org.lsst.ccs.subsystems.fcs.common

Interface EPOSControllerWithBrake

All Superinterfaces:

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

All Known Subinterfaces:

EPOSControllerForLinearRail, EPOSControllerForOnlineClamp

All Known Implementing Classes:

CanOpenEPOSLinearRailTruck, CanOpenEPOSOnlineClamp, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController

public interface EPOSControllerWithBrake
extends EPOSController

Author:

virieux

Field Summary

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

alertSeparator

Method Summary

Modifier and Type	Method and Description
default void	activateBrake() Activate brake to prevent motion.
default void	activateBrakeAndDisable() activateBrakeAndDisable
default void	checkBrakeActivated()
default void	checkBrakeReleased()
default StatusDataPublishedByEPOSController	createStatusDataPublishedByEPOSController() Creates an object to be published on the STATUS bus by an EPOSController.
default void	doReleaseBrake() Release holding brake to be able to move linear rail trucks or open/close ONLINE clamps.
default void	enableAndReleaseBrake() enableAndReleaseBrake if this controller is a follower, command is rejected because we have to check if driver controller is enabled.
default boolean	isBrakeActivated() return true if brake if activated.
boolean	isBrakeActivatedPub() For GUI.
default void	publishData() Publish Data on status bus for trending data base and GUIs.
void	setBrakeActivatedPub(boolean brakeActivated)

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

changeMode, changeProfileAcceleration, changeProfileDeceleration, changeProfileVelocity, checkEposMode, checkFault, checkHomingDone, checkParameters, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedDuringMotionNoEncoder, createStatusDataPublishedDuringMotionWithEncoder, defineAbsolutePosition, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, faultReset, getAverageCurrent, getCurrent, getEposState, getErrorHistoryNB, getErrorRegister, getFollowingError, getLastErrorCode, getLastErrorName, getMode, getPosition, getProfileAcceleration, getProfileDeceleration, getProfileVelocity, getStatusWord, getVelocity, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isFault, isInError, isInMode, isInState, isOperationEnabled, isParametersOK, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, isTargetReached, printStatusWordInBinary, publishDataDuringMotion, quickStop, readControllerStructure, readControlWord, readCurrent, readCurrentAverageValue, readFollowingError, readHomingMethod, readMode, readParameter, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, readProfileVelocity, readSSIPosition, readStatusWord, readVelocity, setCurrent, setEposState, setPosition, setProfileAcceleration, setProfileDeceleration, setProfileVelocity, setVelocity, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, updateStatusWord, writeControlWord, writeCurrent, writeParameter, writeParameters, writeParameters, writeParameters, writeTargetPosition

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getName, getNodeID, getPath, getSerialNB, initializeAndCheckHardware, initializePDOs, isBooted, isInitialized, printState, 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

isBrakeActivatedPub

boolean isBrakeActivatedPub()

For GUI. Doesn't read again controller CPU. Return true if controller is enabled.

Returns:

setBrakeActivatedPub

void setBrakeActivatedPub(boolean brakeActivated)

activateBrakeAndDisable

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

activateBrakeAndDisable

doReleaseBrake

default void doReleaseBrake()

Release holding brake to be able to move linear rail trucks or open/close ONLINE clamps. Check that brake is released within a timeout of 500 ms. doReleaseBrake for controller consists in forcing to ONE bit 15 of parameter DigitalOutputFonctionnalityState. It can't be a command because if this controller is a follower we have to check if driver controller is enabled. See AutoChangerTwoTrucksModule.

Throws:

SDORequestException

enableAndReleaseBrake

@Command(type=ACTION,
         level=1,
         description="Enable and release brake to permit motion. Not allowed in MASTER_ENCODER mode.")
default void enableAndReleaseBrake()

enableAndReleaseBrake if this controller is a follower, command is rejected because we have to check if driver controller is enabled. See AutoChangerTwoTrucksModule.

activateBrake

@Command(type=ACTION,
         level=1,
         description="Activate brake to prevent motion and check that brake is activated within a timeout of 500ms.")
default void activateBrake()

Activate brake to prevent 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 Autochanger Linear Rail trucks controllers and Autochanger Online Clamps controllers. activateBrake consists in forcing to ZERO bit 15 of parameter DigitalOutputFonctionnalityState.

Throws:

SDORequestException

isBrakeActivated

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

return true if brake if activated. This is when bit15 of Parameter.DigitalOutputFonctionnalityState is ZERO.

Returns:

checkBrakeActivated

@Command(type=QUERY,
         level=1,
         description="Check that controller brake is activated. If brake is not activated within a timeout of 500ms, throw an Exception.")
default void checkBrakeActivated()

checkBrakeReleased

@Command(type=QUERY,
         level=1,
         description="Check that controller brake is released. If brake is not released within a timeout of 500ms, throw an Exception.")
default void checkBrakeReleased()

createStatusDataPublishedByEPOSController

default StatusDataPublishedByEPOSController createStatusDataPublishedByEPOSController()

Description copied from interface: EPOSController

Creates an object to be published on the STATUS bus by an EPOSController.

Specified by:

createStatusDataPublishedByEPOSController in interface EPOSController

Returns:

publishData

default void publishData()

Publish Data on status bus for trending data base and GUIs.

Specified by:

publishData in interface PieceOfHardware