org.lsst.ccs.subsystems.fcs.drivers

Class CanOpenEPOS

java.lang.Object

org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

org.lsst.ccs.subsystems.fcs.drivers.CanOpenEPOS

All Implemented Interfaces:

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

Direct Known Subclasses:

CanOpenEPOSCarousel, CanOpenEPOSCarouselClamp, CanOpenEPOSLinearRailTruck, CanOpenEPOSOnlineClamp, SimuEPOSController

public class CanOpenEPOS
extends CanOpenDevice
implements EPOSController

A general model for a controller EPOS.

Author:

virieux

Field Summary

Fields

Modifier and Type	Field and Description
protected int	averageCurrent
protected int	current
protected EPOSEnumerations.EposState	eposState
protected int	followingError
protected boolean	hasEncoder This value corresponds to whether the controller has an encoder or not.
protected EPOSEnumerations.EposMode	mode
protected boolean	parametersOK used in checkParameters and initializeAndCheckHardware methods
protected int	position
protected long	profileAcceleration
protected long	profileDeceleration
protected long	profileVelocity
protected boolean	simuEnabled Used to publish on the status bus for the GUI*
protected int	statusWord
protected int	velocity

Fields inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

booted, dataProviderDictionaryService, errorHistory, errorRegister, inError, initialized, lastErrorCode, lastErrorName, name, nodeID, path, serialNB, subs, tcpProxy

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

alertSeparator

Constructor Summary

Constructors

Constructor and Description
CanOpenEPOS()

Method Summary

Modifier and Type	Method and Description
void	build()
void	changeEPOSParameter(String key, int value) Changes an EPOS parameter for this controller.
void	changeMode(EPOSEnumerations.EposMode newMode) This methods changes the mode to the new mode given as an argument.
void	checkFault() Check if the Controller is in fault.
void	checkParameters(EPOSEnumerations.EposMode aMode) For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a FcsHardwareException if these values are not equal.
void	checkParameters(Map<String,Integer> paramsMap) Compare values of parameters in the map with the values of parameters in the controller CPU.
void	faultReset() Clear faults on the controller and clear alarm that was raised for this controller.
int	getAverageCurrent()
int	getCurrent()
EPOSEnumerations.EposState	getEposState()
int	getFollowingError()
EPOSEnumerations.EposMode	getMode() Return Epos mode for GUI.
int	getPosition()
long	getProfileAcceleration()
long	getProfileDeceleration()
long	getProfileVelocity()
int	getStatusWord()
int	getVelocity()
void	init()
void	initializeAndCheckHardware() Check if the parameters in the cPU of the controller have the right values.
boolean	isInError() For the GUI
boolean	isParametersOK() This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.
String	printControlWord() Read the control word (index=6040, subindex=0,size=2)
void	publishData() Publish Data on status bus for trending data base and GUIs.
void	publishDataDuringMotion() publish data during motion for trending data base.
short	readControlWord() read controlWord on controller CPU.
int	readCurrent() In Current Mode this methods returns the current actually received by the motor.
int	readCurrentAverageValue() In Current Mode this methods returns the average of the current received by the motor.
int	readFollowingError() return Following Error Actual Value
EPOSEnumerations.EposMode	readMode() Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.
long	readParameter(EPOSEnumerations.Parameter param) Reads in the EPOS CPU the value of the Parameter.
int	readStatusWord() Read the status word (index=6041, subindex=0,size=2)
int	readVelocity() return motor velocity read on controller CPU Unit = RPM
void	restoreParameters() Restore default parameters.
void	setCurrent(int current)
void	setEposState(EPOSEnumerations.EposState state)
void	setPosition(int position)
void	setProfileAcceleration(long acceleration)
void	setProfileDeceleration(long deceleration)
void	setProfileVelocity(long velocity)
void	setVelocity(int velocity)
void	updateStatusWord()
void	writeControlWord(int value) Write a value in the control word (index=6040, subindex=0,size=2)
void	writeCurrent(int aValue) In unsCurrent mode this methods send a unsCurrent to the motor.
void	writeParameter(EPOSEnumerations.Parameter param, int value) This method writes a parameter in the CPU of the EPOS.
void	writeParameters(EPOSEnumerations.EposMode mode) This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode.
void	writeTargetPosition(int aValue) In PROFILE_POSITION mode this methods set the target position.

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

configAsHeartbeatConsumer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayError, displayErrorHistory, displayErrorRegister, doInitializePDOs, getAlertService, getErrorHistory, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, getName, getNodeID, getPath, getSerialNB, getSubsystem, getTcpProxy, isBooted, isInitialized, onEmergencyMessage, printSerialNumber, readDeviceType, readErrorRegister, readNumberOfErrors, readSDO, resetError, saveParameters, setBooted, toString, updateDeviceInfo, updateErrorHistory, updateFromPDO, writeSDO, writeTransmissionTypeToDevice

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

changeProfileAcceleration, changeProfileDeceleration, changeProfileVelocity, checkEposMode, checkHomingDone, checkState, checkTargetReached, convertEPOSValue, createStatusDataPublishedByEPOSController, createStatusDataPublishedDuringMotionNoEncoder, createStatusDataPublishedDuringMotionWithEncoder, defineAbsolutePosition, defineHomingCurrentThresholdNegativeSpeed, definePositionFromNegativeLimitSwitch, disableOperation, disableVoltage, displayErrorHistory, enable, enableAndWriteAbsolutePosition, enableAndWriteCurrent, enableAndWriteRelativePosition, getErrorHistoryNB, getErrorRegister, getLastErrorCode, getLastErrorName, goToOperationEnable, goToSwitchOnDisabled, isEnabled, isFault, isInMode, isInState, isOperationEnabled, isQuickstop, isReadyToSwitchOn, isSwitchedOn, isSwitchOnDisabled, isTargetReached, printStatusWordInBinary, quickStop, readControllerStructure, readHomingMethod, readParameter, readParameters, readParameters, readParameters, readPosition, readPositionSensorType, readProfileAcceleration, readProfileDeceleration, readProfileVelocity, readSSIPosition, shutdownController, stopAction, stopPosition, stopVelocity, switchOnEnableOperation, updateDataDuringMotionFromSDO, updateEposState, updateEposState, updatePositionFromSDO, writeParameters, writeParameters

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

checkBooted, checkId, checkInitialized, createStatusDataPublishedByHardware, doInitializePDOs, getName, getNodeID, getPath, getSerialNB, 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

postBuild, postInit, postShutdown, postStart, shutdown, start

Field Detail

parametersOK

protected boolean parametersOK

used in checkParameters and initializeAndCheckHardware methods

mode

protected EPOSEnumerations.EposMode mode

statusWord

protected int statusWord

eposState

protected EPOSEnumerations.EposState eposState

current

protected int current

averageCurrent

protected int averageCurrent

position

protected int position

followingError

protected int followingError

velocity

protected int velocity

profileVelocity

protected long profileVelocity

profileAcceleration

protected long profileAcceleration

profileDeceleration

protected long profileDeceleration

hasEncoder

protected boolean hasEncoder

This value corresponds to whether the controller has an encoder or not. Used to know which fields are published and trended. To be set in init method for controller with brakes.

simuEnabled

protected boolean simuEnabled

Used to publish on the status bus for the GUI*

Constructor Detail

CanOpenEPOS

public CanOpenEPOS()

Method Detail

isInError

public boolean isInError()

Description copied from class: CanOpenDevice

For the GUI

Specified by:

isInError in interface EPOSController

Overrides:

isInError in class CanOpenDevice

Returns:

build

public void build()

Specified by:

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

Overrides:

build in class CanOpenDevice

init

public void init()

Specified by:

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

Overrides:

init in class CanOpenDevice

getStatusWord

public int getStatusWord()

Specified by:

getStatusWord in interface EPOSController

setEposState

public void setEposState(EPOSEnumerations.EposState state)

Specified by:

setEposState in interface EPOSController

getEposState

@Command(type=QUERY,
         level=1,
         description="display EPOS state")
public EPOSEnumerations.EposState getEposState()

Specified by:

getEposState in interface EPOSController

getCurrent

public int getCurrent()

Specified by:

getCurrent in interface EPOSController

getAverageCurrent

public int getAverageCurrent()

Specified by:

getAverageCurrent in interface EPOSController

getPosition

public int getPosition()

Specified by:

getPosition in interface EPOSController

getFollowingError

public int getFollowingError()

Specified by:

getFollowingError in interface EPOSController

getVelocity

public int getVelocity()

Specified by:

getVelocity in interface EPOSController

getProfileAcceleration

public long getProfileAcceleration()

Specified by:

getProfileAcceleration in interface EPOSController

getProfileDeceleration

public long getProfileDeceleration()

Specified by:

getProfileDeceleration in interface EPOSController

getProfileVelocity

public long getProfileVelocity()

Specified by:

getProfileVelocity in interface EPOSController

setCurrent

public void setCurrent(int current)

Specified by:

setCurrent in interface EPOSController

setPosition

public void setPosition(int position)

Specified by:

setPosition in interface EPOSController

setVelocity

public void setVelocity(int velocity)

Specified by:

setVelocity in interface EPOSController

setProfileVelocity

public void setProfileVelocity(long velocity)

Specified by:

setProfileVelocity in interface EPOSController

setProfileAcceleration

public void setProfileAcceleration(long acceleration)

Specified by:

setProfileAcceleration in interface EPOSController

setProfileDeceleration

public void setProfileDeceleration(long deceleration)

Specified by:

setProfileDeceleration in interface EPOSController

isParametersOK

public boolean isParametersOK()

Description copied from interface: EPOSController

This methods returns true if the values of parameters stored in CPU are the same than those stored in the configuration system.

Specified by:

isParametersOK in interface EPOSController

Returns:

true if parameters in the CPU of the controllers have the same values than in configuration system.

getMode

public EPOSEnumerations.EposMode getMode()

Return Epos mode for GUI.

Specified by:

getMode in interface EPOSController

Returns:

readMode

@Command(type=QUERY,
         level=1,
         description="Reads the EPOS mode in the CPU of the EPOS device and updates the field mode.")
public EPOSEnumerations.EposMode readMode()

Reads the EPOS mode in the CPU of the EPOS device, updates the field mode and returns the mode as a String.

Specified by:

readMode in interface EPOSController

Returns:

Throws:

SDORequestException

changeMode

@Command(type=ACTION,
         level=1,
         description="Changes EPOS mode in the CPU of the EPOS device and updates the field mode.")
public 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.

Specified by:

changeMode in interface EPOSController

Parameters:

newMode -

Throws:

SDORequestException

changeEPOSParameter

@Command(type=QUERY,
         level=1,
         description="Changes an EPOS parameter for this controller. Writes the new value on the CPU of the controller.Changes the new value in the configuration. But doesn\'t save the new parameter in the CPU. To save in CPU controller, use command saveParameters. To save the new value in the configuration, use command saveChangesForCategory controller.")
public void changeEPOSParameter(String key,
                                                                                                                                                                                                                                                                                                                                                                                                                                              int value)

Changes an EPOS parameter for this controller. Writes the new value on the CPU of the controller. Changes the new value in the configuration. But doesn't save the new parameter in the CPU. To save it, use command saveAllChanges.

Parameters:

key -

value -

writeParameters

@Command(type=ACTION,
         level=3,
         description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode given as argument")
public 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.

Specified by:

writeParameters in interface EPOSController

Parameters:

mode -

Throws:

SDORequestException

writeParameter

@Command(type=ACTION,
         level=3,
         description="Set EPOS parameter with the value given as argument.")
public void writeParameter(EPOSEnumerations.Parameter param,
                                                                                                                                                int value)

This method writes a parameter in the CPU of the EPOS. For end user at the console

Specified by:

writeParameter in interface EPOSController

Parameters:

param -

value - in decimal

Throws:

SDORequestException

readParameter

public long readParameter(EPOSEnumerations.Parameter param)

Reads in the EPOS CPU the value of the Parameter.

Specified by:

readParameter in interface EPOSController

Parameters:

param -

Returns:

value of the parameter in decimal format.

Throws:

FcsHardwareException

initializeAndCheckHardware

@Command(type=QUERY,
         level=1,
         description="Read controller\'s parameter in the CPU for each mode and warn if a parameter has not the same value as in the configuration.Then publish data.")
public void initializeAndCheckHardware()

Check if the parameters in the cPU of the controller have the right values. And if the controller is not in fault.

Specified by:

initializeAndCheckHardware in interface PieceOfHardware

Overrides:

initializeAndCheckHardware in class CanOpenDevice

Throws:

FcsHardwareException

restoreParameters

@Command(type=ACTION,
         level=3,
         description="Restore default parameters. AT YOUR OWN RISK.")
public void restoreParameters()

Restore default parameters.

Throws:

SDORequestException

writeControlWord

@Command(type=ACTION,
         level=1,
         description="Write a value in the control word. index:6040 subindex:0 size:2")
public void writeControlWord(int value)

Write a value in the control word (index=6040, subindex=0,size=2)

Specified by:

writeControlWord in interface EPOSController

Parameters:

value -

Throws:

SDORequestException

printControlWord

@Command(type=QUERY,
         level=1,
         description="Read control word and print it in hexadecimal format. index:6040 subindex:0 size:2")
public String printControlWord()

Read the control word (index=6040, subindex=0,size=2)

Returns:

value in hexa

Throws:

SDORequestException

readControlWord

@Command(type=QUERY,
         level=1,
         description="Read control word in controller CPU. index:6040 subindex:0 size:2")
public short readControlWord()

read controlWord on controller CPU.

Specified by:

readControlWord in interface EPOSController

Returns:

readStatusWord

@Command(type=QUERY,
         level=1,
         description="Read status word. index:6041 subindex:0 size:2")
public int readStatusWord()

Read the status word (index=6041, subindex=0,size=2)

Specified by:

readStatusWord in interface EPOSController

Returns:

value in hexa

Throws:

SDORequestException

updateStatusWord

@Command(type=QUERY,
         level=1,
         description="Update field statusWord in reading a SDO (readStatusWord)")
public void updateStatusWord()

Specified by:

updateStatusWord in interface EPOSController

writeCurrent

@Command(type=ACTION,
         level=3,
         description="Sent current to controller the EPOS CPU. UNIT in mA / FORMAT in decimal")
public void writeCurrent(int aValue)

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

Specified by:

writeCurrent in interface EPOSController

Parameters:

aValue - UNIT=mA / FORMAT=decimal the value of the unsCurrent to be sent.

Throws:

FcsHardwareException

readCurrent

@Command(type=QUERY,
         level=1,
         alias="readCurrentActualValue",
         description="In Current Mode this methods returns the current actualy received by the motor. index:0x6078 subindex:0")
public int readCurrent()

In Current Mode this methods returns the current actually received by the motor.

Specified by:

readCurrent in interface EPOSController

Returns:

the unsCurrent UNIT=mA / FORMAT=decimal

Throws:

SDORequestException

readCurrentAverageValue

@Command(type=QUERY,
         level=1,
         alias="readCurrentAverage",
         description="In Current Mode this methods returns the average of the current  received by the motor. index:0x2027 subindex:0")
public int readCurrentAverageValue()

In Current Mode this methods returns the average of the current received by the motor.

Specified by:

readCurrentAverageValue in interface EPOSController

Returns:

the unsCurrent UNIT=mA / FORMAT=decimal

Throws:

SDORequestException

readVelocity

@Command(type=QUERY,
         level=1,
         description="return motor velocity read on controller CPU. Units: rpm. index:0x2028 subindex:0")
public int readVelocity()

return motor velocity read on controller CPU Unit = RPM

Specified by:

readVelocity in interface EPOSController

Returns:

readFollowingError

@Command(type=QUERY,
         level=1,
         description="return Following Error Actual Value read on controller CPU. index:0x20F4 subindex:0")
public int readFollowingError()

return Following Error Actual Value

Specified by:

readFollowingError in interface EPOSController

Returns:

writeTargetPosition

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

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

Specified by:

writeTargetPosition in interface EPOSController

Parameters:

aValue - UNIT=mA / FORMAT=decimal the value of the unsCurrent to be sent.

Throws:

RejectedCommandException

SDORequestException

checkFault

@Command(type=QUERY,
         level=1,
         description="Check if the Controller is in fault.")
public void checkFault()

Check if the Controller is in fault.

Specified by:

checkFault in interface EPOSController

Throws:

FcsHardwareException

faultReset

@Command(type=QUERY,
         level=1,
         description="Clear faults on the controller and clear the Alert.",
         alias="resetFault")
public void faultReset()

Clear faults on the controller and clear alarm that was raised for this controller.

Specified by:

faultReset in interface EPOSController

checkParameters

@Command(type=QUERY,
         level=1,
         description="For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPUand throws a FcsHardwareException if these values are not equal.")
public void checkParameters(EPOSEnumerations.EposMode aMode)

For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPU and throws a FcsHardwareException if these values are not equal. values stored in the controller CPU.

Specified by:

checkParameters in interface EPOSController

Throws:

SDORequestException

checkParameters

public void checkParameters(Map<String,Integer> paramsMap)

Compare values of parameters in the map with the values of parameters in the controller CPU.

Parameters:

paramsMap -

Throws:

SDORequestException

publishData

@Command(type=QUERY,
         level=0,
         description="Publish data for the controller on the status bus.")
public void publishData()

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

Specified by:

publishData in interface PieceOfHardware

Overrides:

publishData in class CanOpenDevice

publishDataDuringMotion

public void publishDataDuringMotion()

Description copied from interface: EPOSController

publish data during motion for trending data base.

Specified by:

publishDataDuringMotion in interface EPOSController