org.lsst.ccs.subsystems.fcs.common

Interface EPOSController

All Superinterfaces:

PieceOfHardware, org.lsst.ccs.UsesSubsystem

All Known Subinterfaces:

EPOSControllerForLinearRail, EPOSControllerWithBrake

All Known Implementing Classes:

CanOpenEPOS, CanOpenEPOSLinearRailTruck, CanOpenEPOSOnlineClamp, SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController, SimuCarouselClampController, SimuCarouselController, SimuEPOSControllerModule, SimuLoaderCarrierController, SimuLoaderClampController

public interface EPOSController
extends PieceOfHardware

Author:

virieux

Method Summary

Modifier and Type	Method and Description
void	changeMode(EPOSEnumerations.EposMode newMode) This methods changes the mode to the new mode given as an argument.
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	checkTargetReached() check if target is reached in HOMING or PROFILE_POSITION commands and throws an Exception if not.
default StatusDataPublishedByEPOSController	createStatusDataPublishedByEPOSController() Creates an object to be published on the STATUS bus by an EPOSController.
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
void	disable() Disable controller.
String	displayErrorHistory() Return a printed list of errors that occured on this controller.
void	enable() enable the controller.
default void	enableAndWriteAbsolutePosition(int pos)
void	enableAndWriteCurrent(int aValue)
default void	enableAndWriteRelativePosition(int pos)
void	faultReset()
String[]	getErrorHistory()
String	getErrorRegister()
EPOSEnumerations.EposMode	getMode() Return the EPOS mode stored in field mode.
boolean	isEnabled() Return true if the controller is enabled and so ready to receive commands.
boolean	isEnabledToPublish() For GUI.
boolean	isInError() Return true if controller is enabled.
boolean	isInMode(EPOSEnumerations.EposMode aMode) return true if this controller is in the mode given as argument.
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	isTargetReached() Throw an Exception if the target was not reached in the previous action.
boolean	isTurnedOff() Return true if the controller is turned OFF;
void	off() Turn off controller.
void	quickStop() Send a quickStop command to the controller.
int	readCurrent() Read actual current on the controller CPU.
EPOSEnumerations.EposMode	readMode() read the EPOS mode on the controller CPU.
int	readNumberOfErrors() Return the number of errors that occured on this controller.
String	readParameters(EPOSEnumerations.EposMode mode) Read all the value of parameters for a given EPOS mode and return a printed list of this values.
int	readPosition() Read actual position on the controller CPU.
int	readProfileVelocity() Read ProfileVelocity on the controller CPU.
int	readSSIPosition() Read the SSS position on the controller CPU.
String	readStatusWord()
void	shutdownEPOS() Shutdown the controller.
void	switchOnEnableOperation() SwitchOn and enable controller.
void	writeControlWord(String f) Write controlWord to the controller.
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
void	writeParameter(EPOSEnumerations.Parameter parameter, int position)
void	writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string) Write on the CPU of the controller a value given in hexadecimal format for a parameter.
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.PieceOfHardware

checkBooted, checkInitialized, createStatusDataPublishedByHardware, getNodeID, getSerialNB, initializeAndCheckHardware, isBooted, isInitialized, printState, publishData

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Method Detail

isTurnedOff

boolean isTurnedOff()

Return true if the controller is turned OFF;

Returns:

off

void off()

Turn off controller.

Throws:

FcsHardwareException

isParametersOK

boolean isParametersOK()

This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.

Returns:

changeMode

void 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.

Parameters:

newMode -

Throws:

SDORequestException

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)

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

Parameters:

position -

Throws:

SDORequestException

readNumberOfErrors

int readNumberOfErrors()

Return the number of errors that occured on this controller.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

displayErrorHistory

String displayErrorHistory()

Return a printed list of errors that occured on this controller.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

checkFault

void checkFault()

Check if the controller is in fault. Throw an Exception if the controller is in fault.

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

faultReset

void faultReset()

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. Usually the values of the parameters are given by the configuration system.

Parameters:

mode -

Throws:

SDORequestException

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.")
void writeTargetPosition(int aValue)

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:

SDORequestException

writeParameters

void writeParameters(Map<String,Integer> paramMap)

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 EPOSConfigurationException

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:

EPOSConfigurationException

SDORequestException

enableAndWriteCurrent

@Command(type=ACTION,
         level=1,
         description="Enable, set mode CURRENT and write current.")
void enableAndWriteCurrent(int aValue)

readPosition

int readPosition()

Read actual position on the controller CPU.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readSSIPosition

int readSSIPosition()

Read the SSS position on the controller CPU.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readCurrent

int readCurrent()

Read actual current on the controller CPU.

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

FcsHardwareException

readParameters

String readParameters(EPOSEnumerations.EposMode mode)

Read all the value of parameters for a given EPOS mode and return a printed list of this values.

Parameters:

mode -

Returns:

Throws:

FcsHardwareException

readProfileVelocity

int readProfileVelocity()

Read ProfileVelocity on the controller CPU.

Returns:

Throws:

FcsHardwareException

enable

void enable()

enable the controller. (to be done before each action on the motor.)

Throws:

FcsHardwareException

isEnabled

boolean isEnabled()

Return true if the controller is enabled and so ready to receive commands.

Returns:

Throws:

FcsHardwareException

readMode

EPOSEnumerations.EposMode readMode()

read the EPOS mode on the controller CPU.

Returns:

Throws:

FcsHardwareException

quickStop

void quickStop()

Send a quickStop command to the controller.

Throws:

FcsHardwareException

checkParameters

void checkParameters(EPOSEnumerations.EposMode aMode)
              throws org.lsst.ccs.HardwareException

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.

Parameters:

aMode -

Throws:

org.lsst.ccs.HardwareException

FcsHardwareException

writeControlWord

void writeControlWord(String f)

Write controlWord to the controller. Use to send or start commands. See EPOS documentation.

Parameters:

f -

Throws:

FcsHardwareException

shutdownEPOS

void shutdownEPOS()

Shutdown the controller.

Throws:

FcsHardwareException

isTargetReached

boolean isTargetReached()

Throw an Exception if the target was not reached in the previous action.

Returns:

Throws:

FcsHardwareException

checkTargetReached

void checkTargetReached()

check if target is reached in HOMING or PROFILE_POSITION commands and throws an Exception if not.

switchOnEnableOperation

void switchOnEnableOperation()

SwitchOn and enable controller.

Throws:

FcsHardwareException

getMode

EPOSEnumerations.EposMode getMode()

Return the EPOS mode stored in field mode. Doesn't read again controller CPU.

Returns:

isEnabledToPublish

boolean isEnabledToPublish()

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

Returns:

isInError

boolean isInError()

Return true if controller is enabled.

Returns:

getErrorRegister

String getErrorRegister()

Returns:

error register in printed format

getErrorHistory

String[] getErrorHistory()

Returns:

a printed list of errors.

writeParameterInHexa

void writeParameterInHexa(EPOSEnumerations.Parameter parameter,
                          String string)

Write on the CPU of the controller a value given in hexadecimal format for a parameter.

Parameters:

parameter -

string - HEXADECIMAL format of the new value.

Throws:

FcsHardwareException

disable

void disable()

Disable controller.

Throws:

FcsHardwareException

enableAndWriteAbsolutePosition

@Command(type=ACTION,
         level=3,
         description="Enable controller and go to absolute position. Doesn\'t check condition. DANGER !!!! ")
default void enableAndWriteAbsolutePosition(int pos)

enableAndWriteRelativePosition

@Command(type=ACTION,
         level=3,
         description="Enable controller and go to relative position. Doesn\'t check condition. DANGER !!!! ")
default void enableAndWriteRelativePosition(int pos)

createStatusDataPublishedByEPOSController

default StatusDataPublishedByEPOSController createStatusDataPublishedByEPOSController()

Creates an object to be published on the STATUS bus by an EPOSController.

Returns:

writeParameter

void writeParameter(EPOSEnumerations.Parameter parameter,
                    int position)

readStatusWord

String readStatusWord()

isInMode

boolean isInMode(EPOSEnumerations.EposMode aMode)

return true if this controller is in the mode given as argument.

Parameters:

aMode -

Returns: