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.CanOpenEPOSOnlineClamp

All Implemented Interfaces:

AlertRaiser, EPOSController, EPOSControllerWithBrake, PieceOfHardware, EmergencyMessageListener

public class CanOpenEPOSOnlineClamp
extends CanOpenEPOS
implements EPOSControllerWithBrake

This class is the driver for the EPOS controller which controls the Autochanger ONLINE clamps. A holding brake can be associated to a Controller. This brake is activated when the controller is powered off. For Autochanger Online clamp, a brake is associated with the controller of the clamp. * Configuration of this controller, and the way we release or activate brake is specific to the ONLINE clamps and different from the way it's done for Linear Rails trucks. It's the raison why this class has been created. ATTENTION : activateBrake for the OnlineClamp consists in forcing to ONE bit 15 of parameter DigitalOutputFonctionnalityState. For Linear Rails Truck, activateBrake consists in forcing to ZERO bit 15 of the same parameter.

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
CanOpenEPOSOnlineClamp(int nodeID, String serialNB, HashMap<String,Integer> paramsForCurrent, HashMap<String,Integer> paramsForProfilePosition, HashMap<String,Integer> paramsForHoming) build a new CanOpenEPOS70

Method Summary

Modifier and Type	Method and Description
void	activateBrake() Activate brake to prevent clamp motion.
void	activateBrakeAndDisable()
void	doReleaseBrake()
void	enableAndReleaseBrake()
boolean	isBrakeActivated() return true if brake if activated.
void	releaseBrake() Release brake to be able to move clamp.

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, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, 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

CanOpenEPOSOnlineClamp

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

build a new CanOpenEPOS70

Parameters:

nodeID -

serialNB -

paramsForCurrent -

paramsForProfilePosition -

paramsForHoming -

Method Detail

activateBrake

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

Activate brake to prevent clamp motion. activateBrake for the ONlineClamps consists in forcing to ONE bit 15 of parameter DigitalOutputFonctionnalityState.

Specified by:

activateBrake in interface EPOSControllerWithBrake

Throws:

SDORequestException

ShortResponseToSDORequestException

releaseBrake

@Command(type=ACTION,
         level=1,
         description="Release brake to be able to move clamp.")
public void releaseBrake()

Release brake to be able to move clamp. A holding brake can be associated to a Controller. Brake is associated with the controllers of the ONLINE clamp. releaseBrake for an ONlineClamp controller consists in forcing to ZERO bit 15 of parameter DigitalOutputFonctionnalityState.

Throws:

SDORequestException

ShortResponseToSDORequestException

activateBrakeAndDisable

public void activateBrakeAndDisable()

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

enableAndReleaseBrake

public void enableAndReleaseBrake()

Specified by:

enableAndReleaseBrake in interface EPOSControllerWithBrake

doReleaseBrake

public void doReleaseBrake()

Specified by:

doReleaseBrake in interface EPOSControllerWithBrake

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: