axis_ds.xmi 13.3 KB
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<?xml version="1.0" encoding="ASCII"?>
<pogoDsl:PogoSystem xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:pogoDsl="http://www.esrf.fr/tango/pogo/PogoDsl">
  <classes name="Motor" pogoRevision="8.3">
    <description description="An abstract class for stepper motot" title="Abstract Stepper Motor" sourcePath="/users/meyer/tango/pogo" language="Python" filestogenerate="XMI   file,Code files,html Pages" license="GPL" hasMandatoryProperty="false" hasConcreteProperty="true" hasAbstractCommand="true" hasAbstractAttribute="true" descriptionHtmlExists="false">
      <inheritances classname="Device_4Impl" sourcePath="/segfs/tango/templates/AbstractClasses"/>
      <identification contact="at esrf.fr - meyer" author="meyer" emailDomain="esrf.fr" classFamily="AbstractClasses" siteSpecific="" platform="All Platforms" bus="Not Applicable" manufacturer="none" reference=""/>
    </description>
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    <deviceProperties name="Calibrated" description="When this property is different from 0, the motor is considered as calibrated&#xA;and a certain number of attributes cannot be changed anymore.( e.g. steps_per_unit)&#xA;The goal is to avoid undesired change when the calibratiuon process has been&#xA;performed.">
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      <type xsi:type="pogoDsl:BooleanType"/>
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </deviceProperties>
    <commands name="State" description="This command gets the device state (stored in its &lt;i>device_state&lt;/i> data member) and returns it to the caller." execMethod="dev_state" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="none.">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="State Code">
        <type xsi:type="pogoDsl:StateType"/>
      </argout>
      <status abstract="true" inherited="true" concrete="true" concreteHere="false"/>
    </commands>
    <commands name="Status" description="This command gets the device status (stored in its &lt;i>device_status&lt;/i> data member) and returns it to the caller." execMethod="dev_status" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="none.">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="Status description">
        <type xsi:type="pogoDsl:ConstStringType"/>
      </argout>
      <status abstract="true" inherited="true" concrete="true" concreteHere="false"/>
    </commands>
    <commands name="On" description="Enable power on motor" execMethod="on" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argout>
      <status abstract="true"/>
    </commands>
    <commands name="Off" description="Desable power on motor" execMethod="off" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argout>
      <status abstract="true"/>
    </commands>
    <commands name="GoHome" description="Move the motor to the home position given by a home switch." execMethod="go_home" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argout>
      <status abstract="true"/>
    </commands>
    <commands name="Abort" description="Stop immediately the motor" execMethod="abort" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argout>
      <status abstract="true"/>
    </commands>
    <commands name="StepUp" description="perform a relative motion of ``stepSize`` in the forward direction.&#xA; StepSize is defined as an attribute of the device." execMethod="step_up" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argout>
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </commands>
    <commands name="StepDown" description="perform a relative motion of ``stepSize`` in the backward direction.&#xA; StepSize is defined as an attribute of the device." execMethod="step_down" displayLevel="OPERATOR" polledPeriod="0">
      <argin description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argin>
      <argout description="">
        <type xsi:type="pogoDsl:VoidType"/>
      </argout>
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </commands>
    <attributes name="Steps_per_unit" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="0" maxY="0" memorized="true" memorizedAtInit="true">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <status abstract="true"/>
      <properties description="" label="Steps per mm" unit="steps/mm" standardUnit="" displayUnit="" format="%7.1f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="Steps" attType="Scalar" rwType="READ_WRITE" displayLevel="OPERATOR" polledPeriod="0" maxX="0" maxY="0" memorized="true" memorizedAtInit="true">
      <dataType xsi:type="pogoDsl:IntType"/>
      <status abstract="true"/>
      <properties description="number of steps in the step counter\n" label="Steps" unit="steps" standardUnit="" displayUnit="" format="%6d" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="Position" attType="Scalar" rwType="READ_WRITE" displayLevel="OPERATOR" polledPeriod="0" maxX="0" maxY="0">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <status abstract="true"/>
      <properties description="The actual motor position." label="position" unit="mm" standardUnit="" displayUnit="" format="%7.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="Acceleration" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="0" maxY="0" memorized="true" memorizedAtInit="true" allocReadMember="false" isDynamic="false">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <dataReadyEvent fire="false" libCheckCriteria="true"/>
      <status abstract="true" concrete="false" concreteHere="false"/>
      <properties description="The acceleration of the motor." label="Acceleration" unit="units/s^2" standardUnit="" displayUnit="" format="%.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="Velocity" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="0" maxY="0" memorized="true" memorizedAtInit="true" allocReadMember="false" isDynamic="false">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <dataReadyEvent fire="false" libCheckCriteria="true"/>
      <status abstract="true" concrete="false" concreteHere="false"/>
      <properties description="The constant velocity of the motor." label="Velocity" unit="units/s" standardUnit="" displayUnit="" format="%.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="Backlash" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="0" maxY="0" memorized="true" memorizedAtInit="true" allocReadMember="false" isDynamic="false">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <dataReadyEvent fire="false" libCheckCriteria="true"/>
      <status abstract="true" concrete="false" concreteHere="false"/>
      <properties description="Backlash to be applied to each motor movement" label="Backlash" unit="mm" standardUnit="" displayUnit="" format="%5.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="Home_position" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="0" maxY="0" memorized="true" memorizedAtInit="true" allocReadMember="false" isDynamic="false">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <dataReadyEvent fire="false" libCheckCriteria="true"/>
      <status abstract="true" concrete="false" concreteHere="false"/>
      <properties description="Position of the home switch" label="Home position" unit="mm" standardUnit="" displayUnit="" format="%7.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="HardLimitLow" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="0" maxY="0">
      <dataType xsi:type="pogoDsl:BooleanType"/>
      <status abstract="true"/>
      <properties description="" label="low limit switch state" unit="" standardUnit="" displayUnit="" format="" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="HardLimitHigh" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="0" maxY="0">
      <dataType xsi:type="pogoDsl:BooleanType"/>
      <status abstract="true"/>
      <properties description="" label="up limit switch state" unit="" standardUnit="" displayUnit="" format="" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="PresetPosition" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="0" maxY="0" allocReadMember="false">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <status abstract="true" concrete="false" concreteHere="false"/>
      <properties description="preset the position in the step counter" label="Preset Position" unit="mm" standardUnit="" displayUnit="" format="%.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="FirstVelocity" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="0" maxY="0" memorized="true" memorizedAtInit="true" allocReadMember="false" isDynamic="false">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <dataReadyEvent fire="false" libCheckCriteria="true"/>
      <status abstract="true" concrete="false" concreteHere="false"/>
      <properties description="number of unit/s for the first step and for the move reference" label="first step velocity" unit="units/s" standardUnit="" displayUnit="" format="%.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="Home_side" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="0" maxY="0">
      <dataType xsi:type="pogoDsl:BooleanType"/>
      <status abstract="true"/>
      <properties description="indicates if the axis is below or above the position of the home switch" label="" unit="" standardUnit="" displayUnit="" format="" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <attributes name="StepSize" attType="Scalar" rwType="READ_WRITE" displayLevel="EXPERT" polledPeriod="0" maxX="" maxY="" memorized="true" memorizedAtInit="true" allocReadMember="true" isDynamic="false">
      <dataType xsi:type="pogoDsl:DoubleType"/>
      <dataReadyEvent fire="false" libCheckCriteria="true"/>
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
      <properties description="Size of the relative step performed by the StepUp and StepDown commands.&#xA;The StepSize is expressed in physical unit." label="" unit="mm" standardUnit="" displayUnit="" format="%.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
    </attributes>
    <states name="ON" description="The motor powered on and is ready to move.">
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </states>
    <states name="MOVING" description="The motor is moving">
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </states>
    <states name="FAULT" description="The motor indicates a fault.">
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </states>
    <states name="ALARM" description="The motor indicates an alarm state for example has reached&#xA;a limit switch.">
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </states>
    <states name="OFF" description="The power on the moror drive is switched off.">
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </states>
    <states name="DISABLE" description="The motor is in slave mode and disabled for normal use">
      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
    </states>
    <preferences docHome="./doc_html" makefileHome="/segfs/tango/cppserver/env"/>
  </classes>
</pogoDsl:PogoSystem>