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:

AlertRaiser, EPOSController, EPOSControllerForLinearRail, EPOSControllerWithBrake, 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 inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

enabledToPublish, mode, parametersOK

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

booted, errorHistory, errorRegister, inError, initialized, name, nodeID, s, serialNB, tcpProxy

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

alertSeparater

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOSLinearRailTruck(int nodeID, String serialNB, HashMap<String,Integer> paramsForCurrent, HashMap<String,Integer> paramsForProfilePosition, HashMap<String,Integer> paramsForHoming, int encoderRibbonMinValue) Build a new CanOpenEPOS24

Method Summary

Modifier and Type	Method and Description
void	activateBrake() Activates brake to prevent trucks motion.
void	activateBrakeAndDisable() activateBrakeAndDisable
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	doReleaseBrake() Release holding brake to be able to move truck.
void	enableAndReleaseBrake() enableAndReleaseBrake Can't be a command because if this controller is a slave we have to check if master controller is enabled.
void	enableAndWriteAbsolutePosition(int pos) Enable controller and go to absolute position.
void	enableAndWriteRelativePosition(int pos) Enable controller and go to relative position.
void	homing()
boolean	isBrakeActivated() return true if brake if activated.
boolean	isHomingDone() return true if homing is done: the controller knows its absolute position.

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

changeEPOSParameter, changeMode, checkFault, checkParameters, checkParameters, faultReset, getMode, initializeAndCheckHardware, isEnabledToPublish, isParametersOK, publishData, readControlWord, readCurrent, readCurrentAverageValue, readMode, readParameter, readParameterInHexa, readParameterInHexa, readStatusWord, readVelocity, restoreParameters, setEnabledToPublish, writeControlWord, writeCurrent, writeParameter, writeParameters, writeTargetPosition, writeTargetVelocity

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorHistory, displayErrorRegister, getAlertService, getErrorHistory, getErrorRegister, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, readErrorHistory, readErrorRegister, readNumberOfErrors, readSDO, readStringSerialNumber, resetError, saveParameters, setBooted, toString, writeSDO

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

changeMode, checkCurrent, checkEnabled, checkFault, checkParameters, checkTargetReached, createStatusDataPublishedByEPOSController, defineAbsolutePosition, disable, displayErrorHistory, enable, enableAndWriteCurrent, getErrorHistory, getErrorRegister, getMode, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, quickStop, readCurrent, readMode, readNumberOfErrors, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setEnabledToPublish, startVelocity, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition, writeTargetVelocity

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, getName, getNodeID, getSerialNB, initializeAndCheckHardware, isBooted, isInitialized, printState, publishData, raiseAlarmIfMissing, setBooted

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, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarning

Constructor Detail

CanOpenEPOSLinearRailTruck

public CanOpenEPOSLinearRailTruck(int nodeID,
                                  String serialNB,
                                  HashMap<String,Integer> paramsForCurrent,
                                  HashMap<String,Integer> paramsForProfilePosition,
                                  HashMap<String,Integer> paramsForHoming,
                                  int encoderRibbonMinValue)

Build a new CanOpenEPOS24

Parameters:

nodeID -

serialNB -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

encoderRibbonMinValue -

Method Detail

isHomingDone

@Command(type=QUERY,
         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="return true if homing has to be done.")
public void homing()

Specified by:

homing in interface EPOSControllerForLinearRail

activateBrake

@Command(type=ACTION,
         level=1,
         description="Activate brake to prevent truck motion.")
public void activateBrake()

Activates brake to prevent trucks motion. A holding brake can be associated to a Controller. This brake is activated when the controller is powered on. A brake is associated with the controller of the Autochanger Linear Rail truck. activateBrake for the ONlineClamps consists in forcing to ZERO bit 15 of parameter DigitalOutputFonctionnalityState.

Specified by:

activateBrake in interface EPOSControllerWithBrake

Throws:

SDORequestException

ShortResponseToSDORequestException

doReleaseBrake

public void doReleaseBrake()

Release holding brake to be able to move truck. A holding brake can be associated to a Controller. In CPPM test bench a Brake is associated with the controllers of the trucks. Release the brake doReleaseBrake for an Autochanger Linear Truck controller consists in forcing to ONE bit 15 of parameter DigitalOutputFonctionnalityState. * Can't be a command because if this controller is a slave we have to check if master controller is enabled. See AutoChangerTwoTrucksModule.

Specified by:

doReleaseBrake in interface EPOSControllerWithBrake

Throws:

SDORequestException

ShortResponseToSDORequestException

isBrakeActivated

@Command(type=QUERY,
         level=1,
         description="return true if brake if activated.")
public boolean isBrakeActivated()

return true if brake if activated.

Specified by:

isBrakeActivated in interface EPOSControllerWithBrake

Returns:

activateBrakeAndDisable

@Command(type=ACTION,
         level=1,
         description="activate brake to prevent motion and disable controller.")
public void activateBrakeAndDisable()

activateBrakeAndDisable

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

enableAndReleaseBrake

public void enableAndReleaseBrake()

enableAndReleaseBrake Can't be a command because if this controller is a slave we have to check if master controller is enabled. See AutoChangerTwoTrucksModule.

Specified by:

enableAndReleaseBrake in interface EPOSControllerWithBrake

enableAndWriteAbsolutePosition

public void enableAndWriteAbsolutePosition(int pos)

Description copied from interface: EPOSController

Enable controller and go to absolute position. Doesn't check condition. DANGER !!!!

Specified by:

enableAndWriteAbsolutePosition in interface EPOSController

enableAndWriteRelativePosition

public void enableAndWriteRelativePosition(int pos)

Description copied from interface: EPOSController

Enable controller and go to relative position. Doesn't check condition. DANGER !!!!

Specified by:

enableAndWriteRelativePosition in interface EPOSController

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 Functionnality index 0x2070 subindex 01 to 04 Functionnality 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. Functionnality 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 Outputsactivated 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 Fonctionnalities index 0x2079 subindex 01 to 03 Functionnality 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 Functionnality Polarity index 0x2078 subindex 0x03 Value = 0 associated output not change => HighActive Value = 1 associated output inverted => LowActive Tab Digital Output Functionnality 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 Functionnality Mask index 0x2078 subindex 0x02 Value = 0 functionnality not activatd Value = 1 functionnality activated ******************************************************************************** Digital Output Functionnality 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()