EPOSController (LSST CCS - Subsystem FCS 6.0.4 API)

All Superinterfaces:

AlertRaiser, EmergencyMessageListener, org.lsst.ccs.framework.HasLifecycle, NamedComponent, PieceOfHardware

All Known Subinterfaces:

EPOSControllerForCarousel, EPOSControllerForLinearRail, EPOSControllerForOnlineClamp, EPOSControllerWithBrake

All Known Implementing Classes:

CanOpenEPOS, CanOpenEPOSCarousel, CanOpenEPOSCarouselClamp, CanOpenEPOSLinearRailTruck, CanOpenEPOSOnlineClamp, SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController, SimuCarouselClampController, SimuCarouselController, SimuEPOSController, SimuLoaderCarrierController, SimuLoaderClampController
```
public interface EPOSController
extends PieceOfHardware, org.lsst.ccs.framework.HasLifecycle
```
Author:

virieux cf doc EPOS2_Firmware_Specification § 3.2 Device Control

Field Summary
- Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser
  alertSeparator

Method Summary

All Methods Static Methods Instance Methods Abstract Methods Default Methods
Modifier and Type	Method and Description
`void`	`changeMode(EPOSEnumerations.EposMode newMode)` This methods changes the mode to the new mode given as an argument.
`default void`	`changeProfileVelocity(int newVelocity)` change ProfileVelocity to a new value.
`default void`	`checkEposMode(EPOSEnumerations.EposMode aMode)`
`void`	`checkFault()` Check if the controller is in fault.
`default void`	`checkHomingDone()`
`void`	`checkParameters(EPOSEnumerations.EposMode aMode)` Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in controller CPU.
`default void`	`checkState(EPOSEnumerations.EposState state)`
`default void`	`checkTargetReached(long timeout)` check if target is reached in HOMING or PROFILE_POSITION commands and throws an Exception if not.
`static long`	`convertEPOSValue(EPOSEnumerations.Parameter param, long value, String myName)` values transmitted by EPOSController can be : UNSIGNED32, UNSIGNED16, UNSIGNED8 for UNSIGNED parameter INTEGER32, INTEGER16, INTEGER8 for SIGNED parameter This method convert a value sent by device to the value to be used in fcs.
`default StatusDataPublishedByEPOSController`	`createStatusDataPublishedByEPOSController()` Creates an object to be published on the STATUS bus by an EPOSController.
`default void`	`defineAbsolutePosition(int position)` Defines the actual position as the absolute position which value is given as an argument.
`default void`	`defineHomingCurrentThresholdNegativeSpeed(int currentThreshold)` Homing for loader clamp : this command opens clamps until a dead end.
`default void`	`definePositionFromNegativeLimitSwitch()`
`default void`	`disableOperation()` Disable operation.
`default void`	`disableVoltage()` cf doc EPOS2_Firmware_Specification § 3.2 Device Control lower byte of control word: 0xxx xx0x
`String`	`displayErrorHistory()` Return a printed list of errors that occured on this controller.
`default void`	`enable()` This methods enables the controller : i.e.
`default void`	`enableAndWriteAbsolutePosition(int pos)` Enable controller and go to absolute position.
`default void`	`enableAndWriteCurrent(int aValue)` Enable, set mode CURRENT and write current.
`default void`	`enableAndWriteRelativePosition(int pos)` Enable controller and go to relative position.
`void`	`faultReset()`
`int`	`getCurrent()`
`EPOSEnumerations.EposState`	`getEposState()`
`int`	`getErrorHistoryNB()` Return the number of errors that occured on this controller.
`String`	`getErrorRegister()`
`int`	`getLastErrorCode()`
`String`	`getLastErrorName()`
`EPOSEnumerations.EposMode`	`getMode()` Return the EPOS mode stored in field mode.
`int`	`getPosition()`
`int`	`getStatusWord()`
`int`	`getVelocity()`
`default void`	`goToOperationEnable()`
`default void`	`goToSwitchOnDisabled()`
`default boolean`	`isEnabled()` Read statusWord, update eposState and returns true if the controller is in state OPERATION_ENABLE.
`static boolean`	`isFault(int statusWord)`
`boolean`	`isInError()` Return true if controller is in fault.
`default boolean`	`isInMode(EPOSEnumerations.EposMode aMode)` return true if this controller is in the mode given as argument.
`default boolean`	`isInState(EPOSEnumerations.EposState state)`
`static boolean`	`isOperationEnabled(int statusWord)`
`boolean`	`isParametersOK()` This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.
`static boolean`	`isQuickstop(int statusWord)` QUICKSTOP is state where bits 5 and 6 are == 0
`static boolean`	`isReadyToSwitchOn(int statusWord)`
`static boolean`	`isSwitchedOn(int statusWord)`
`static boolean`	`isSwitchOnDisabled(int statusWord)`
`default boolean`	`isTargetReached()` In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.
`default String`	`printStatusWordInBinary()` print status word bit by bit for end user and tests
`default void`	`quickStop()` Send a quickStop command to the controller.
`default int`	`readControllerStructure()`
`short`	`readControlWord()`
`int`	`readCurrent()` Read actual current on the controller CPU.
`int`	`readCurrentAverageValue()` Read Average current on controller CPU.
`int`	`readFollowingError()` read Following Error on controller CPU.
`default byte`	`readHomingMethod()`
`EPOSEnumerations.EposMode`	`readMode()` read the EPOS mode on the controller CPU.
`long`	`readParameter(EPOSEnumerations.Parameter parameter)` Reads in the EPOS CPU the value of the Parameter.
`default long`	`readParameter(String parameterName)` Reads in the EPOS CPU the value of the Parameter which parameter name is given as argument.
`default String`	`readParameters()` Read the parameters for the actual mode.
`default String`	`readParameters(EPOSEnumerations.EposMode aMode)` Read all the value of parameters for a given EPOS mode and return a printed list of this values.
`default String`	`readParameters(String modeInString)` This methods reads in the CPU of the EPOS the values of the parameters for a given mode.
`default int`	`readPosition()` Reads in the CPU the value of the parameter PositionActualValue and returns it in a decimal format.
`default int`	`readPositionSensorType()` Read parameter PositionSensorType in CPU of controller and return read value.
`default long`	`readProfileVelocity()` In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
`default int`	`readSSIPosition()` Read the position returned by the absolute encoder (single serial data).
`int`	`readStatusWord()` Read StatusWord on controller CPU.
`int`	`readVelocity()` read velocity on the controller CPU.
`void`	`setCurrent(int cur)`
`void`	`setEposState(EPOSEnumerations.EposState state)`
`void`	`setPosition(int pos)`
`void`	`setVelocity(int vel)`
`default void`	`shutdownController()` shutdowns controller cf doc EPOS2_Firmware_Specification § 3.2 Device Control lower byte of control word: 0xxx x110.
`default void`	`stopAction()` Stop action and shutdownController(shutdown) controller.
`default void`	`stopPosition()` Stop motion when in mode PROFILE_POSITION.
`default void`	`stopVelocity()` Stop motion when in mode PROFILE_VELOCITY.
`default void`	`switchOnEnableOperation()` Switch on and enable controller.
`default void`	`updateEposState()` read statusWord by PDO, then compute and set eposState from statusWord.
`default void`	`updateEposState(int statusWord)` Compute and set eposState from statusWord given as argument.
`default void`	`updatePositionFromSDO()`
`void`	`updateStatusWord()`
`void`	`writeControlWord(int w)` Write controlWord to the controller.
`void`	`writeCurrent(int aValue)` In current mode this methods send a current to the motor.
`void`	`writeParameter(EPOSEnumerations.Parameter parameter, int val)` Write on the CPU of the controller a value given in hexadecimal format for a parameter.
`default void`	`writeParameters()` Write in the CPU of the EPOS device the values of the parameters set for the mode in configuration system.
`void`	`writeParameters(EPOSEnumerations.EposMode mode)` This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode.
`default 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 interface org.lsst.ccs.subsystems.fcs.common.PieceOfHardware
checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getName, getNodeID, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, publishData, raiseAlarmIfMissing, raiseWarningIfMissing, readDeviceType, 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, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle
build, init, postBuild, postInit, postShutdown, postStart, shutdown, start

Method Detail

getStatusWord
```
int getStatusWord()
```

readStatusWord
```
int readStatusWord()
```
Read StatusWord on controller CPU.

Returns:

updateStatusWord
```
void updateStatusWord()
```

readControlWord
```
short readControlWord()
```

setEposState

void setEposState(EPOSEnumerations.EposState state)

getEposState

EPOSEnumerations.EposState getEposState()

writeControlWord
```
void writeControlWord(int w)
```
Write controlWord to the controller. Use to send or start commands. See EPOS documentation.

Parameters:

w -

Throws:

FcsHardwareException

printStatusWordInBinary

@Command(type=QUERY,
         level=1,
         description="print status word in binary.")
default String printStatusWordInBinary()

print status word bit by bit for end user and tests

Returns:

shutdownController

@Command(type=QUERY,
         level=1,
         description="Shutdown the controller - writeControlWord[6] and check that controller is in state READY_TO_SWITCH_ON.")
default void shutdownController()

shutdowns controller cf doc EPOS2_Firmware_Specification § 3.2 Device Control lower byte of control word: 0xxx x110. This is the transition command to go to state READY_TO_SWITCH_ON.

isInState

@Command(type=QUERY,
         level=1,
         description="Returns true if controller state is state given as argument.")
default boolean isInState(EPOSEnumerations.EposState state)

isReadyToSwitchOn

static boolean isReadyToSwitchOn(int statusWord)

isSwitchedOn

static boolean isSwitchedOn(int statusWord)

isSwitchOnDisabled

static boolean isSwitchOnDisabled(int statusWord)

isOperationEnabled

static boolean isOperationEnabled(int statusWord)

isFault

static boolean isFault(int statusWord)

isQuickstop
```
static boolean isQuickstop(int statusWord)
```
QUICKSTOP is state where bits 5 and 6 are == 0

Parameters:

statusWord -

Returns:

updateEposState

@Command(type=QUERY,
         level=1,
         description="Read statusWord by SDO and update eposState.")
default void updateEposState()

read statusWord by PDO, then compute and set eposState from statusWord.

updatePositionFromSDO
```
default void updatePositionFromSDO()
```

updateEposState
```
default void updateEposState(int statusWord)
```
Compute and set eposState from statusWord given as argument.

Parameters:

statusWord -

checkState

@Command(type=QUERY,
         level=1,
         description="Check controller state until a timeout of 500ms. If controller never goes in state given as argument, throw an Exception.")
default void checkState(EPOSEnumerations.EposState state)

disableVoltage

@Command(type=ACTION,
         level=1,
         description="Disable voltage - writeControlWord[0] - and check that controller state is SWITCH_ON_DISABLED. This command does not activate holding brake. cf doc EPOS2_Firmware_Specification \u00a7 3.2 Device Control")
default void disableVoltage()

cf doc EPOS2_Firmware_Specification § 3.2 Device Control lower byte of control word: 0xxx xx0x

goToSwitchOnDisabled

@Command(type=ACTION,
         level=1,
         description="Got to state SWITH_ON_DISABLED.cf doc EPOS2_Firmware_Specification \u00a7 3.2 Device Control")
default void goToSwitchOnDisabled()

disableOperation

@Command(type=ACTION,
         level=1,
         description="Disable operation - writeControlWord[7] - and check that controller state is SWITCHED_ON. This command activates holding brake. cf doc EPOS2_Firmware_Specification \u00a7 3.2 Device Control")
default void disableOperation()

Disable operation. This command activates holding brake. This is a command transition from state OPERATION_ENABLE to SWITCHED_ON.

switchOnEnableOperation

@Command(type=ACTION,
         level=1,
         description="Switch on and enable controller - writeControlWord[0xF] - and check that controller state is in state OPERATION_ENABLE within 500ms.")
default void switchOnEnableOperation()

Switch on and enable controller. cf doc EPOS2_Firmware_Specification §3.2 Device Control lower byte of control word: 0xxx1111 This is the transition command from SWITCHED_ON to OPERATION_ENABLE.

goToOperationEnable

@Command(type=ACTION,
         level=1,
         description="Got to state OPERATION_ENABLE.cf doc EPOS2_Firmware_Specification \u00a7 3.2 Device Control")
default void goToOperationEnable()

stopAction

@Command(type=QUERY,
         level=1,
         description="Stop action and goToSwitchOnDisabled controller.")
default void stopAction()

Stop action and shutdownController(shutdown) controller.

quickStop
```
@Command(type=QUERY,
         level=1,
         description="QuickStop.")
default void quickStop()
```
Send a quickStop command to the controller. see EPOS2_Application_Notes_Collection_En.pdf §8 page 8-104

Throws:

FcsHardwareException

enable

@Command(type=ACTION,
         level=1,
         description="This command enables the controller : i.e. this makes it able to receive commands.it does shutdownController, then switchOnEnableOperation.")
default void enable()

This methods enables the controller : i.e. this makes it able to receive commands. This is the transition command from SWITCH_ON_DISABLED to OPERATION_ENABLE. It does : shutdownController, then switchOnEnableOperation.

isEnabled

@Command(type=QUERY,
         level=1,
         description="Returns true if the controller is enabled (statusWord & 0x6F) == 0x27).")
default boolean isEnabled()

Read statusWord, update eposState and returns true if the controller is in state OPERATION_ENABLE.

Returns:

changeMode
```
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.

Parameters:

newMode -

Throws:

SDORequestException

readMode
```
EPOSEnumerations.EposMode readMode()
```
read the EPOS mode on the controller CPU.

Returns:

mode

Throws:

FcsHardwareException

getMode
```
EPOSEnumerations.EposMode getMode()
```
Return the EPOS mode stored in field mode. Doesn't read again controller CPU.

Returns:

isInMode
```
default boolean isInMode(EPOSEnumerations.EposMode aMode)
```
return true if this controller is in the mode given as argument.

Parameters:

aMode -

Returns:

checkEposMode

default void checkEposMode(EPOSEnumerations.EposMode aMode)

readCurrent
```
int readCurrent()
```
Read actual current on the controller CPU. (object 6078)

Returns:

Throws:

SDORequestException

FcsHardwareException

readCurrentAverageValue
```
int readCurrentAverageValue()
```
Read Average current on controller CPU. (object 2027)

Returns:

readVelocity
```
int readVelocity()
```
read velocity on the controller CPU.

Returns:

readFollowingError
```
int readFollowingError()
```
read Following Error on controller CPU.

Returns:

writeCurrent

@Command(type=ACTION,
         level=1,
         description="In current mode this methods send a current to the motor. index:0x2030 subindex:0 size:2")
void writeCurrent(int aValue)
                                                                                                                                                                    throws EPOSConfigurationException

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

Parameters:: aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.
Throws:: EPOSConfigurationException; SDORequestException

enableAndWriteCurrent

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

Enable, set mode CURRENT and write current. For end user at console.

Parameters:: aValue -

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

Parameters:

position -

Throws:

SDORequestException

RejectedCommandException

checkHomingDone

@Command(type=QUERY,
         level=3,
         description="Check if homing has been done otherwise throws an Exception.")
default void checkHomingDone()

definePositionFromNegativeLimitSwitch

default void definePositionFromNegativeLimitSwitch()

defineHomingCurrentThresholdNegativeSpeed
```
default void defineHomingCurrentThresholdNegativeSpeed(int currentThreshold)
```
Homing for loader clamp : this command opens clamps until a dead end.

Parameters:

currentThreshold - current to send to controller to do the homing

readPosition

@Command(type=QUERY,
         level=1,
         description="In PROFILE_POSITION Mode this methods returns the actual position. index:0x6064 subindex:0")
default int readPosition()

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

Returns:: value in decimal format
Throws:: SDORequestException

readHomingMethod

@Command(type=QUERY,
         level=1,
         description="read HomingMethod parameter")
default byte readHomingMethod()

getCurrent
```
int getCurrent()
```

getPosition
```
int getPosition()
```

getVelocity
```
int getVelocity()
```

setCurrent
```
void setCurrent(int cur)
```

setPosition
```
void setPosition(int pos)
```

setVelocity
```
void setVelocity(int vel)
```

readSSIPosition

@Command(type=QUERY,
         level=1,
         description="Read the position returned by the absolute encoder (single serial data) index:0x2211 subindex:3")
default int readSSIPosition()

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

Returns:
Throws:: SDORequestException

readControllerStructure

@Command(type=QUERY,
         level=1,
         description="Read the controller structure : dual loop or not. Should be 0 or 1index:0x2220 subindex:0")
default int readControllerStructure()

readProfileVelocity

@Command(type=QUERY,
         level=1,
         description="In PROFILE_POSITION returns the value of the parameter ProfileVelocity. index:0x6081 subindex:0")
default long readProfileVelocity()

In PROFILE_POSITION returns the value of the parameter ProfileVelocity.

Returns:
Throws:: SDORequestException

readPositionSensorType

@Command(type=QUERY,
         level=1,
         description="Read PositionSensorType. index:0x2210 subindex:2")
default int readPositionSensorType()

Read parameter PositionSensorType in CPU of controller and return read value.

Returns:

writeTargetPosition

@Command(type=ACTION,
         level=1,
         description="In PROFILE_POSITION mode this methods set the target position.index:0x607A subindex:0 size:4")
void writeTargetPosition(int aValue)

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

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

changeProfileVelocity
```
default void changeProfileVelocity(int newVelocity)
```
change ProfileVelocity to a new value. Used by loader carrier controller to reduce speed.

Parameters:

newVelocity -

isParametersOK
```
boolean isParametersOK()
```
This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.

Returns:

readParameter
```
long readParameter(EPOSEnumerations.Parameter parameter)
```
Reads in the EPOS CPU the value of the Parameter.

Parameters:

parameter -

Returns:

writeParameter
```
void writeParameter(EPOSEnumerations.Parameter parameter,
                    int val)
```
Write on the CPU of the controller a value given in hexadecimal format for a parameter.

Parameters:

parameter -

val - the value.

Throws:

FcsHardwareException

checkParameters
```
void checkParameters(EPOSEnumerations.EposMode aMode)
```
Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in controller CPU. Raise a FcsHardwareException if some values are not equals.

Parameters:

aMode -

Throws:

FcsHardwareException

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. Usually the values of the parameters are given by the configuration system.

Parameters:

mode -

Throws:

SDORequestException

writeParameters

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

Write in the CPU of the EPOS device the values of the parameters set for the mode in configuration system.

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.")
default long 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

readParameters

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

Read the parameters for the actual mode.

Returns:

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.")
default 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

readParameters
```
default String readParameters(EPOSEnumerations.EposMode aMode)
```
Read all the value of parameters for a given EPOS mode and return a printed list of this values.

Parameters:

aMode -

Returns:

Throws:

FcsHardwareException

writeParameters
```
default void writeParameters(Map<String,Integer> paramMap)
```
Write to the CPU of the EPOS a map of parameters.

Parameters:

paramMap -

Throws:

SDORequestException

convertEPOSValue
```
static long convertEPOSValue(EPOSEnumerations.Parameter param,
                             long value,
                             String myName)
```
values transmitted by EPOSController can be : UNSIGNED32, UNSIGNED16, UNSIGNED8 for UNSIGNED parameter INTEGER32, INTEGER16, INTEGER8 for SIGNED parameter This method convert a value sent by device to the value to be used in fcs. Exemple : PolePairNumber is an UNSIGNED8. Real values are always > 0. Value sent by device should not be changed and be always > 0 : 255 => 255 HomingMethod is an INTEGER8 Real values can be negative. So value sent by device is casted as byte to have the real value. 255 => -1

Parameters:

param -

value -

myName -

Returns:

isInError
```
boolean isInError()
```
Return true if controller is in fault.

Returns:

getErrorRegister
```
String getErrorRegister()
```
Returns:

error register in printed format

getLastErrorCode
```
int getLastErrorCode()
```
Returns:

last code error occured on that device

getLastErrorName
```
String getLastErrorName()
```
Returns:

last error name occured on that device

getErrorHistoryNB
```
int getErrorHistoryNB()
```
Return the number of errors that occured on this controller.

Returns:

Throws:

SDORequestException

FcsHardwareException

displayErrorHistory
```
String displayErrorHistory()
```
Return a printed list of errors that occured on this controller.

Returns:

Throws:

SDORequestException

FcsHardwareException

checkFault
```
void checkFault()
```
Check if the controller is in fault. Throw an Exception if the controller is in fault.

Throws:

SDORequestException

FcsHardwareException

faultReset
```
void faultReset()
```

isTargetReached

@Command(type=QUERY,
         level=1,
         description="In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached. ((readStatusWord() >> 10) & 1) == 1)")
default boolean isTargetReached()

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

Returns:: true if the position is reached.
Throws:: SDORequestException

checkTargetReached
```
default void checkTargetReached(long timeout)
```
check if target is reached in HOMING or PROFILE_POSITION commands and throws an Exception if not.

Parameters:

timeout -

enableAndWriteAbsolutePosition

@Command(type=ACTION,
         level=3,
         description="Enable controller and go to absolute position. Doesn\'t check condition. DANGER !!!! ")
default void enableAndWriteAbsolutePosition(int pos)

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

Parameters:: pos -

enableAndWriteRelativePosition

@Command(type=ACTION,
         level=3,
         description="Enable controller and go to relative position. Doesn\'t check condition. DANGER !!!! ")
default void enableAndWriteRelativePosition(int pos)

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

Parameters:: pos -

stopPosition

@Command(type=QUERY,
         level=1,
         description="Stop motion when in mode PROFILE_POSITION. (writeControlWord(0x010F))")
default void stopPosition()

Stop motion when in mode PROFILE_POSITION.

stopVelocity

@Command(type=QUERY,
         level=1,
         description="Stop motion when in mode PROFILE_VELOCITY. (writeControlWord(0x0107)")
default void stopVelocity()

Stop motion when in mode PROFILE_VELOCITY.

createStatusDataPublishedByEPOSController
```
default StatusDataPublishedByEPOSController createStatusDataPublishedByEPOSController()
```
Creates an object to be published on the STATUS bus by an EPOSController.

Returns:

Interface EPOSController

Field Summary

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

Method Summary

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

Methods inherited from interface org.lsst.ccs.subsystems.fcs.drivers.EmergencyMessageListener

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

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

Method Detail

getStatusWord

readStatusWord

updateStatusWord

readControlWord

setEposState

getEposState

writeControlWord

printStatusWordInBinary

shutdownController

isInState

isReadyToSwitchOn

isSwitchedOn

isSwitchOnDisabled

isOperationEnabled

isFault

isQuickstop

updateEposState

updatePositionFromSDO

updateEposState

checkState

disableVoltage

goToSwitchOnDisabled

disableOperation

switchOnEnableOperation

goToOperationEnable

stopAction

quickStop

enable

isEnabled

changeMode

readMode

getMode

isInMode

checkEposMode

readCurrent

readCurrentAverageValue

readVelocity

readFollowingError

writeCurrent

enableAndWriteCurrent

defineAbsolutePosition

checkHomingDone

definePositionFromNegativeLimitSwitch

defineHomingCurrentThresholdNegativeSpeed

readPosition

readHomingMethod

getCurrent

getPosition

getVelocity

setCurrent

setPosition

setVelocity

readSSIPosition

readControllerStructure

readProfileVelocity

readPositionSensorType

writeTargetPosition

changeProfileVelocity

isParametersOK

readParameter

writeParameter

checkParameters

writeParameters

writeParameters

readParameter

readParameters

readParameters

readParameters

writeParameters

convertEPOSValue

isInError