org.lsst.ccs.subsystem.shutter.plc

Class ShutterStatusPLC.AxisStatusPLC

java.lang.Object

org.lsst.ccs.subsystem.shutter.plc.ShutterStatusPLC.AxisStatusPLC

Enclosing class:

ShutterStatusPLC

public static final class ShutterStatusPLC.AxisStatusPLC
extends Object

Holds the status report for a single axis in a ShutterStatusPLC message. Immutable.

Constructor Summary

Constructors

Constructor and Description
AxisStatusPLC(double actPos, double actVel, double setAcc, boolean enabled, boolean brakeEngaged, boolean lowLimit, boolean highLimit, boolean isHomed, int errorID, double motorTemp) Constructs from scratch.

Method Summary

Modifier and Type	Method and Description
boolean	atHighLimit() Is the axis at the high limit switch?
boolean	atLowLimit() Is the axis at the the low limit switch?
double	getActPos() Gets the actual position of the axis.
double	getActVel() Gets the actual velocity of the axis.
int	getErrorID() Gets the error code for the axis.
double	getMotorTemp() Gets the axis motor temperature reading.
double	getSetAcc() Gets the "set", or commanded, acceleration of the axis.
boolean	isBrakeEngaged() Is the brake set on this axis?
boolean	isEnabled() Is the axis enabled for motion?
boolean	isHomed() Has the homing operation been performed on this axis since the last controller reset?
String	toString() Constructs a string of the form 'AxisStatusPLC{fieldname=value, ...}'

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

AxisStatusPLC

public AxisStatusPLC(double actPos,
                     double actVel,
                     double setAcc,
                     boolean enabled,
                     boolean brakeEngaged,
                     boolean lowLimit,
                     boolean highLimit,
                     boolean isHomed,
                     int errorID,
                     double motorTemp)

Constructs from scratch.

Parameters:

actPos - See getActPos()

actVel - See getActVel()

setAcc - See getSetAcc()

enabled - See isEnabled()

brakeEngaged - See isBrakeEngaged()

lowLimit - See atLowLimit()

highLimit - See atHighLimit()

isHomed - See isHomed()

errorID - See getErrorID()

motorTemp - See getMotorTemp()

Method Detail

toString

public String toString()

Constructs a string of the form 'AxisStatusPLC{fieldname=value, ...}'

Overrides:

toString in class Object

Returns:

The string.

getActPos

public double getActPos()

Gets the actual position of the axis.

Returns:

The position in mm.

getActVel

public double getActVel()

Gets the actual velocity of the axis.

Returns:

The velocity in mm/sec.

getSetAcc

public double getSetAcc()

Gets the "set", or commanded, acceleration of the axis.

Returns:

The acceleration in mm/sec/sec.

isEnabled

public boolean isEnabled()

Is the axis enabled for motion?

Returns:

true if it is, else false.

isBrakeEngaged

public boolean isBrakeEngaged()

Is the brake set on this axis?

Returns:

true if it is, else false.

atLowLimit

public boolean atLowLimit()

Is the axis at the the low limit switch?

Returns:

true if it is, else false.

atHighLimit

public boolean atHighLimit()

Is the axis at the high limit switch?

Returns:

true if it is, else false.

isHomed

public boolean isHomed()

Has the homing operation been performed on this axis since the last controller reset?

Returns:

true if it has, else false.

getErrorID

public int getErrorID()

Gets the error code for the axis.

Returns:

The error code set by the Beckhoff motion control task.

getMotorTemp

public double getMotorTemp()

Gets the axis motor temperature reading.

Returns:

The temperature in degrees Celsius.