or close clamp.
void	shutdown()

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

changeEPOSParameter, changeMode, changeProfileVelocity, checkFault, checkParameters, checkParameters, faultReset, getCurrent, getFollowingError, getMode, getPosition, getVelocity, initializeAndCheckHardware, isEnabledToPublish, isParametersOK, printControlWord, publishData, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readStatusWord, readVelocity, restoreParameters, setEnabledToPublish, writeControlWord, writeCurrent, writeParameter, writeParameters, writeTargetPosition, writeTargetVelocity

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorHistory, displayErrorRegister, doInitializePDOs, getAlertService, getErrorHistory, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, printSerialNumber, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateErrorHistory, updateFromPDO, writeSDO, writeTransmissionTypeToDevice

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.EPOSControllerWithBrake

activateBrake, createStatusDataPublishedByEPOSController, doReleaseBrake, enableAndReleaseBrake, isBrakeActivated

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

canClearAlert, changeMode, changeProfileVelocity, checkEnabled, checkFault, checkHomingDone, checkParameters, checkTargetReached, convertEPOSValue, defineAbsolutePosition, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getCurrent, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getMode, getPosition, getVelocity, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, printStatusWordInBinary, quickStop, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setEnabledToPublish, shutdownController, stopAction, stopPosition, stopVelocity, switchOn, switchOnEnableOperation, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition, writeTargetVelocity

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getName, getNodeID, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, publishData, raiseAlarmIfMissing, setBooted, updateFromPDO

Methods inherited from interface org.lsst.ccs.subsystems.fcs.drivers.EmergencyMessageListener

onEmergencyMessage, onFault, onFaultReset

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

clearAlarm, getAlertSeparator, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning

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

build, init, postBuild, postInit, postShutdown, postStart, start

Constructor Detail

CanOpenEPOSOnlineClamp

public CanOpenEPOSOnlineClamp(int nodeID,
                              String serialNB)

build a new CanOpenEPOSOnlineClamp

Parameters:

nodeID -

serialNB -

Method Detail

releaseBrake

@Command(type=ACTION,
         level=1,
         description="Release brake to be able to move clamp.")
public void releaseBrake()

Release brake to be able to open or close clamp. Only for tests for end users. releaseBrake for an ONlineClamp controller consists in forcing to ZERO bit 15 of parameter DigitalOutputFonctionnalityState.

Throws:

SDORequestException

activateBrakeAndDisable

public void activateBrakeAndDisable()

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

shutdown

public void shutdown()

Specified by:

shutdown in interface org.lsst.ccs.framework.HasLifecycle

isHomingDone

@Command(type=QUERY,
         level=1,
         description="return true if homing is done: the controller knows its absolute position.")
public boolean isHomingDone()

return true if homing is done: the controller knows its absolute position.

Specified by:

isHomingDone in interface EPOSControllerForOnlineClamp

Returns:

homing

public void homing()

homing of a ONLINE clamp in final products AC1 and AC2, the ONLINE clamps have encoders. So we open and close them in PROFILE_POSITION mode. This can be done when the homing of the controller has been done before. The homing has to be done when fcs starts or each time the controller has been shutdown. The homing is to be done when the clamp has been openend in CURRENT mode.

Specified by:

homing in interface EPOSControllerForOnlineClamp