org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOS

java.lang.Object

java.util.Observable

org.lsst.ccs.framework.Module

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

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

All Implemented Interfaces:

Observer, org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, EPOSController, PieceOfHardware, org.lsst.ccs.UsesSubsystem

Direct Known Subclasses:

CanOpenEPOSLinearRailTruck, CanOpenEPOSOnlineClamp, SimuEPOSControllerModule

public class CanOpenEPOS
extends CanOpenDevice
implements EPOSController

A general model for a controller EPOS.

Author:

virieux

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

org.lsst.ccs.framework.Module.ValueUpdate

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

org.lsst.ccs.framework.Configurable.Environment

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	enabledToPublish Used to publish on the status bus for the GUI*
protected EPOSEnumerations.EposMode	mode
protected boolean	parametersOK used in checkParameters and initializeAndCheckHardware methods
protected boolean	turnedOff

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

errorHistory, errorRegister, inError, initialized, nodeID, serialNB, tcpProxy

Fields inherited from class org.lsst.ccs.framework.Module

name, nObserverThreads, tickMillis

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOS(String nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming) Construction of a CanOpenEPOS.

Method Summary

Modifier and Type	Method and Description
void	activateCurrentMode()
void	activateHomingMode()
void	activateProfilePositionMode()
void	changeEPOSParameter(String key, int value) Changes an EPOS parameter for this controller.
void	changeMode(EPOSEnumerations.EposMode newMode) This methods changes the mode to the new mode given as an argument.
protected void	checkCurrentValue(int aValue) Checks a current value typed by a user at the console.
void	checkFault() Check if the Controller is in fault.
void	checkParameters(EPOSEnumerations.EposMode aMode) 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.
void	checkParameters(Map<String,Integer> paramsMap) Compare values of parameters in the map with the values of parameters in the controller CPU.
void	checkTargetReached(long timeout) check if target is reached in HOMING or PROFILE_POSITION commands and throws an Exception if not.
void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
void	disable() shutdowns controller
void	enable() This methods enables the controller : i.e.
void	enableAndWriteCurrent(int aValue) Enables controller and sent current value to controller.
void	faultReset() Clear faults on the controller.
EPOSEnumerations.EposMode	getMode() Return Epos mode for GUI.
void	initializeAndCheckHardware() Check if the parameters in the cPU of the controller have the right values.
boolean	isEnabled() Returns true if the controller is enabled.
boolean	isEnabledToPublish() For GUI.
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() In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.
boolean	isTurnedOff() Return true if the controller is turned OFF;
void	off() Turn off controller.
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	quickStop() Send a quickStop command to the controller.
String	readControlWord() Read the control world (index=6040, subindex=0,size=2)
int	readCurrent() In Current Mode this methods returns the current actualy received by the motor.
int	readCurrentAverageValue() In Current Mode this methods returns the average of the current received by the motor.
EPOSEnumerations.EposMode	readMode() Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.
int	readParameter(EPOSEnumerations.Parameter param) Reads in the EPOS CPU the value of the Parameter.
int	readParameter(String parameterName) Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.
protected String	readParameterInHexa(EPOSEnumerations.Parameter param) Reads in the EPOS CPU the value of the Parameter.
protected String	readParameterInHexa(String parameterName) Reads in the EPOS CPU the hexadecimal value of the Parameter.
String	readParameters()
String	readParameters(EPOSEnumerations.EposMode aMode) Read all the value of parameters for a given EPOS mode and return a printed list of this values.
String	readParameters(String modeInString) This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
int	readPosition() Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
int	readProfileVelocity() In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
int	readSSIPosition() Read the position returned by the absolute encoder (single serial data).
String	readStatusWord() Read the status world (index=6041, subindex=0,size=2)
void	restoreParameters() Restore default parameters.
void	shutdownEPOS() Shutdown the controller.
void	stopCurrent() In current mode this methods set to zero the value of the current sent to the motor.
void	switchOnEnableOperation() SwitchOn and enable controller.
void	writeControlWord(String value) Write a value in hexa in the control world (index=6040, subindex=0,size=2)
void	writeCurrent(int aValue) In current mode this methods send a current to the motor.
void	writeParameter(EPOSEnumerations.Parameter param, int value) Set the parameter given as argument with the decimal value given as argument and write it in the controller CPU.
String	writeParameter(String parameterName, int value) This method writes a parameter in the CPU of the EPOS.
void	writeParameterInHexa(EPOSEnumerations.Parameter param, String hexaValue) Set the parameter given as argument with the hexadecimal value given as argument and write it in the controller CPU.
void	writeParameterInHexa(String parameterName, String hexaValue) This method writes a parameter in the CPU of the EPOS.
void	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.
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 class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

configAsHeartbeatConsumer, configAsHeartbeatProducer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorHistory, displayErrorRegister, getErrorHistory, getErrorRegister, getNodeID, getSerialNB, getTcpProxy, initModule, isBooted, isInError, isInitialized, processUpdate, readErrorHistory, readErrorHistoryNames, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, toString, writeSDO

Methods inherited from class org.lsst.ccs.framework.Module

getNObserverThreads, getObservables, getTickMillis, init, listens, setNObserverThreads, setObservables, setTickMillis, shutdownNow, startTicking, tick, update

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

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.EPOSController

createStatusDataPublishedByEPOSController, displayErrorHistory, enableAndWriteAbsolutePosition, enableAndWriteRelativePosition, getErrorHistory, getErrorRegister, isInError, readNumberOfErrors

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

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

Methods inherited from interface org.lsst.ccs.UsesSubsystem

getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

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

raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning

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

change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, isParameterConfigurable, printConfigurableParameters, setBulkParameter, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

setParameterBulk

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

postInit, postShutdown, postStart, start

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

sendSignal, sendSignalWithTimeLimit, signal

Field Detail

turnedOff

protected boolean turnedOff

parametersOK

protected boolean parametersOK

used in checkParameters and initializeAndCheckHardware methods

mode

protected EPOSEnumerations.EposMode mode

enabledToPublish

protected boolean enabledToPublish

Used to publish on the status bus for the GUI*

Constructor Detail

CanOpenEPOS

public CanOpenEPOS(String nodeID,
                   String serialNB,
                   Map<String,Integer> paramsForCurrent,
                   Map<String,Integer> paramsForProfilePosition,
                   Map<String,Integer> paramsForHoming)

Construction of a CanOpenEPOS.

Parameters:

nodeID -

serialNB -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

Method Detail

isEnabledToPublish

public boolean isEnabledToPublish()

Description copied from interface: EPOSController

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

Specified by:

isEnabledToPublish in interface EPOSController

Returns:

isTurnedOff

public boolean isTurnedOff()

Description copied from interface: EPOSController

Return true if the controller is turned OFF;

Specified by:

isTurnedOff in interface EPOSController

Returns:

isParametersOK

public boolean isParametersOK()

Description copied from interface: EPOSController

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

Specified by:

isParametersOK in interface EPOSController

Returns:

true if parameters in the CPU of the controllers have the same values than in configuration system.

getMode

public EPOSEnumerations.EposMode getMode()

Return Epos mode for GUI.

Specified by:

getMode in interface EPOSController

Returns:

isInMode

@Command(type=QUERY,
         description="return true if this controller is in the mode given as argument.")
public boolean isInMode(EPOSEnumerations.EposMode aMode)

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

Specified by:

isInMode in interface EPOSController

Parameters:

aMode -

Returns:

changeEPOSParameter

@Command(type=QUERY,
         level=1,
         description="Changes an EPOS parameter for this controller. Writes the new value on the CPU of the controller.Changes the new value in the configuration. But doesn\'t save the new parameter in the CPU. To save in CPU controller, use command saveParameters and saveAllChanges.To save configuration, use command saveAllChanges.")
public void changeEPOSParameter(String key,
                                                                                                                                                                                                                                                                                                                                                                                                                        int value)

Changes an EPOS parameter for this controller. Writes the new value on the CPU of the controller. Changes the new value in the configuration. But doesn't save the new parameter in the CPU. To save it, use command saveAllChanges.

Parameters:

key -

value -

readMode

@Command(type=QUERY,
         level=1,
         description="Reads the EPOS mode in the CPU of the EPOS device and updates the field mode.")
public EPOSEnumerations.EposMode readMode()

Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.

Specified by:

readMode in interface EPOSController

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

changeMode

@Command(type=ACTION,
         level=1,
         description="Changes EPOS mode in the CPU of the EPOS device and updates the field mode.")
public 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.

Specified by:

changeMode in interface EPOSController

Parameters:

newMode -

Throws:

SDORequestException

readParameters

@Command(type=QUERY,
         level=1,
         description="This methods reads in the CPU of the EPOS the values of the parameters for a given mode.")
public String readParameters(String modeInString)

This methods reads in the CPU of the EPOS the values of the parameters for a given mode.

Parameters:

modeInString -

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

readParameters

public String readParameters(EPOSEnumerations.EposMode aMode)

Description copied from interface: EPOSController

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

Specified by:

readParameters in interface EPOSController

Returns:

readParameters

@Command(type=QUERY,
         level=1,
         description="Read the parameters for the actual mode.")
public String readParameters()

writeParameters

@Command(type=ACTION,
         level=3,
         description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode.")
public void writeParameters()

writeParameters

@Command(type=ACTION,
         level=3,
         description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode given as argument")
public 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.

Specified by:

writeParameters in interface EPOSController

Parameters:

mode -

Throws:

SDORequestException

writeParameters

public void writeParameters(Map<String,Integer> paramMap)

Write to the CPU of the EPOS a map of parameters.

Specified by:

writeParameters in interface EPOSController

Parameters:

paramMap -

Throws:

SDORequestException

writeParameter

@Command(type=ACTION,
         level=3,
         description="Set EPOS parameter with the value given as argument.")
public String writeParameter(String parameterName,
                                                                                                                                                  int value)

This method writes a parameter in the CPU of the EPOS. For end user at the console

Parameters:

parameterName - the name of the parameter

value - in decimal

Returns:

Throws:

SDORequestException

writeParameter

public void writeParameter(EPOSEnumerations.Parameter param,
                           int value)

Set the parameter given as argument with the decimal value given as argument and write it in the controller CPU.

Specified by:

writeParameter in interface EPOSController

Parameters:

param - parameter to be set

value - decimal value

Throws:

SDORequestException

writeParameterInHexa

@Command(type=ACTION,
         level=3,
         description="Set EPOS parameter with the hexadecimal value given as argument.")
public void writeParameterInHexa(String parameterName,
                                                                                                                                                                  String hexaValue)

This method writes a parameter in the CPU of the EPOS.

Parameters:

parameterName - the name of the parameter

hexaValue - value of the parameter given in hexa

Throws:

SDORequestException

writeParameterInHexa

public void writeParameterInHexa(EPOSEnumerations.Parameter param,
                                 String hexaValue)

Set the parameter given as argument with the hexadecimal value given as argument and write it in the controller CPU.

Specified by:

writeParameterInHexa in interface EPOSController

Parameters:

param -

hexaValue -

Throws:

SDORequestException

readParameter

@Command(type=QUERY,
         level=1,
         description="Reads in the EPOS CPU the decimal value of the Parameter which parameter name is given as argument.")
public int readParameter(String parameterName)

Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.

Parameters:

parameterName - name of the parameter to read

Returns:

value of the parameter in decimal format.

Throws:

SDORequestException

ShortResponseToSDORequestException

readParameter

public int readParameter(EPOSEnumerations.Parameter param)

Reads in the EPOS CPU the value of the Parameter.

Parameters:

param -

Returns:

value of the parameter in decimal format.

Throws:

FcsHardwareException

readParameterInHexa

@Command(type=QUERY,
         level=1,
         description="Reads in the EPOS CPU the hexadecimal value of the Parameter which parameter name is given as argument.")
protected String readParameterInHexa(String parameterName)

Reads in the EPOS CPU the hexadecimal value of the Parameter.

Parameters:

parameterName -

Returns:

value of the parameter in hexa format.

Throws:

FcsHardwareException

readParameterInHexa

protected String readParameterInHexa(EPOSEnumerations.Parameter param)

Reads in the EPOS CPU the value of the Parameter.

Parameters:

param -

Returns:

value of the parameter in hexa format.

Throws:

FcsHardwareException

initializeAndCheckHardware

@Command(type=QUERY,
         level=1,
         description="Read controller\'s parameter in the CPU for each mode and warn if a parameter has not the same value as in the configuration.Then publish data.")
public void initializeAndCheckHardware()

Check if the parameters in the cPU of the controller have the right values. And if the controller is not in fault.

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

Overrides:

initializeAndCheckHardware in class CanOpenDevice

Throws:

FcsHardwareException

isEnabled

@Command(type=QUERY,
         level=1,
         description="Returns true if the controller is enabled.")
public boolean isEnabled()

Returns true if the controller is enabled.

Specified by:

isEnabled in interface EPOSController

Returns:

enable

@Command(type=ACTION,
         level=1,
         description="This methods enables the controller : i.e. this makes it able to receive commands.")
public void enable()

This methods enables the controller : i.e. this makes it able to receive commands.

Specified by:

enable in interface EPOSController

Throws:

SDORequestException

checkTargetReached

public void checkTargetReached(long timeout)

Description copied from interface: EPOSController

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

Specified by:

checkTargetReached in interface EPOSController

shutdownEPOS

@Command(type=ACTION,
         level=1,
         description="Shutdown the controller.")
public void shutdownEPOS()

Shutdown the controller.

Specified by:

shutdownEPOS in interface EPOSController

Throws:

SDORequestException

switchOnEnableOperation

@Command(type=ACTION,
         level=1,
         description="writeControlWord(\"F\")")
public void switchOnEnableOperation()

Description copied from interface: EPOSController

SwitchOn and enable controller.

Specified by:

switchOnEnableOperation in interface EPOSController

restoreParameters

@Command(type=ACTION,
         level=3,
         description="Restore default parameters. AT YOUR OWN RISK.")
public void restoreParameters()

Restore default parameters.

Throws:

SDORequestException

writeControlWord

@Command(type=ACTION,
         level=1,
         description="Write a value in hexa in the control world (index=6040, subindex=0,size=2)")
public void writeControlWord(String value)

Write a value in hexa in the control world (index=6040, subindex=0,size=2)

Specified by:

writeControlWord in interface EPOSController

Parameters:

value - in hexa

Throws:

SDORequestException

readControlWord

@Command(type=QUERY,
         level=1,
         description="Read the control world (index=6040, subindex=0,size=2)")
public String readControlWord()

Read the control world (index=6040, subindex=0,size=2)

Returns:

value in hexa

Throws:

SDORequestException

ShortResponseToSDORequestException

readStatusWord

@Command(type=QUERY,
         level=1,
         description="Read the status world (index=6041, subindex=0,size=2)")
public String readStatusWord()

Read the status world (index=6041, subindex=0,size=2)

Specified by:

readStatusWord in interface EPOSController

Returns:

value in hexa

Throws:

SDORequestException

ShortResponseToSDORequestException

quickStop

@Command(type=ACTION,
         level=1,
         description="QuickStop.")
public void quickStop()

Description copied from interface: EPOSController

Send a quickStop command to the controller.

Specified by:

quickStop in interface EPOSController

off

@Command(type=ACTION,
         level=1,
         description="Turn OFF controller (in mode CURRENT, stop CURRENT) and shutdown.")
public void off()

Description copied from interface: EPOSController

Turn off controller.

Specified by:

off in interface EPOSController

writeCurrent

@Command(type=ACTION,
         level=3,
         description="Sent current to controller the EPOS CPU. UNIT=mA / FORMAT=decimal")
public void writeCurrent(int aValue)

In current mode this methods send a current to the motor. This make run the motor.

Specified by:

writeCurrent in interface EPOSController

Parameters:

aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.

Throws:

FcsHardwareException

enableAndWriteCurrent

@Command(type=ACTION,
         level=3,
         description="Enables controller and sets the current value in the EPOS CPU.")
public void enableAndWriteCurrent(int aValue)

Enables controller and sent current value to controller. For end user at console.

Specified by:

enableAndWriteCurrent in interface EPOSController

Parameters:

aValue -

checkCurrentValue

protected void checkCurrentValue(int aValue)

Checks a current value typed by a user at the console.

Parameters:

aValue -

readCurrent

@Command(type=QUERY,
         level=1,
         alias="readCurrentActualValue",
         description="In Current Mode this methods returns the current actualy received by the motor.")
public int readCurrent()

In Current Mode this methods returns the current actualy received by the motor.

Specified by:

readCurrent in interface EPOSController

Returns:

the current UNIT=mA / FORMAT=decimal

Throws:

SDORequestException

ShortResponseToSDORequestException

readCurrentAverageValue

@Command(type=QUERY,
         level=1,
         alias="readCurrentAverage",
         description="In Current Mode this methods returns the average of the current  received by the motor.")
public int readCurrentAverageValue()

In Current Mode this methods returns the average of the current received by the motor.

Returns:

the current UNIT=mA / FORMAT=decimal

Throws:

SDORequestException

ShortResponseToSDORequestException

stopCurrent

public void stopCurrent()

In current mode this methods set to zero the value of the current sent to the motor. This stops the motor.

Throws:

SDORequestException

readPosition

@Command(type=QUERY,
         level=1,
         alias="readPositionActualValue",
         description="In PROFILE_POSITION Mode this methods returns the actual position.")
public int readPosition()

Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.

Specified by:

readPosition in interface EPOSController

Returns:

value in decimal format

Throws:

SDORequestException

ShortResponseToSDORequestException

readSSIPosition

@Command(type=QUERY,
         level=1,
         description="Read the position returned by the absolute encoder (single serial data).")
public int readSSIPosition()

Read the position returned by the absolute encoder (single serial data).

Specified by:

readSSIPosition in interface EPOSController

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

readProfileVelocity

@Command(type=QUERY,
         level=1,
         description="In PROFILE_POSITION returns the value of the parameter ProfileVelocity.")
public int readProfileVelocity()

In PROFILE_POSITION returns the value of the parameter ProfileVelocity.

Specified by:

readProfileVelocity in interface EPOSController

Returns:

Throws:

SDORequestException

ShortResponseToSDORequestException

defineAbsolutePosition

@Command(type=ACTION,
         level=3,
         description="Define the actual position as position given as argument.")
public void defineAbsolutePosition(int position)

Defines the actual position as the absolute position which value is given as an argument. Writes value 35 in hexa to set the Homing method as Actual (See EPOS documentation)

Specified by:

defineAbsolutePosition in interface EPOSController

Throws:

SDORequestException

RejectedCommandException

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position. Target position has to be given in microns.")
public void writeTargetPosition(int aValue)

In PROFILE_POSITION mode this methods set the target position. This make run the motor.

Specified by:

writeTargetPosition in interface EPOSController

Parameters:

aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.

Throws:

RejectedCommandException

SDORequestException

isTargetReached

@Command(type=QUERY,
         level=1,
         description="In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.")
public boolean isTargetReached()

In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.

Specified by:

isTargetReached in interface EPOSController

Returns:

true if the position is reached.

Throws:

SDORequestException

ShortResponseToSDORequestException

checkFault

@Command(type=QUERY,
         level=1,
         description="Check if the Controller is in fault.")
public void checkFault()

Check if the Controller is in fault.

Specified by:

checkFault in interface EPOSController

Throws:

FcsHardwareException

faultReset

@Command(type=ACTION,
         level=1,
         description="Clear faults on the controller.",
         alias="resetFault")
public void faultReset()

Clear faults on the controller.

Specified by:

faultReset in interface EPOSController

checkParameters

@Command(type=QUERY,
         level=1,
         description="For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPUand throws a HardwareException if these values are not equal.")
public void checkParameters(EPOSEnumerations.EposMode aMode)

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.

Specified by:

checkParameters in interface EPOSController

Throws:

SDORequestException

ShortResponseToSDORequestException

checkParameters

public void checkParameters(Map<String,Integer> paramsMap)

Compare values of parameters in the map with the values of parameters in the controller CPU.

Parameters:

paramsMap -

Throws:

SDORequestException

ShortResponseToSDORequestException

activateCurrentMode

@Command(type=ACTION,
         level=3,
         description="Change mode to CURRENT mode and initialize theCURRENT mode parameters from configuration values.")
public void activateCurrentMode()

activateHomingMode

@Command(type=ACTION,
         level=3,
         description="Change mode to HOMING mode and initialize theHOMING mode parameters from configuration values.")
public void activateHomingMode()

activateProfilePositionMode

@Command(type=ACTION,
         level=3,
         description="Change mode to PROFILE_POSITION mode and initialize thePROFILE_POSITION mode parameters from configuration values.")
public void activateProfilePositionMode()

disable

@Command(type=ACTION,
         level=1,
         description="Shutdowns the controller.")
public void disable()

shutdowns controller

Specified by:

disable in interface EPOSController

publishData

@Command(type=QUERY,
         level=1,
         alias="refreshGUI",
         description="Publish data for the controller on the status bus.")
public void publishData()

Publish Data on status bus for trending data base and GUIs.

Specified by:

publishData in interface PieceOfHardware

Overrides:

publishData in class CanOpenDevice