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.CanOpenEPOSWithPDO

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

All Implemented Interfaces:

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

public class CanOpenEPOSOnlineClamp
extends CanOpenEPOSWithPDO
implements EPOSControllerForOnlineClamp

This class is the driver for the EPOS controller which controls the Autochanger ONLINE clamps. The model is EPOS2 25/5. Online Clamp controllers values (statusWord, position, averageCurrent, followingError and velocity) are read by PDO so CanOpenEPOSOnlineClamp extends CanOpenEPOSWithPDO.

Author:

virieux

Field Summary

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

cobid1, cobid2

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

averageCurrent, controlWord, 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.EPOSController

FCSLOG

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOSOnlineClamp()

Method Summary

Modifier and Type	Method and Description
void	homing() homing of a ONLINE clamp in final products AC1 and AC2, the ONLINE clamps have encoders.
void	init()
boolean	isBrakeActivatedPub() For GUI.
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	resetHoming()
void	setBrakeActivatedPub(boolean brakeActivatedToPublish)
void	setHomingDone()
void	shutdown()

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

doInitializePDOs, extractAverageCurrent, extractAverageVelocity, extractCurrent, extractFollowingError, extractPosition, extractStatusWord, getCobid1, getCobid2, getPdo1, getPdo2, printValuesUpdatedByPDOs, setPdo1, setPdo2, updateFromPDO

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

build, changeEPOSParameter, changeMode, checkFault, checkParameters, checkParameters, faultReset, getAverageCurrent, getCurrent, getEposState, getFollowingError, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, initializeAndCheckHardware, isInError, isParametersOK, printControlWord, printPDOConfiguration, 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, faultReset, getAverageCurrent, getCurrent, getEposState, getErrorHistoryNB, getErrorRegister, getFollowingError, getLastErrorCode, getLastErrorName, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isFault, isHomingAttained, isInError, isInMode, isInState, isOperationEnabled, isParametersOK, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, isTargetReached, printStatusWordInBinary, publishDataDuringMotion, quickStop, readControllerStructure, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readHomingMethod, readMode, readParameter, readParameter, readParameters, readParametersForMode, 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, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getName, getNodeID, getPath, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, raiseAlarmIfMissing, raiseWarningIfMissing, readDeviceType, setBooted, updateDeviceInfo, 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, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

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

build, postBuild, postInit, postShutdown, postStart, start

Constructor Detail

CanOpenEPOSOnlineClamp

public CanOpenEPOSOnlineClamp()

Method Detail

init

public void init()

Specified by:

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

Overrides:

init in class CanOpenEPOSWithPDO

resetHoming

public void resetHoming()

Specified by:

resetHoming in interface EPOSControllerForOnlineClamp

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

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

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

@Command(type=ACTION,
         level=3,
         description="Perform homing procedure of the clamp.")
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 opened in CURRENT mode.

Specified by:

homing in interface EPOSControllerForOnlineClamp

setHomingDone

public void setHomingDone()

Specified by:

setHomingDone in interface EPOSControllerForOnlineClamp