TANGO
Device Server


Axis
Properties Description

GalilAxis Class

Revision: release_2_3_10 - Author: coquet






Device Properties
Property name
Property type
Description
AxisNumber Tango::DEV_STRING Axis identifier on the motion controller. This number must be in [0..7] or [ A ..H]. This critical property does not have any default value and must be specified.
AxisPositionRatio Tango::DEV_DOUBLE Property used to define the conversion from encoder to user units
according to the following formula:
AxisPosition ( in UserUnits ) = AxisEncoderPosition * PositionRatio + Offset
Defaults to 1.0.
AxisEncoderType Tango::DEV_LONG The type of the encoder associated with this axis
  • 0: for no encoder
  • 1: for incremental encoder
  • 2: for absolute encoder
This critical property has no default value.
AxisInitType Tango::DEV_STRING Type of initialization process. form : LSBWD:2;LSFWD:1;FH:-3;FI:2;DP;
  • LSBWD: 2 : goes 2 times on limit switch backward, decreasing speed each time
  • LSFWD: 15 : goes 15 times on limit switch forward, decreasing speed each time
  • FH : -3 : goes 3 times on Home switch, decreasing speed eeach time, begining negative direction
  • FI : 2 : goes 2 times on Index of encoder, decreasing speed each time, begining positive direction
  • DP : does nothing, use DefinePosition(position) to initialize position
default : 0
AxisInitPosition Tango::DEV_DOUBLE This will be the axis position (in encoder units) after execution of the InitializeReferencePoisition command. Defaults to 0.
EnableMaintenanceMode Tango::DEV_BOOLEAN enables the maintenance position mode : a closed loop functionality for steppers see micro-code documentation for mode and limitations EnableMaintenanceMode : Moteurs steppers avec codeurs uniquement. Valide la surveillance dynamique de l'erreur de trajectoire Valeur par d�faut : false (inhib�) Only for stepper motors with Encoders When true enables the dynamic monitoring of a following error default value : false (disabled)
AllowRemoteCbox Tango::DEV_BOOLEAN allows the Remote Cbox ( t�lecommande manuelle) to work if true inhibits the RemoteCBox functionnality when false, if Inputs/outputs are used for another application for example.
EnableDutyCycle Tango::DEV_BOOLEAN Enables the 'duty cycle' support
Percent Tango::DEV_DOUBLE Doc. to be written by ECA - valid range is [?, ?] - defaults to 1.0
Retry Tango::DEV_ULONG Doc. to be written by ECA - valid range is [?, ?] - defaults to 5
DisabledCmds Array of string List of disabled commands
EnableErrorCorrection Tango::DEV_BOOLEAN EnableErrorCorrection : Moteurs steppers avec codeurs uniquement. Valide la correction dynamique de trajectoire Valeur par d�faut : false (inhib�) Only for Stepper motors with encoders When true, enables the dynamic following error correction Default : false (disabled)
SettlingTime Tango::DEV_ULONG stabilization time for the motor. The motor is still in MOVING state SettlingTime after move settling time is performed in the micro-code in the controlbox Unit : milli-seconds default value : 100 This property is not automatically created by code.






Device Properties Default Values:
Property Name Default Values
AxisNumber No default value
AxisPositionRatio 1.0
AxisEncoderType No default value
AxisInitType DP;
AxisInitPosition 0
EnableMaintenanceMode false
AllowRemoteCbox false
EnableDutyCycle false
Percent 1.0
Retry 5
DisabledCmds No default value
EnableErrorCorrection false
SettlingTime 100



There is no Class properties.





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