org.lsst.ccs.subsystems.fcs.common

Interface EPOSController

All Superinterfaces:

Actuator, PieceOfHardware

All Known Subinterfaces:

EPOS24Controller, EPOS70Controller

All Known Implementing Classes:

CanOpenEPOS, CanOpenEPOS24, CanOpenEPOS70, SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuClampActuatorModule, SimuEPOSControllerModule, SimuLoaderCarrierController, SimuLoaderClampController, SimuOnlineClampController

public interface EPOSController
extends Actuator, PieceOfHardware

Author:

virieux

Method Summary

Modifier and Type	Method and Description
void	activateBrake()
String	changeMode(EPOSEnumerations.EposMode newMode) This methods changes the mode to the new mode given as an argument.
void	checkFault()
boolean	checkMotorParameters() This methods read the parameters of the motor stored in the actuator (hardware configuration)and compare with the configuration stored in the Configuration Data Base (software configuration).
void	checkParameters(EPOSEnumerations.EposMode aMode)
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()
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
String	displayErrorHistory()
String	enable()
String[]	getErrorHistory()
String	getErrorRegister()
int	getMaxCurrent()
int	getMaxPosition()
int	getMaxSpeed()
int	getMinCurrent()
int	getMinPosition()
String	getModeInString()
Map<String,Integer>	getParamsForCurrent()
Map<String,Integer>	getParamsForHoming()
Map<String,Integer>	getParamsForProfilePosition()
boolean	isEnabled()
boolean	isEnabledToPublish()
boolean	isInError()
boolean	isTargetPositionReached(int position)
void	quickStop()
int	readCurrent()
EPOSEnumerations.EposMode	readMode()
int	readNumberOfErrors()
String	readParameters(EPOSEnumerations.EposMode mode)
int	readPosition()
int	readProfileVelocity()
int	readSSIPosition()
void	releaseBrake()
void	setOn(boolean on)
String	shutdown()
void	switchOnEnableOperation()
void	writeControlWord(String f)
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
String	writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string)
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.Actuator

getName, getReadActualCurrent, getSentCurrentMaxValue, getSentCurrentMinValue, getSentCurrentValue, isOff, isOn, off, on

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

getName, getNodeID, getSerialNB, initializeHardware, isBooted, isInitialized, setBooted

Method Detail

setOn

void setOn(boolean on)

getMaxCurrent

int getMaxCurrent()

getMinCurrent

int getMinCurrent()

getMaxSpeed

int getMaxSpeed()

getMaxPosition

int getMaxPosition()

getMinPosition

int getMinPosition()

changeMode

String changeMode(EPOSEnumerations.EposMode newMode)
           throws SDORequestException

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

checkMotorParameters

boolean checkMotorParameters()
                      throws EPOSConfigurationException,
                             SDORequestException,
                             ShortResponseToSDORequestException

This methods read the parameters of the motor stored in the actuator (hardware configuration)and compare with the configuration stored in the Configuration Data Base (software configuration).

Returns:

true if the hardware and software configuration are the same, false otherwise.

Throws:

EPOSConfigurationException

SDORequestException

ShortResponseToSDORequestException

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)
                                                                                                                                                                               throws SDORequestException,
                                                                                                                                                                                      org.lsst.ccs.bus.ErrorInCommandExecutionException,
                                                                                                                                                                                      org.lsst.ccs.bus.BadCommandException

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

Parameters:

position -

Throws:

SDORequestException

org.lsst.ccs.bus.ErrorInCommandExecutionException

org.lsst.ccs.bus.BadCommandException

readNumberOfErrors

int readNumberOfErrors()
                throws SDORequestException,
                       ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

displayErrorHistory

String displayErrorHistory()
                    throws SDORequestException,
                           ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

checkFault

void checkFault()
         throws SDORequestException,
                ShortResponseToSDORequestException,
                FcsHardwareException

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

writeParameters

void writeParameters(EPOSEnumerations.EposMode mode)
              throws SDORequestException,
                     org.lsst.ccs.bus.ErrorInCommandExecutionException

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

org.lsst.ccs.bus.ErrorInCommandExecutionException

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.")
void writeTargetPosition(int aValue)
                                                                                                                                                 throws org.lsst.ccs.bus.BadCommandException,
                                                                                                                                                        SDORequestException

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:

org.lsst.ccs.bus.BadCommandException

SDORequestException

writeParameters

void writeParameters(Map<String,Integer> paramMap)
              throws SDORequestException

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 org.lsst.ccs.bus.BadCommandException,
                                                                                                                                            EPOSConfigurationException,
                                                                                                                                            SDORequestException

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:

org.lsst.ccs.bus.BadCommandException

EPOSConfigurationException

SDORequestException

isTargetPositionReached

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

Throws:

SDORequestException

ShortResponseToSDORequestException

readPosition

int readPosition()
          throws SDORequestException,
                 ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readSSIPosition

int readSSIPosition()
             throws SDORequestException,
                    ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readCurrent

int readCurrent()
         throws org.lsst.ccs.bus.BadCommandException,
                SDORequestException,
                ShortResponseToSDORequestException

Throws:

org.lsst.ccs.bus.BadCommandException

SDORequestException

ShortResponseToSDORequestException

readParameters

String readParameters(EPOSEnumerations.EposMode mode)
               throws SDORequestException,
                      ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

readProfileVelocity

int readProfileVelocity()
                 throws SDORequestException,
                        ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

enable

String enable()
       throws SDORequestException

Throws:

SDORequestException

isEnabled

boolean isEnabled()
           throws SDORequestException

Throws:

SDORequestException

readMode

EPOSEnumerations.EposMode readMode()
                            throws SDORequestException,
                                   ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

quickStop

void quickStop()
        throws SDORequestException

Throws:

SDORequestException

checkParameters

void checkParameters(String modeInString)
              throws org.lsst.ccs.HardwareException,
                     FcsHardwareException,
                     SDORequestException,
                     ShortResponseToSDORequestException

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.

Parameters:

modeInString -

Throws:

org.lsst.ccs.HardwareException

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

checkParameters

void checkParameters(EPOSEnumerations.EposMode aMode)
              throws org.lsst.ccs.HardwareException,
                     FcsHardwareException,
                     SDORequestException,
                     ShortResponseToSDORequestException

Throws:

org.lsst.ccs.HardwareException

FcsHardwareException

SDORequestException

ShortResponseToSDORequestException

writeControlWord

void writeControlWord(String f)
               throws SDORequestException

Throws:

SDORequestException

shutdown

String shutdown()
         throws SDORequestException

Throws:

SDORequestException

checkTargetReached

boolean checkTargetReached()
                    throws SDORequestException,
                           ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

activateBrake

void activateBrake()
            throws SDORequestException,
                   ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

releaseBrake

void releaseBrake()
           throws SDORequestException,
                  ShortResponseToSDORequestException

Throws:

SDORequestException

ShortResponseToSDORequestException

switchOnEnableOperation

void switchOnEnableOperation()
                      throws SDORequestException

Throws:

SDORequestException

getParamsForCurrent

Map<String,Integer> getParamsForCurrent()

getParamsForHoming

Map<String,Integer> getParamsForHoming()

getParamsForProfilePosition

Map<String,Integer> getParamsForProfilePosition()

isEnabledToPublish

boolean isEnabledToPublish()

isInError

boolean isInError()

getErrorRegister

String getErrorRegister()

getErrorHistory

String[] getErrorHistory()

getModeInString

String getModeInString()

writeParameterInHexa

String writeParameterInHexa(EPOSEnumerations.Parameter parameter,
                            String string)
                     throws SDORequestException

Throws:

SDORequestException