Classes
class	Motor
	The Motor class. More...

struct	InitAction

class	MotorConfig
	Motor Configuration class. More...

struct	MotorControllerData
	The MotorControllerData struct. More...

class	MotorLcsIf
	Motor Local Control System (LCS) Interface (IF) class. More...

Enumerations
enum	Signal : short { Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5, Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5, Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5 }

enum	{ INIT_ACTION_END = 0, INIT_ACTION_FIND_INDEX = 1, INIT_ACTION_FIND_REF_LE = 2, INIT_ACTION_FIND_REF_UE = 3, INIT_ACTION_FIND_LHW = 4, INIT_ACTION_FIND_UHW = 5, INIT_ACTION_DELAY = 6, INIT_ACTION_MOVE_ABS = 7, INIT_ACTION_MOVE_REL = 8, INIT_ACTION_CALIB_ABS = 9, INIT_ACTION_CALIB_REL = 10, INIT_ACTION_CALIB_SWITCH = 11 }

enum	{ HW_SUCCESS = 0, HW_ERR_HW_NOT_OP = 1, HW_ERR_LOCAL = 2, HW_ERR_INIT_ABORTED = 3, HW_ERR_TIMEOUT_INIT = 4, HW_ERR_TIMEOUT_MOVE = 5, HW_ERR_TIMEOUT_RESET = 6, HW_ERR_TIMEOUT_SETPOS = 7, HW_ERR_TIMEOUT_USER_PREINIT = 8, HW_ERR_TIMEOUT_USER_POSTINIT = 9, HW_ERR_TIMEOUT_USER_PREMOVE = 10, HW_ERR_TIMEOUT_USER_POSTMOVE = 11, HW_ERR_SETPOS = 12, HW_ERR_STOP = 13, HW_ERR_ABORT = 14, HW_ERR_SW_LIMIT_LOWER = 15, HW_ERR_SW_LIMIT_UPPER = 16, HW_ERR_BRAKE_ACTIVE = 17, HW_ERR_BRAKE_ENGAGE = 18, HW_ERR_BRAKE_DISENGAGE = 19, HW_ERR_SWITCH_NOT_USED = 20, HW_ERR_ENABLE = 21, HW_ERR_NOVRAM_READ = 22, HW_ERR_NOVRAM_WRITE = 23, HW_ERR_SWITCH_EXIT = 24, HW_ERR_STOP_LIMITS_BOTH = 25, HW_ERR_HW_LIMITS_BOTH = 26, HW_ERR_HW_IN_POS = 27, HW_ERR_HW_LOCKED = 28, HW_ERR_SOE_ADS = 29, HW_ERR_SOE_SERCOS = 30, HW_ERR_TC_VEL = 16929, HW_ERR_TC_NOT_READY_FOR_STAR = 16933, HW_ERR_TC_DISABLED_MOVE = 16992, HW_ERR_TC_BISECTION = 17022, HW_ERR_TC_MODULO_POS = 17026, HW_ERR_TC_STOP_ACTIVE = 17135, HW_ERR_TC_VEL_NEG = 17241, HW_ERR_TC_TARGET_LSW = 17504, HW_ERR_TC_TARGET_USW = 17505, HW_ERR_TC_FOLLOWING_ERROR = 17744, HW_ERR_TC_NOT_READY = 18000, HW_ERR_TC_IN_POS_6_SEC = 19207 }

enum	{ RPC_SUCCESS = 0, RPC_ERR_NOT_OP = -1, RPC_ERR_NOT_STANDBY_READY = -2, RPC_ERR_NOT_STANDBY_NOTREADY = -3, RPC_ERR_MOTOR_LOCAL = -4, RPC_ERR_MOTOR_LOWER_LIMIT = -5, RPC_ERR_MOTOR_UPPER_LIMIT = -6 }

enum	Signal : short { Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5, Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5, Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5 }

enum	{ INIT_ACTION_END = 0, INIT_ACTION_FIND_INDEX = 1, INIT_ACTION_FIND_REF_LE = 2, INIT_ACTION_FIND_REF_UE = 3, INIT_ACTION_FIND_LHW = 4, INIT_ACTION_FIND_UHW = 5, INIT_ACTION_DELAY = 6, INIT_ACTION_MOVE_ABS = 7, INIT_ACTION_MOVE_REL = 8, INIT_ACTION_CALIB_ABS = 9, INIT_ACTION_CALIB_REL = 10, INIT_ACTION_CALIB_SWITCH = 11 }

enum	{ HW_SUCCESS = 0, HW_ERR_HW_NOT_OP = 1, HW_ERR_LOCAL = 2, HW_ERR_INIT_ABORTED = 3, HW_ERR_TIMEOUT_INIT = 4, HW_ERR_TIMEOUT_MOVE = 5, HW_ERR_TIMEOUT_RESET = 6, HW_ERR_TIMEOUT_SETPOS = 7, HW_ERR_TIMEOUT_USER_PREINIT = 8, HW_ERR_TIMEOUT_USER_POSTINIT = 9, HW_ERR_TIMEOUT_USER_PREMOVE = 10, HW_ERR_TIMEOUT_USER_POSTMOVE = 11, HW_ERR_SETPOS = 12, HW_ERR_STOP = 13, HW_ERR_ABORT = 14, HW_ERR_SW_LIMIT_LOWER = 15, HW_ERR_SW_LIMIT_UPPER = 16, HW_ERR_BRAKE_ACTIVE = 17, HW_ERR_BRAKE_ENGAGE = 18, HW_ERR_BRAKE_DISENGAGE = 19, HW_ERR_SWITCH_NOT_USED = 20, HW_ERR_ENABLE = 21, HW_ERR_NOVRAM_READ = 22, HW_ERR_NOVRAM_WRITE = 23, HW_ERR_SWITCH_EXIT = 24, HW_ERR_STOP_LIMITS_BOTH = 25, HW_ERR_HW_LIMITS_BOTH = 26, HW_ERR_HW_IN_POS = 27, HW_ERR_HW_LOCKED = 28, HW_ERR_SOE_ADS = 29, HW_ERR_SOE_SERCOS = 30, HW_ERR_TC_VEL = 16929, HW_ERR_TC_NOT_READY_FOR_STAR = 16933, HW_ERR_TC_DISABLED_MOVE = 16992, HW_ERR_TC_BISECTION = 17022, HW_ERR_TC_MODULO_POS = 17026, HW_ERR_TC_STOP_ACTIVE = 17135, HW_ERR_TC_VEL_NEG = 17241, HW_ERR_TC_TARGET_LSW = 17504, HW_ERR_TC_TARGET_USW = 17505, HW_ERR_TC_FOLLOWING_ERROR = 17744, HW_ERR_TC_NOT_READY = 18000, HW_ERR_TC_IN_POS_6_SEC = 19207 }

enum	{ RPC_SUCCESS = 0, RPC_ERR_NOT_OP = -1, RPC_ERR_NOT_STANDBY_READY = -2, RPC_ERR_NOT_STANDBY_NOTREADY = -3, RPC_ERR_MOTOR_LOCAL = -4, RPC_ERR_MOTOR_LOWER_LIMIT = -5, RPC_ERR_MOTOR_UPPER_LIMIT = -6 }

enum	Signal : short { Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5, Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5, Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3, Signal::UHW = 4, Signal::USTOP = 5 }

enum	{ INIT_ACTION_END = 0, INIT_ACTION_FIND_INDEX = 1, INIT_ACTION_FIND_REF_LE = 2, INIT_ACTION_FIND_REF_UE = 3, INIT_ACTION_FIND_LHW = 4, INIT_ACTION_FIND_UHW = 5, INIT_ACTION_DELAY = 6, INIT_ACTION_MOVE_ABS = 7, INIT_ACTION_MOVE_REL = 8, INIT_ACTION_CALIB_ABS = 9, INIT_ACTION_CALIB_REL = 10, INIT_ACTION_CALIB_SWITCH = 11 }

enum	{ HW_SUCCESS = 0, HW_ERR_HW_NOT_OP = 1, HW_ERR_LOCAL = 2, HW_ERR_INIT_ABORTED = 3, HW_ERR_TIMEOUT_INIT = 4, HW_ERR_TIMEOUT_MOVE = 5, HW_ERR_TIMEOUT_RESET = 6, HW_ERR_TIMEOUT_SETPOS = 7, HW_ERR_TIMEOUT_USER_PREINIT = 8, HW_ERR_TIMEOUT_USER_POSTINIT = 9, HW_ERR_TIMEOUT_USER_PREMOVE = 10, HW_ERR_TIMEOUT_USER_POSTMOVE = 11, HW_ERR_SETPOS = 12, HW_ERR_STOP = 13, HW_ERR_ABORT = 14, HW_ERR_SW_LIMIT_LOWER = 15, HW_ERR_SW_LIMIT_UPPER = 16, HW_ERR_BRAKE_ACTIVE = 17, HW_ERR_BRAKE_ENGAGE = 18, HW_ERR_BRAKE_DISENGAGE = 19, HW_ERR_SWITCH_NOT_USED = 20, HW_ERR_ENABLE = 21, HW_ERR_NOVRAM_READ = 22, HW_ERR_NOVRAM_WRITE = 23, HW_ERR_SWITCH_EXIT = 24, HW_ERR_STOP_LIMITS_BOTH = 25, HW_ERR_HW_LIMITS_BOTH = 26, HW_ERR_HW_IN_POS = 27, HW_ERR_HW_LOCKED = 28, HW_ERR_SOE_ADS = 29, HW_ERR_SOE_SERCOS = 30, HW_ERR_TC_VEL = 16929, HW_ERR_TC_NOT_READY_FOR_STAR = 16933, HW_ERR_TC_DISABLED_MOVE = 16992, HW_ERR_TC_BISECTION = 17022, HW_ERR_TC_MODULO_POS = 17026, HW_ERR_TC_STOP_ACTIVE = 17135, HW_ERR_TC_VEL_NEG = 17241, HW_ERR_TC_TARGET_LSW = 17504, HW_ERR_TC_TARGET_USW = 17505, HW_ERR_TC_FOLLOWING_ERROR = 17744, HW_ERR_TC_NOT_READY = 18000, HW_ERR_TC_IN_POS_6_SEC = 19207 }

enum	{ RPC_SUCCESS = 0, RPC_ERR_NOT_OP = -1, RPC_ERR_NOT_STANDBY_READY = -2, RPC_ERR_NOT_STANDBY_NOTREADY = -3, RPC_ERR_MOTOR_LOCAL = -4, RPC_ERR_MOTOR_LOWER_LIMIT = -5, RPC_ERR_MOTOR_UPPER_LIMIT = -6 }

Functions
	REGISTER_DEVICE (Motor)

Variables
const std::string	CI_BRAKE = "brake"

const std::string	CI_BACKLASH = "backlash"

const std::string	CI_AXIS_TYPE = "axis_type"

const std::string	CI_DEF_VEL = "velocity"

const std::string	CI_MAX_POS = "max_pos"

const std::string	CI_MIN_POS = "min_pos"

const std::string	CI_CHECK_INPOS = "check_inpos"

const std::string	CI_LOCK = "lock"

const std::string	CI_LOCK_POS = "lock_pos"

const std::string	CI_LOCK_TOLERANCE = "lock_tolerance"

const std::string	CI_DISABLE = "disable"

const std::string	CI_TIMEOUT_INIT = "tout_init"

const std::string	CI_TIMEOUT_MOVE = "tout_move"

const std::string	CI_TIMEOUT_SWITCH = "tout_switch"

const std::string	CI_ACTIVE_LOW_BRAKE = "low_brake"

const std::string	CI_ACTIVE_LOW_INPOS = "low_inpos"

const std::string	CI_ACTIVE_LOW_STOP = "active_low_lstop"

const std::string	CI_ACTIVE_LOW_LHW = "active_low_lhw"

const std::string	CI_ACTIVE_LOW_REF = "active_low_ref"

const std::string	CI_ACTIVE_LOW_INDEX = "active_low_index"

const std::string	CI_ACTIVE_LOW_UHW = "active_low_uhw"

const std::string	CI_ACTIVE_LOW_USTOP = "active_low_ustop"

const std::string	CI_EXEC_PRE_INIT = "exec_pre_init"

const std::string	CI_EXEC_POST_INIT = "exec_post_init"

const std::string	CI_EXEC_PRE_MOVE = "exec_pre_move"

const std::string	CI_EXEC_POST_MOVE = "exec_post_move"

const std::string	CI_INITIALISATION = "initialisation"

const std::string	CI_INIT_SEQUENCE = "sequence"

const std::string	CI_INIT_ACTION = "action"

const std::string	CI_INIT_VALUE_1 = "value1"

const std::string	CI_INIT_VALUE_2 = "value2"

const std::string	CI_POSITIONS = "positions"

const std::string	CI_POS_NAMES = "posnames"

const std::string	CI_NAME_POS_TOLERANCE = "tolerance"

const std::string	CI_SCALE_FACTOR = "scale_factor"

const int	CI_AXIS_TYPE_LINEAR = 1

const int	CI_AXIS_TYPE_CIRCULAR = 2

const int	CI_AXIS_TYPE_CIRCULAR_OPT = 3

const std::string	CI_AXIS_TYPE_LINEAR_STR = "LINEAR"

const std::string	CI_AXIS_TYPE_CIRCULAR_STR = "CIRCULAR"

const std::string	CI_AXIS_TYPE_CIRCULAR_OPT_STR = "CIRCULAR_OPT"

const int	CI_AXIS_MODE_INPOS = 0

const int	CI_AXIS_MODE_INVEL = 1

const std::string	CI_AXIS_MODE_INPOS_STR = "InPosition"

const std::string	CI_AXIS_MODE_INVEL_STR = "InVelocity"

const std::unordered_map< int, std::string >	AxisModeMap

const int	CI_MAX_INIT_STEPS = 10

const std::string	CI_INIT_ACTION_END = "END"

const std::string	CI_INIT_ACTION_FIND_INDEX = "FIND_INDEX"

const std::string	CI_INIT_ACTION_FIND_REF_LE = "FIND_REF_LE"

const std::string	CI_INIT_ACTION_FIND_REF_UE = "FIND_REF_UE"

const std::string	CI_INIT_ACTION_FIND_LHW = "FIND_LHW"

const std::string	CI_INIT_ACTION_FIND_UHW = "FIND_UHW"

const std::string	CI_INIT_ACTION_DELAY = "DELAY"

const std::string	CI_INIT_ACTION_MOVE_ABS = "MOVE_ABS"

const std::string	CI_INIT_ACTION_MOVE_REL = "MOVE_REL"

const std::string	CI_INIT_ACTION_CALIB_ABS = "CALIB_ABS"

const std::string	CI_INIT_ACTION_CALIB_REL = "CALIB_REL"

const std::string	CI_INIT_ACTION_CALIB_SWITCH = "CALIB_SWITCH"

const std::string	RPC_MOVE_ABS = "rpcMoveAbs"

const std::string	RPC_MOVE_REL = "rpcMoveRel"

const std::string	RPC_MOVE_VEL = "rpcMoveVel"

const short	SUBSTATE_NOTREADY = 100

const short	SUBSTATE_INITIALISING = 101

const short	SUBSTATE_READY = 102

const short	SUBSTATE_FAILURE = 103

const short	SUBSTATE_ABORTING = 104

const short	SUBSTATE_OP_STANDSTILL = 200

const short	SUBSTATE_OP_MOVING = 201

const short	SUBSTATE_OP_SETTING_POS = 202

const short	SUBSTATE_OP_STOPPING = 203

const short	SUBSTATE_OP_FAILURE = 204

const std::string	SUBSTATE_NOTREADY_STR = "NotReady"

const std::string	SUBSTATE_INITIALISING_STR = "Initialising"

const std::string	SUBSTATE_READY_STR = "Ready"

const std::string	SUBSTATE_FAILURE_STR = "Failure"

const std::string	SUBSTATE_ABORTING_STR = "Aborting"

const std::string	SUBSTATE_OP_STANDSTILL_STR = "Standstill"

const std::string	SUBSTATE_OP_MOVING_STR = "Moving"

const std::string	SUBSTATE_OP_SETTING_POS_STR = "SettingPos"

const std::string	SUBSTATE_OP_STOPPING_STR = "Stopping"

const std::string	SUBSTATE_OP_FAILURE_STR = "Failure"

const std::unordered_map < short, std::string >	SubstateMap

const std::string	CI_STAT_ENC_POS = "pos_enc"

const std::string	CI_STAT_TARGET_ENC = "target_enc"

const std::string	CI_STAT_TARGET_POSNAME = "pos_target_name"

const std::string	CI_STAT_ACTUAL_POSNAME = "pos_actual_name"

const std::string	CI_STAT_TARGET_POS = "pos_target"

const std::string	CI_STAT_ACTUAL_POS = "pos_actual"

const std::string	CI_STAT_POS_ERROR = "pos_error"

const std::string	CI_STAT_ACTUAL_VEL = "vel_actual"

const std::string	CI_STAT_TARGET_VEL = "vel_target"

const std::string	CI_STAT_SCALE_FACTOR = "scale_factor"

const std::string	CI_STAT_BACKLASH_STEP = "backlash_step"

const std::string	CI_STAT_MODE = "mode"

const std::string	CI_STAT_INITIALISED = "initialised"

const std::string	CI_STAT_INIT_STEP = "init_step"

const std::string	CI_STAT_INIT_ACTION = "init_action"

const std::string	CI_STAT_AXIS_READY = "axis_ready"

const std::string	CI_STAT_AXIS_ENABLE = "axis_enable"

const std::string	CI_STAT_AXIS_INPOS = "axis_inposition"

const std::string	CI_STAT_AXIS_LOCK = "axis_lock"

const std::string	CI_STAT_AXIS_BRAKE = "axis_brake"

const std::string	CI_STAT_AXIS_STOP_NEG = "axis_stop_pos"

const std::string	CI_STAT_AXIS_STOP_POS = "axis_stop_neg"

const std::string	CI_STAT_AXIS_INFO_DATA_1 = "axis_info_data1"

const std::string	CI_STAT_AXIS_INFO_DATA_2 = "axis_info_data2"

const std::string	CI_STAT_SIGNAL_LSTOP = "signal_lstop"

const std::string	CI_STAT_SIGNAL_LHW = "signal_lhw"

const std::string	CI_STAT_SIGNAL_REF = "signal_ref"

const std::string	CI_STAT_SIGNAL_INDEX = "signal_index"

const std::string	CI_STAT_SIGNAL_UHW = "signal_uhw"

const std::string	CI_STAT_SIGNAL_USTOP = "signal_ustop"

const std::string	FITS_PARAM_POSNAME = "POSNAME"

const std::string	FITS_PARAM_POS = "POS"

const std::string	FITS_PARAM_BRAKE = "BRAKE"

const std::string	FITS_PARAM_LOCK = "LOCK"

const std::string	UndefinedNamedPos = "undefined"

const std::vector< std::string >	cfgMapping

const std::vector< std::string >	statMapping

const std::vector< std::string >	rpcMapping

const std::unordered_map < std::string, int >	AxisTypeMap

const std::unordered_map < std::string, int >	InitActionsMap

const std::unordered_map< int, std::string >	InitActions2Map

const std::unordered_map < short, std::string >	hw_errors

const std::unordered_map < short, std::string >	rpc_errors

Enumeration Type Documentation

anonymous enum

Enumerator
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_STANDBY_READY
RPC_ERR_NOT_STANDBY_NOTREADY
RPC_ERR_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT

anonymous enum

Enumerator
INIT_ACTION_END
INIT_ACTION_FIND_INDEX
INIT_ACTION_FIND_REF_LE
INIT_ACTION_FIND_REF_UE
INIT_ACTION_FIND_LHW
INIT_ACTION_FIND_UHW
INIT_ACTION_DELAY
INIT_ACTION_MOVE_ABS
INIT_ACTION_MOVE_REL
INIT_ACTION_CALIB_ABS
INIT_ACTION_CALIB_REL
INIT_ACTION_CALIB_SWITCH

anonymous enum

Enumerator
HW_SUCCESS
HW_ERR_HW_NOT_OP
HW_ERR_LOCAL
HW_ERR_INIT_ABORTED
HW_ERR_TIMEOUT_INIT
HW_ERR_TIMEOUT_MOVE
HW_ERR_TIMEOUT_RESET
HW_ERR_TIMEOUT_SETPOS
HW_ERR_TIMEOUT_USER_PREINIT
HW_ERR_TIMEOUT_USER_POSTINIT
HW_ERR_TIMEOUT_USER_PREMOVE
HW_ERR_TIMEOUT_USER_POSTMOVE
HW_ERR_SETPOS
HW_ERR_STOP
HW_ERR_ABORT
HW_ERR_SW_LIMIT_LOWER
HW_ERR_SW_LIMIT_UPPER
HW_ERR_BRAKE_ACTIVE
HW_ERR_BRAKE_ENGAGE
HW_ERR_BRAKE_DISENGAGE
HW_ERR_SWITCH_NOT_USED
HW_ERR_ENABLE
HW_ERR_NOVRAM_READ
HW_ERR_NOVRAM_WRITE
HW_ERR_SWITCH_EXIT
HW_ERR_STOP_LIMITS_BOTH
HW_ERR_HW_LIMITS_BOTH
HW_ERR_HW_IN_POS
HW_ERR_HW_LOCKED
HW_ERR_SOE_ADS
HW_ERR_SOE_SERCOS
HW_ERR_TC_VEL
HW_ERR_TC_NOT_READY_FOR_STAR
HW_ERR_TC_DISABLED_MOVE
HW_ERR_TC_BISECTION
HW_ERR_TC_MODULO_POS
HW_ERR_TC_STOP_ACTIVE
HW_ERR_TC_VEL_NEG
HW_ERR_TC_TARGET_LSW
HW_ERR_TC_TARGET_USW
HW_ERR_TC_FOLLOWING_ERROR
HW_ERR_TC_NOT_READY
HW_ERR_TC_IN_POS_6_SEC

anonymous enum

Enumerator
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_STANDBY_READY
RPC_ERR_NOT_STANDBY_NOTREADY
RPC_ERR_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT

anonymous enum

Enumerator
INIT_ACTION_END
INIT_ACTION_FIND_INDEX
INIT_ACTION_FIND_REF_LE
INIT_ACTION_FIND_REF_UE
INIT_ACTION_FIND_LHW
INIT_ACTION_FIND_UHW
INIT_ACTION_DELAY
INIT_ACTION_MOVE_ABS
INIT_ACTION_MOVE_REL
INIT_ACTION_CALIB_ABS
INIT_ACTION_CALIB_REL
INIT_ACTION_CALIB_SWITCH

anonymous enum

Enumerator
HW_SUCCESS
HW_ERR_HW_NOT_OP
HW_ERR_LOCAL
HW_ERR_INIT_ABORTED
HW_ERR_TIMEOUT_INIT
HW_ERR_TIMEOUT_MOVE
HW_ERR_TIMEOUT_RESET
HW_ERR_TIMEOUT_SETPOS
HW_ERR_TIMEOUT_USER_PREINIT
HW_ERR_TIMEOUT_USER_POSTINIT
HW_ERR_TIMEOUT_USER_PREMOVE
HW_ERR_TIMEOUT_USER_POSTMOVE
HW_ERR_SETPOS
HW_ERR_STOP
HW_ERR_ABORT
HW_ERR_SW_LIMIT_LOWER
HW_ERR_SW_LIMIT_UPPER
HW_ERR_BRAKE_ACTIVE
HW_ERR_BRAKE_ENGAGE
HW_ERR_BRAKE_DISENGAGE
HW_ERR_SWITCH_NOT_USED
HW_ERR_ENABLE
HW_ERR_NOVRAM_READ
HW_ERR_NOVRAM_WRITE
HW_ERR_SWITCH_EXIT
HW_ERR_STOP_LIMITS_BOTH
HW_ERR_HW_LIMITS_BOTH
HW_ERR_HW_IN_POS
HW_ERR_HW_LOCKED
HW_ERR_SOE_ADS
HW_ERR_SOE_SERCOS
HW_ERR_TC_VEL
HW_ERR_TC_NOT_READY_FOR_STAR
HW_ERR_TC_DISABLED_MOVE
HW_ERR_TC_BISECTION
HW_ERR_TC_MODULO_POS
HW_ERR_TC_STOP_ACTIVE
HW_ERR_TC_VEL_NEG
HW_ERR_TC_TARGET_LSW
HW_ERR_TC_TARGET_USW
HW_ERR_TC_FOLLOWING_ERROR
HW_ERR_TC_NOT_READY
HW_ERR_TC_IN_POS_6_SEC

anonymous enum

Enumerator
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_STANDBY_READY
RPC_ERR_NOT_STANDBY_NOTREADY
RPC_ERR_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT

anonymous enum

Enumerator
INIT_ACTION_END
INIT_ACTION_FIND_INDEX
INIT_ACTION_FIND_REF_LE
INIT_ACTION_FIND_REF_UE
INIT_ACTION_FIND_LHW
INIT_ACTION_FIND_UHW
INIT_ACTION_DELAY
INIT_ACTION_MOVE_ABS
INIT_ACTION_MOVE_REL
INIT_ACTION_CALIB_ABS
INIT_ACTION_CALIB_REL
INIT_ACTION_CALIB_SWITCH

anonymous enum

Enumerator
HW_SUCCESS
HW_ERR_HW_NOT_OP
HW_ERR_LOCAL
HW_ERR_INIT_ABORTED
HW_ERR_TIMEOUT_INIT
HW_ERR_TIMEOUT_MOVE
HW_ERR_TIMEOUT_RESET
HW_ERR_TIMEOUT_SETPOS
HW_ERR_TIMEOUT_USER_PREINIT
HW_ERR_TIMEOUT_USER_POSTINIT
HW_ERR_TIMEOUT_USER_PREMOVE
HW_ERR_TIMEOUT_USER_POSTMOVE
HW_ERR_SETPOS
HW_ERR_STOP
HW_ERR_ABORT
HW_ERR_SW_LIMIT_LOWER
HW_ERR_SW_LIMIT_UPPER
HW_ERR_BRAKE_ACTIVE
HW_ERR_BRAKE_ENGAGE
HW_ERR_BRAKE_DISENGAGE
HW_ERR_SWITCH_NOT_USED
HW_ERR_ENABLE
HW_ERR_NOVRAM_READ
HW_ERR_NOVRAM_WRITE
HW_ERR_SWITCH_EXIT
HW_ERR_STOP_LIMITS_BOTH
HW_ERR_HW_LIMITS_BOTH
HW_ERR_HW_IN_POS
HW_ERR_HW_LOCKED
HW_ERR_SOE_ADS
HW_ERR_SOE_SERCOS
HW_ERR_TC_VEL
HW_ERR_TC_NOT_READY_FOR_STAR
HW_ERR_TC_DISABLED_MOVE
HW_ERR_TC_BISECTION
HW_ERR_TC_MODULO_POS
HW_ERR_TC_STOP_ACTIVE
HW_ERR_TC_VEL_NEG
HW_ERR_TC_TARGET_LSW
HW_ERR_TC_TARGET_USW
HW_ERR_TC_FOLLOWING_ERROR
HW_ERR_TC_NOT_READY
HW_ERR_TC_IN_POS_6_SEC

enum devmgr::motor::Signal : short

strong

Enumerator
LSTOP
LHW
REF
INDEX
UHW
USTOP
LSTOP
LHW
REF
INDEX
UHW
USTOP
LSTOP
LHW
REF
INDEX
UHW
USTOP

enum devmgr::motor::Signal : short

strong

Enumerator
LSTOP
LHW
REF
INDEX
UHW
USTOP
LSTOP
LHW
REF
INDEX
UHW
USTOP
LSTOP
LHW
REF
INDEX
UHW
USTOP

enum devmgr::motor::Signal : short

strong

Enumerator
LSTOP
LHW
REF
INDEX
UHW
USTOP
LSTOP
LHW
REF
INDEX
UHW
USTOP
LSTOP
LHW
REF
INDEX
UHW
USTOP

Function Documentation

devmgr::motor::REGISTER_DEVICE ( Motor )

Variable Documentation

const std::unordered_map< int, std::string > devmgr::motor::AxisModeMap

Initial value:

= {
      {CI_AXIS_MODE_INPOS, CI_AXIS_MODE_INPOS_STR},
      {CI_AXIS_MODE_INVEL, CI_AXIS_MODE_INVEL_STR}
    }

const std::unordered_map< std::string, int > devmgr::motor::AxisTypeMap

Initial value:

= {
      {CI_AXIS_TYPE_LINEAR_STR,       CI_AXIS_TYPE_LINEAR},
      {CI_AXIS_TYPE_CIRCULAR_STR,     CI_AXIS_TYPE_CIRCULAR},
      {CI_AXIS_TYPE_CIRCULAR_OPT_STR,  CI_AXIS_TYPE_CIRCULAR_OPT}
    }

const std::vector< std::string > devmgr::motor::cfgMapping

Initial value:

= {
      CI_ACTIVE_LOW_STOP
    }

const std::string devmgr::motor::CI_ACTIVE_LOW_BRAKE = "low_brake"

const std::string devmgr::motor::CI_ACTIVE_LOW_INDEX = "active_low_index"

const std::string devmgr::motor::CI_ACTIVE_LOW_INPOS = "low_inpos"

const std::string devmgr::motor::CI_ACTIVE_LOW_LHW = "active_low_lhw"

const std::string devmgr::motor::CI_ACTIVE_LOW_REF = "active_low_ref"

const std::string devmgr::motor::CI_ACTIVE_LOW_STOP = "active_low_lstop"

const std::string devmgr::motor::CI_ACTIVE_LOW_UHW = "active_low_uhw"

const std::string devmgr::motor::CI_ACTIVE_LOW_USTOP = "active_low_ustop"

const int devmgr::motor::CI_AXIS_MODE_INPOS = 0

const std::string devmgr::motor::CI_AXIS_MODE_INPOS_STR = "InPosition"

const int devmgr::motor::CI_AXIS_MODE_INVEL = 1

const std::string devmgr::motor::CI_AXIS_MODE_INVEL_STR = "InVelocity"

const std::string devmgr::motor::CI_AXIS_TYPE = "axis_type"

const int devmgr::motor::CI_AXIS_TYPE_CIRCULAR = 2

const int devmgr::motor::CI_AXIS_TYPE_CIRCULAR_OPT = 3

const std::string devmgr::motor::CI_AXIS_TYPE_CIRCULAR_OPT_STR = "CIRCULAR_OPT"

const std::string devmgr::motor::CI_AXIS_TYPE_CIRCULAR_STR = "CIRCULAR"

const int devmgr::motor::CI_AXIS_TYPE_LINEAR = 1

const std::string devmgr::motor::CI_AXIS_TYPE_LINEAR_STR = "LINEAR"

const std::string devmgr::motor::CI_BACKLASH = "backlash"

const std::string devmgr::motor::CI_BRAKE = "brake"

const std::string devmgr::motor::CI_CHECK_INPOS = "check_inpos"

const std::string devmgr::motor::CI_DEF_VEL = "velocity"

const std::string devmgr::motor::CI_DISABLE = "disable"

const std::string devmgr::motor::CI_EXEC_POST_INIT = "exec_post_init"

const std::string devmgr::motor::CI_EXEC_POST_MOVE = "exec_post_move"

const std::string devmgr::motor::CI_EXEC_PRE_INIT = "exec_pre_init"

const std::string devmgr::motor::CI_EXEC_PRE_MOVE = "exec_pre_move"

const std::string devmgr::motor::CI_INIT_ACTION = "action"

const std::string devmgr::motor::CI_INIT_ACTION_CALIB_ABS = "CALIB_ABS"

const std::string devmgr::motor::CI_INIT_ACTION_CALIB_REL = "CALIB_REL"

const std::string devmgr::motor::CI_INIT_ACTION_CALIB_SWITCH = "CALIB_SWITCH"

const std::string devmgr::motor::CI_INIT_ACTION_DELAY = "DELAY"

const std::string devmgr::motor::CI_INIT_ACTION_END = "END"

const std::string devmgr::motor::CI_INIT_ACTION_FIND_INDEX = "FIND_INDEX"

const std::string devmgr::motor::CI_INIT_ACTION_FIND_LHW = "FIND_LHW"

const std::string devmgr::motor::CI_INIT_ACTION_FIND_REF_LE = "FIND_REF_LE"

const std::string devmgr::motor::CI_INIT_ACTION_FIND_REF_UE = "FIND_REF_UE"

const std::string devmgr::motor::CI_INIT_ACTION_FIND_UHW = "FIND_UHW"

const std::string devmgr::motor::CI_INIT_ACTION_MOVE_ABS = "MOVE_ABS"

const std::string devmgr::motor::CI_INIT_ACTION_MOVE_REL = "MOVE_REL"

const std::string devmgr::motor::CI_INIT_SEQUENCE = "sequence"

const std::string devmgr::motor::CI_INIT_VALUE_1 = "value1"

const std::string devmgr::motor::CI_INIT_VALUE_2 = "value2"

const std::string devmgr::motor::CI_INITIALISATION = "initialisation"

const std::string devmgr::motor::CI_LOCK = "lock"

const std::string devmgr::motor::CI_LOCK_POS = "lock_pos"

const std::string devmgr::motor::CI_LOCK_TOLERANCE = "lock_tolerance"

const int devmgr::motor::CI_MAX_INIT_STEPS = 10

const std::string devmgr::motor::CI_MAX_POS = "max_pos"

const std::string devmgr::motor::CI_MIN_POS = "min_pos"

const std::string devmgr::motor::CI_NAME_POS_TOLERANCE = "tolerance"

const std::string devmgr::motor::CI_POS_NAMES = "posnames"

const std::string devmgr::motor::CI_POSITIONS = "positions"

const std::string devmgr::motor::CI_SCALE_FACTOR = "scale_factor"

const std::string devmgr::motor::CI_STAT_ACTUAL_POS = "pos_actual"

const std::string devmgr::motor::CI_STAT_ACTUAL_POSNAME = "pos_actual_name"

const std::string devmgr::motor::CI_STAT_ACTUAL_VEL = "vel_actual"

const std::string devmgr::motor::CI_STAT_AXIS_BRAKE = "axis_brake"

const std::string devmgr::motor::CI_STAT_AXIS_ENABLE = "axis_enable"

const std::string devmgr::motor::CI_STAT_AXIS_INFO_DATA_1 = "axis_info_data1"

const std::string devmgr::motor::CI_STAT_AXIS_INFO_DATA_2 = "axis_info_data2"

const std::string devmgr::motor::CI_STAT_AXIS_INPOS = "axis_inposition"

const std::string devmgr::motor::CI_STAT_AXIS_LOCK = "axis_lock"

const std::string devmgr::motor::CI_STAT_AXIS_READY = "axis_ready"

const std::string devmgr::motor::CI_STAT_AXIS_STOP_NEG = "axis_stop_pos"

const std::string devmgr::motor::CI_STAT_AXIS_STOP_POS = "axis_stop_neg"

const std::string devmgr::motor::CI_STAT_BACKLASH_STEP = "backlash_step"

const std::string devmgr::motor::CI_STAT_ENC_POS = "pos_enc"

const std::string devmgr::motor::CI_STAT_INIT_ACTION = "init_action"

const std::string devmgr::motor::CI_STAT_INIT_STEP = "init_step"

const std::string devmgr::motor::CI_STAT_INITIALISED = "initialised"

const std::string devmgr::motor::CI_STAT_MODE = "mode"

const std::string devmgr::motor::CI_STAT_POS_ERROR = "pos_error"

const std::string devmgr::motor::CI_STAT_SCALE_FACTOR = "scale_factor"

const std::string devmgr::motor::CI_STAT_SIGNAL_INDEX = "signal_index"

const std::string devmgr::motor::CI_STAT_SIGNAL_LHW = "signal_lhw"

const std::string devmgr::motor::CI_STAT_SIGNAL_LSTOP = "signal_lstop"

const std::string devmgr::motor::CI_STAT_SIGNAL_REF = "signal_ref"

const std::string devmgr::motor::CI_STAT_SIGNAL_UHW = "signal_uhw"

const std::string devmgr::motor::CI_STAT_SIGNAL_USTOP = "signal_ustop"

const std::string devmgr::motor::CI_STAT_TARGET_ENC = "target_enc"

const std::string devmgr::motor::CI_STAT_TARGET_POS = "pos_target"

const std::string devmgr::motor::CI_STAT_TARGET_POSNAME = "pos_target_name"

const std::string devmgr::motor::CI_STAT_TARGET_VEL = "vel_target"

const std::string devmgr::motor::CI_TIMEOUT_INIT = "tout_init"

const std::string devmgr::motor::CI_TIMEOUT_MOVE = "tout_move"

const std::string devmgr::motor::CI_TIMEOUT_SWITCH = "tout_switch"

const std::string devmgr::motor::FITS_PARAM_BRAKE = "BRAKE"

const std::string devmgr::motor::FITS_PARAM_LOCK = "LOCK"

const std::string devmgr::motor::FITS_PARAM_POS = "POS"

const std::string devmgr::motor::FITS_PARAM_POSNAME = "POSNAME"

const std::unordered_map< short, std::string > devmgr::motor::hw_errors

const std::unordered_map< int, std::string > devmgr::motor::InitActions2Map

Initial value:

= {
      {INIT_ACTION_END,         CI_INIT_ACTION_END},
      {INIT_ACTION_FIND_INDEX,  CI_INIT_ACTION_FIND_INDEX},
      {INIT_ACTION_FIND_REF_LE, CI_INIT_ACTION_FIND_REF_LE},
      {INIT_ACTION_FIND_REF_UE, CI_INIT_ACTION_FIND_REF_UE},
      {INIT_ACTION_FIND_LHW,    CI_INIT_ACTION_FIND_LHW},
      {INIT_ACTION_FIND_UHW,    CI_INIT_ACTION_FIND_UHW},
      {INIT_ACTION_DELAY,       CI_INIT_ACTION_DELAY},
      {INIT_ACTION_MOVE_ABS,    CI_INIT_ACTION_MOVE_ABS},
      {INIT_ACTION_MOVE_REL,    CI_INIT_ACTION_MOVE_REL},
      {INIT_ACTION_CALIB_ABS,   CI_INIT_ACTION_CALIB_ABS},
      {INIT_ACTION_CALIB_REL,   CI_INIT_ACTION_CALIB_REL},
      {INIT_ACTION_CALIB_SWITCH, CI_INIT_ACTION_CALIB_SWITCH}
    }

const std::unordered_map< std::string, int > devmgr::motor::InitActionsMap

Initial value:

= {
      {CI_INIT_ACTION_END,        INIT_ACTION_END},
      {CI_INIT_ACTION_FIND_INDEX,  INIT_ACTION_FIND_INDEX},
      {CI_INIT_ACTION_FIND_REF_LE,  INIT_ACTION_FIND_REF_LE},
      {CI_INIT_ACTION_FIND_REF_UE,  INIT_ACTION_FIND_REF_UE},
      {CI_INIT_ACTION_FIND_LHW,    INIT_ACTION_FIND_LHW},
      {CI_INIT_ACTION_FIND_UHW,    INIT_ACTION_FIND_UHW},
      {CI_INIT_ACTION_DELAY,      INIT_ACTION_DELAY},
      {CI_INIT_ACTION_MOVE_ABS,    INIT_ACTION_MOVE_ABS},
      {CI_INIT_ACTION_MOVE_REL,    INIT_ACTION_MOVE_REL},
      {CI_INIT_ACTION_CALIB_ABS,   INIT_ACTION_CALIB_ABS},
      {CI_INIT_ACTION_CALIB_REL,   INIT_ACTION_CALIB_REL},
      {CI_INIT_ACTION_CALIB_SWITCH,INIT_ACTION_CALIB_SWITCH}
    }

const std::unordered_map< short, std::string > devmgr::motor::rpc_errors

Initial value:

= {
      {RPC_ERR_NOT_OP,               "Cannot disable motor. Not in OP state"},
      {RPC_ERR_NOT_STANDBY_READY,    "Cannot enable motor. Not in READY."},
      {RPC_ERR_NOT_STANDBY_NOTREADY, "Cannot init motor. Not in NOTREADY or FAILURE."},
      {RPC_ERR_MOTOR_LOCAL,          "RPC calls are not allowed in Local mode."},
      {RPC_ERR_MOTOR_LOWER_LIMIT,    "Move rejected. Target position beyond lower SW limit."},
      {RPC_ERR_MOTOR_UPPER_LIMIT,    "Move rejected. Target position beyond upper SW limit."}
    }

const std::string devmgr::motor::RPC_MOVE_ABS = "rpcMoveAbs"

const std::string devmgr::motor::RPC_MOVE_REL = "rpcMoveRel"

const std::string devmgr::motor::RPC_MOVE_VEL = "rpcMoveVel"

const std::vector< std::string > devmgr::motor::rpcMapping

Initial value:

= {
      devmgr::common::RPC_INIT,
      devmgr::common::RPC_ENABLE,
      devmgr::common::RPC_DISABLE,
      devmgr::common::RPC_RESET,
      devmgr::common::RPC_STOP,
      RPC_MOVE_ABS,
      RPC_MOVE_REL,
      RPC_MOVE_VEL
    }

const std::vector< std::string > devmgr::motor::statMapping

Initial value:

= {
      devmgr::common::CI_STAT_SUBSTATE,
      devmgr::common::CI_STAT_STATE,
      devmgr::common::CI_STAT_LOCAL,
      CI_STAT_TARGET_POS,
      CI_STAT_ACTUAL_POS,
      CI_STAT_ACTUAL_VEL,
      devmgr::common::CI_STAT_ERROR_CODE,
      CI_STAT_SCALE_FACTOR,
      CI_STAT_AXIS_BRAKE,
      CI_STAT_AXIS_ENABLE,
      CI_STAT_AXIS_LOCK,
    }

Warning: The order of this vector is important. It is used by the ReadStatus method. This method converts the variant attributes to the real datatypes so the other counts, be careful when updating it. It should match what it is expected by ReadStatus.

See Also: ReadStatus

const short devmgr::motor::SUBSTATE_ABORTING = 104

const std::string devmgr::motor::SUBSTATE_ABORTING_STR = "Aborting"

const short devmgr::motor::SUBSTATE_FAILURE = 103

const std::string devmgr::motor::SUBSTATE_FAILURE_STR = "Failure"

const short devmgr::motor::SUBSTATE_INITIALISING = 101

const std::string devmgr::motor::SUBSTATE_INITIALISING_STR = "Initialising"

const short devmgr::motor::SUBSTATE_NOTREADY = 100

const std::string devmgr::motor::SUBSTATE_NOTREADY_STR = "NotReady"

const short devmgr::motor::SUBSTATE_OP_FAILURE = 204

const std::string devmgr::motor::SUBSTATE_OP_FAILURE_STR = "Failure"

const short devmgr::motor::SUBSTATE_OP_MOVING = 201

const std::string devmgr::motor::SUBSTATE_OP_MOVING_STR = "Moving"

const short devmgr::motor::SUBSTATE_OP_SETTING_POS = 202

const std::string devmgr::motor::SUBSTATE_OP_SETTING_POS_STR = "SettingPos"

const short devmgr::motor::SUBSTATE_OP_STANDSTILL = 200

const std::string devmgr::motor::SUBSTATE_OP_STANDSTILL_STR = "Standstill"

const short devmgr::motor::SUBSTATE_OP_STOPPING = 203

const std::string devmgr::motor::SUBSTATE_OP_STOPPING_STR = "Stopping"

const short devmgr::motor::SUBSTATE_READY = 102

const std::string devmgr::motor::SUBSTATE_READY_STR = "Ready"

const std::unordered_map< short, std::string > devmgr::motor::SubstateMap

Initial value:

= {
      {SUBSTATE_NOTREADY,       SUBSTATE_NOTREADY_STR},
      {SUBSTATE_INITIALISING,   SUBSTATE_INITIALISING_STR},
      {SUBSTATE_READY,          SUBSTATE_READY_STR},
      {SUBSTATE_FAILURE,        SUBSTATE_FAILURE_STR},
      {SUBSTATE_ABORTING,       SUBSTATE_ABORTING_STR},
      {SUBSTATE_OP_STANDSTILL,  SUBSTATE_OP_STANDSTILL_STR},
      {SUBSTATE_OP_MOVING,      SUBSTATE_OP_MOVING_STR},
      {SUBSTATE_OP_SETTING_POS, SUBSTATE_OP_SETTING_POS_STR},
      {SUBSTATE_OP_STOPPING,    SUBSTATE_OP_STOPPING_STR},
      {SUBSTATE_OP_FAILURE,     SUBSTATE_OP_FAILURE_STR},
    }

const std::string devmgr::motor::UndefinedNamedPos = "undefined"

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