org.lsst.ccs.subsystems.fcs.common

Interface EPOSControllerForCarousel

All Superinterfaces:

org.lsst.ccs.framework.AlertHandler, AlertRaiser, org.lsst.ccs.framework.ClearAlertHandler, EmergencyMessageListener, EPOSController, org.lsst.ccs.framework.HasLifecycle, PieceOfHardware

All Known Implementing Classes:

CanOpenEPOSCarousel, SimuCarouselController

public interface EPOSControllerForCarousel
extends EPOSController

Author:

virieux

Nested Class Summary

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

org.lsst.ccs.framework.ClearAlertHandler.ClearAlertCode

Field Summary

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

alertSeparator

Method Summary

Modifier and Type	Method and Description
default void	checkPositionSensorType(int sensortype)
default void	defineAbsolutePosition(int position) Defines the actual position as the absolute position which value is given as an argument.
default void	doSetEncoderSSI()
default void	doSetSinusIncrementalEncoder()
int	getPositionSensorType()
default boolean	isTargetReached() For carousel, status word is read by PDO so no need to read by SDO.
void	setPositionSensorType(int pst)
default void	setPositionSensorTypeEncoderSSI() Set PositionSensorType to Absolute encoder SSI (value=4)
default void	setPositionSensorTypeSinusIncrementalEncoder() Set PositionSensorType to Sinus Incremental Encoder(value=8)

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

canClearAlert, changeMode, changeProfileVelocity, checkEposMode, checkFault, checkHomingDone, checkParameters, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, faultReset, getCurrent, getEposState, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getMode, getPosition, getStatusWord, getVelocity, goToSwitchOnDisabled, isEnabled, isEnabledToPublish, isInError, isInMode, isInState, isOperationEnabled, isParametersOK, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, printStatusWordInBinary, quickStop, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readMode, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setEnabledToPublish, setEposState, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateEposState, updateEposState, updateStatusWord, 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, raiseWarningIfMissing, setBooted, updateDeviceInfo, 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, getAlertSeparator, getAlertService, getSubsystem, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

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

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

Method Detail

getPositionSensorType

int getPositionSensorType()

setPositionSensorType

void setPositionSensorType(int pst)

isTargetReached

default boolean isTargetReached()

For carousel, status word is read by PDO so no need to read by SDO. During actions, read by PDO are done every 250ms.

Specified by:

isTargetReached in interface EPOSController

Returns:

status word

setPositionSensorTypeEncoderSSI

@Command(type=ACTION,
         level=1,
         description="Set PositionSensorType to Absolute encoder SSI (value is 4)")
default void setPositionSensorTypeEncoderSSI()

Set PositionSensorType to Absolute encoder SSI (value=4)

doSetEncoderSSI

default void doSetEncoderSSI()

setPositionSensorTypeSinusIncrementalEncoder

@Command(type=ACTION,
         level=1,
         description="Set PositionSensorType to Sinus Incremental Encoder(value is 8)")
default void setPositionSensorTypeSinusIncrementalEncoder()

Set PositionSensorType to Sinus Incremental Encoder(value=8)

doSetSinusIncrementalEncoder

default void doSetSinusIncrementalEncoder()

checkPositionSensorType

default void checkPositionSensorType(int sensortype)

defineAbsolutePosition

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

Description copied from interface: EPOSController

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

Specified by:

defineAbsolutePosition in interface EPOSController

Parameters:

position -