org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOSLinearRailTruck

java.lang.Object

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

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

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOSLinearRailTruck

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, AlertRaiser, EPOSController, EPOSControllerForLinearRail, EPOSControllerWithBrake, NamedComponent, PieceOfHardware, EmergencyMessageListener

public class CanOpenEPOSLinearRailTruck
extends CanOpenEPOS
implements EPOSControllerForLinearRail

This class is the driver of the EPOS controller EPOS24 which controls motion of Autochanger Trucks on the linear rails.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected int	cobid1 define cobid to be able to read values from PDO data.
protected int	cobid2

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

averageCurrent, current, eposState, followingError, hasEncoder, mode, parametersOK, position, profileAcceleration, profileDeceleration, profileVelocity, simuEnabled, statusWord, velocity

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

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

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOSLinearRailTruck()

Method Summary

Modifier and Type	Method and Description
void	build()
void	checkConfigDigitalInputOfLinearRails()
void	checkConfigDigitalOutputOfLinearRails()
void	configureDigitalInputOfLinearRails() Configure this controller to be used as an autochanger linear rail truck controller.
void	configureDigitalOutputOfLinearRails() Configuration of an EPOS controller to work with a holding brake.
void	doInitializePDOs() methods for managing PDOs
void	faultReset() Clear faults on the controller and clear alarm that was raised for this controller.
void	homing()
void	init()
boolean	isBrakeActivatedPub() For GUI.
boolean	isHomingDone() return true if homing is done: the controller knows its absolute position.
String	printValuesUpdatedByPDOs() For tests and debug
void	setBrakeActivatedPub(boolean brakeActivatedToPublish)
void	shutdown()
void	updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo) process PDOData to retrieve data from this device.

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

changeEPOSParameter, changeMode, checkFault, checkParameters, checkParameters, getAverageCurrent, getCurrent, getEposState, getFollowingError, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, initializeAndCheckHardware, isInError, isParametersOK, printControlWord, publishData, publishDataDuringMotion, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readStatusWord, readVelocity, restoreParameters, setCurrent, setEposState, setPosition, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, updateStatusWord, writeControlWord, writeCurrent, writeParameter, writeParameters, writeTargetPosition

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorHistory, displayErrorRegister, getAlertService, getErrorHistory, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getPath, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInitialized, onEmergencyMessage, printSerialNumber, readDeviceType, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateDeviceInfo, updateErrorHistory, 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, activateBrakeAndDisable, checkBrakeActivated, checkBrakeReleased, createStatusDataPublishedByEPOSController, doReleaseBrake, enableAndReleaseBrake, isBrakeActivated, publishData

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

changeMode, changeProfileAcceleration, changeProfileDeceleration, changeProfileVelocity, checkEposMode, checkFault, checkHomingDone, checkParameters, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedDuringMotionNoEncoder, createStatusDataPublishedDuringMotionWithEncoder, defineAbsolutePosition, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getAverageCurrent, getCurrent, getEposState, getErrorHistoryNB, getErrorRegister, getFollowingError, getLastErrorCode, getLastErrorName, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isFault, isInError, isInMode, isInState, isOperationEnabled, isParametersOK, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, isTargetReached, printStatusWordInBinary, publishDataDuringMotion, quickStop, readControllerStructure, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readHomingMethod, readMode, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setCurrent, setEposState, setPosition, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, updateStatusWord, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, getName, getNodeID, getPath, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, raiseAlarmIfMissing, raiseWarningIfMissing, readDeviceType, setBooted, updateDeviceInfo

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, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

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

postBuild, postInit, postShutdown, postStart, start

Field Detail

cobid1

protected int cobid1

define cobid to be able to read values from PDO data.

cobid2

protected int cobid2

Constructor Detail

CanOpenEPOSLinearRailTruck

public CanOpenEPOSLinearRailTruck()

Method Detail

isBrakeActivatedPub

public boolean isBrakeActivatedPub()

Description copied from interface: EPOSControllerWithBrake

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

Specified by:

isBrakeActivatedPub in interface EPOSControllerWithBrake

Returns:

setBrakeActivatedPub

public void setBrakeActivatedPub(boolean brakeActivatedToPublish)

Specified by:

setBrakeActivatedPub in interface EPOSControllerWithBrake

init

public void init()

Specified by:

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

Overrides:

init in class CanOpenEPOS

build

public void build()

Specified by:

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

Overrides:

build in class CanOpenEPOS

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 EPOSControllerForLinearRail

Returns:

homing

@Command(type=QUERY,
         level=1,
         description="Do homing of the controller.")
public void homing()

Specified by:

homing in interface EPOSControllerForLinearRail

faultReset

public void faultReset()

Description copied from class: CanOpenEPOS

Clear faults on the controller and clear alarm that was raised for this controller.

Specified by:

faultReset in interface EPOSController

Overrides:

faultReset in class CanOpenEPOS

configureDigitalInputOfLinearRails

@Command(type=ACTION,
         level=1,
         description="To configure the autochanger linear rails controllers.")
public void configureDigitalInputOfLinearRails()

Configure this controller to be used as an autochanger linear rail truck controller. This method is to be executed during initialization phase. This configures the digital inputs of the EPOS controller to work with a holding brake. Digital Inputs activated for Linear Rails : ************************************************************************** Drive Enable Input=01 Mask=Enabled Polarity=HighActive QuickStop Input=02 Mask=Enabled Polarity=HighActive ************************************************************************** 1 - Configure the Digital Input Functionality index 0x2070 subindex 01 to 04 Functionality tab Value = 15 General Purpose A Value = 14 General Purpose B Value = 13 General Purpose C Value = 12 General Purpose D Value = 11 General Purpose E Value = 10 General Purpose F Value = 9 General Purpose G Value = 8 General Purpose H Value = 7 General Purpose I Value = 6 General Purpose J Value = 5 QuickStop 1 Value = 4 Drive enable 1 Value = 3 Position marker 0 Value = 2 Home switch 0 Value = 1 Positive Limit switch 0 Value = 0 Negative Limit switch 0 ************************************************************************** 2 - Configure the Digital Input Polarity index 0x2071 subindex 03 Value=0 HighActive Value=1 Low Active ************************************************************************** 3 - Configure the Digital Input Mask index 0x2071 subindex 02 Value=0 HighActive Value=1 Low Active ************************************************************************** 4 - Configure the Digital Input Execution Mask index 0x2071 subindex 04 Used to suppress execution of the digital input functionalities. The function (Negative or Positive Limit Switch Error Routine) will be executed when the associated bit in functionalities state register goes high and the bit in this execution mask is set. Functionality tab Value = 15 General Purpose A 0 Value = 14 General Purpose B 0 Value = 13 General Purpose C 0 Value = 12 General Purpose D 0 Value = 11 General Purpose E 0 Value = 10 General Purpose F 0 Value = 9 General Purpose G 0 Value = 8 General Purpose H 0 Value = 7 General Purpose I 0 Value = 6 General Purpose J 0 Value = 5 QuickStop 1 Value = 4 Drive enable 1 Value = 3 Position marker 0 Value = 2 Home switch 0 Value = 1 Positive Limit switch 0 Value = 0 Negative Limit switch 0

Specified by:

configureDigitalInputOfLinearRails in interface EPOSControllerForLinearRail

Throws:

SDORequestException

checkConfigDigitalInputOfLinearRails

@Command(type=QUERY,
         level=1,
         description="check configuration of digital input of linear rail controller.")
public void checkConfigDigitalInputOfLinearRails()

configureDigitalOutputOfLinearRails

@Command(type=ACTION,
         level=1,
         description="To configure the autochanger linear rails controllers.")
public void configureDigitalOutputOfLinearRails()

Configuration of an EPOS controller to work with a holding brake. This is used for controllers of the Autochanger Linear Rails. Digital Outputs activated for Linear Rails are: General_A Output=01 Mask=Enabled Polarity=HighActive Ready/Fault Output=02 Mask=Enabled Polarity=HighActive Holding Brake Output=03 Mask=Enabled Polarity=LowActive ******************************************************************************** 1- First of all, mask all outputs index 0x2079 subindex 01 ******************************************************************************** 2- Configure the Digital Output Functionalities index 0x2079 subindex 01 to 03 Functionality tab Value = 15 General Purpose Out_A Value = 14 General Purpose Out_B Value = 13 General Purpose Out_C Value = 12 General Purpose Out_D Value = 11 General Purpose Out_E Value = 10..8 not used Value = 7..3 reserved Value = 2 Holding Brake Value = 1 Position compare Value = 0 Ready/Fault ******************************************************************************** 3 - Configure the Digital Output Functionality Polarity index 0x2078 subindex 0x03 Value = 0 associated output not change => HighActive Value = 1 associated output inverted => LowActive Tab Digital Output Functionality Mask Value Bit_15 General Purpose Out_A 0 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7 reserved 0 Bit_6 reserved 0 Bit_5 reserved 0 Bit_4 reserved 0 Bit_3 reserved 0 Bit_2 Holding Brake 1 (read only) Bit_1 Position Compare 0 (read only) Bit_0 Ready/Fault 0 (read only) ******************************************************************************** 4 - Configure the Digital Output Functionality Mask index 0x2078 subindex 0x02 Value = 0 functionality not activated Value = 1 functionality activated ******************************************************************************** Digital Output Functionality Mask Value Bit_15 General Purpose Out_A 1 Bit_14 General Purpose Out_B 0 Bit_13 General Purpose Out_C 0 Bit_12 General Purpose Out_D 0 Bit_11 General Purpose Out_E 0 Bit_10 General Purpose Out_F 0 Bit_9 General Purpose Out_G 0 Bit_8 General Purpose Out_H 0 Bit_7 reserved 0 Bit_6 reserved 0 Bit_5 reserved 0 Bit_4 reserved 0 Bit_3 reserved 0 Bit_2 Holding Brake 1 Bit_1 Position Compare 0 Bit_0 Ready/Fault 1 ******************************************************************************** To configure the autochanger linear rails controllers. This method is to be executed during initialization phase.

Specified by:

configureDigitalOutputOfLinearRails in interface EPOSControllerForLinearRail

Throws:

SDORequestException

checkConfigDigitalOutputOfLinearRails

@Command(type=QUERY,
         level=1,
         description="check configuration of digital output of linear rail controller.")
public void checkConfigDigitalOutputOfLinearRails()

shutdown

public void shutdown()

Specified by:

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

doInitializePDOs

public void doInitializePDOs()
                      throws org.lsst.ccs.drivers.commons.DriverException

methods for managing PDOs

Specified by:

doInitializePDOs in interface PieceOfHardware

Overrides:

doInitializePDOs in class CanOpenDevice

Throws:

org.lsst.ccs.drivers.commons.DriverException

updateFromPDO

public void updateFromPDO(org.lsst.ccs.drivers.canopenjni.PDOData pdo)

process PDOData to retrieve data from this device.

Specified by:

updateFromPDO in interface PieceOfHardware

Overrides:

updateFromPDO in class CanOpenDevice

Parameters:

pdo -

printValuesUpdatedByPDOs

@Command(type=QUERY,
         level=1,
         description="print values updated by PDOs to debug and test")
public String printValuesUpdatedByPDOs()

For tests and debug

Returns:

values updated by PDOs