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:

org.lsst.ccs.framework.HasLifecycle, 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.

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, serialNB, subs, 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	activateBrakeAndDisable()
void	releaseBrake() Release brake to be able to open or close clamp.
void	shutdown()

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

changeEPOSParameter, changeMode, changeProfileVelocity, checkFault, checkParameters, checkParameters, faultReset, getMode, initializeAndCheckHardware, isEnabledToPublish, isParametersOK, printControlWord, printStatusWord, publishData, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, 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, doInitializePDOs, getAlertService, getErrorHistory, getErrorRegister, getName, getNodeID, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInError, isInitialized, onEmergencyMessage, printSerialNumber, readErrorHistory, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateFromPDO, 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.EPOSControllerWithBrake

activateBrake, createStatusDataPublishedByEPOSController, doReleaseBrake, enableAndReleaseBrake, isBrakeActivated

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

changeMode, changeProfileVelocity, checkCurrent, checkEnabled, checkFault, checkParameters, checkTargetReached, convertEPOSValue, defineAbsolutePosition, definePositionFromNegativeLimitSwitch, disable, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getErrorHistory, getErrorRegister, getMode, isEnabled, isEnabledToPublish, isInError, isInMode, isParametersOK, isTargetReached, quickStop, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, 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, doInitializePDOs, getName, getNodeID, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, publishData, raiseAlarmIfMissing, setBooted, updateFromPDO

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, raiseWarning, raiseWarning

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

build, init, postBuild, postInit, postShutdown, postStart, start

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

releaseBrake

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

Release brake to be able to open or close clamp. Only for tests for end users. releaseBrake for an ONlineClamp controller consists in forcing to ZERO bit 15 of parameter DigitalOutputFonctionnalityState.

Throws:

SDORequestException

activateBrakeAndDisable

public void activateBrakeAndDisable()

Specified by:

activateBrakeAndDisable in interface EPOSControllerWithBrake

shutdown

public void shutdown()

Specified by:

shutdown in interface org.lsst.ccs.framework.HasLifecycle