TANGO
Device Server
Device Server
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Device Server |
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| AxisNumber | Tango::DEV_STRING | Number of the Axis on the motion controller (also called GalilBox). Depending on the GalilBox model it may be from 1 to 8 OR ( new ) A to H (Galil terminology ) 1=A =X 2=B=Y 3 =C=Z 4=D=W 5=E 6=F 7=G 8=H |
| AxisBoxAttachement | Tango::DEV_STRING | TANGO device name of the Galil motion controller ( also called GalilBox )
which drives this axis Example: microxas/motorisation/galilbox3 |
| EncoderMotorRatio | Tango::DEV_DOUBLE | Number of Encoder steps for 1 Motor step. Example: If EncoderMotorRatio=4 , for a 1000 motor steps movement, Encoder value will change of 4000 steps When no Encoder is available for the Axis , this parameter must be set to 1. |
| UserEncoderRatio | Tango::DEV_DOUBLE | Property used to define the conversion between EncoderUnits to UserUnits according to the following formula: AxisCurrentPosition ( in UserUnits ) = AxisEncoderPosition UserEncoderRatio + CurrentOffset Exemple :
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| CurrentOffset | Tango::DEV_DOUBLE | Property used to define the conversion between EncoderUnits to UserUnits according to the following formula: AxisCurrentPosition ( in UserUnits ) = AxisEncoderPosition UserEncoderRatio + CurrentOffset Exemple :
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| CurrentAcceleration | Tango::DEV_DOUBLE | Property used to store the current AxisAcceleration value in TANGO DataBase. Not to be configured by user |
| CurrentDeceleration | Tango::DEV_DOUBLE | Property used to store the current AxisDeceleration value in TANGO DataBase. Not to be configured by user |
| CurrentVelocity | Tango::DEV_DOUBLE | Property used to store the current AxisVelocity value in TANGO DataBase. Not to be configured by user |
| CurrentPercent | Tango::DEV_DOUBLE | Property used to store the current AxisPercent value in TANGO DataBase. Not to be configured by user |
| CurrentMotionAccuracy | Tango::DEV_DOUBLE | Property used to store the current AxisAccuracy value in TANGO DataBase. Not to be configured by user |
| CurrentRetry | Tango::DEV_DOUBLE | Property used to store the current AxisRetry value in TANGO DataBase. Not to be configured by user |
| AxisEncoderType | Tango::DEV_LONG | Type of Encoder connected to the axis:
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| CurrentBacklash | Tango::DEV_DOUBLE | Property used to store the current AxisBacklash value in TANGO DataBase. Not to be configured by user |
| CurrentDirection | Tango::DEV_DOUBLE | Property used to store the current AxisDirection value in TANGO DataBase. Not to be configured by user |
| AxisSmoothing | Tango::DEV_DOUBLE | Use this property to smooth acceleration/deceleration. Usefull for stepper motors drived in full step. range : 0.5 ( no smoothing ) to 8.0 (max smoothing ) per steps of 1/32 Default : 0.5 See Galil command reference KS |
| AxisMotorDirection | Tango::DEV_DOUBLE | used to have uniform positive direction for motors rotate : positive is trigonometric direction translate : positive is UP or ....? This applies to all movements ( AxisForward, AxisGoToPosition....) 1 : servo motor -1 :servo motor with reverse polarity 2 : stepper motor with active low step pulse -2: stepper motor with active high step pulse 2.5 :stepper motor with reverse direction and active low step pulse -2.5 :stepper motor with reverse direction and active high step pulse Default : 2 See Galil command reference MT |
| AxisEncoderDirection | Tango::DEV_SHORT | ONLY FOR INCREMENTAL ENCODERS ! configures the encoder type and direction Applies to main and aux encoders. NOTE : for stepper motor operation ONLY USE THE MAIN ENCODER! ____________________________________________________________________ m= Main encoder type n= Aux encoder type ------------------------------------------------------------------------------------------------------------------------- 0 Normal quadrature 0 Normal quadrature 1 Normal pulse and direction 4 Normal pulse and direction 2 Reversed quadrature 8 Reversed quadrature 3 Reversed pulse and direction 12 Reversed pulse and direction default : 0 Do the sum of m and n See Galil commmand reference CE |
| AxisForwardLimit | Tango::DEV_LONG | This is the Motion controller software forward limit Stops any movement passing that limit default : 1000000 See Galil command FL |
| AxisBackwardLimit | Tango::DEV_LONG | Motion controller software backward limit. default : -1000000 see Galil command reference BL |
| CurrentUserDirection | Tango::DEV_SHORT | used to store the UserDirection attribute not to be modified directly. |
| AbsoluteEncoderOffset | Tango::DEV_LONG | in encoder unit, adds the specified offset to the CurrentEncoderPosition Modifies the CurrentPosition Used only for absolute encoders. |
| AbsoluteEncoderDirection | Tango::DEV_SHORT | allows motorist to change the direction of increment position on ABSOLUTE ENCODERS must be 1 or -1 Default 1 |
| AxisInitType | Tango::DEV_SHORT | for initialisation of the axis. Not relevant for axis with absolute encoders or axis without limit switches and without encoders The axis will move regarding to its type and load the InitPosition property in the motion controller describes the type of init to be done regarding swiches and axis type 0 : no initialisation possible 1 : initialisation on HOME switch, uses the HM command of the motion controller 2 : initialisation on LIMIT SWITCH BACKWARD (User Direction) 4 : initialisation on LIMIT SWITCH FORWARD ( User Direction ) 3 : on TOP ZERO of the incremental encoder |
| AxisInitPosition | Tango::DEV_DOUBLE | position of the axis on its initialisation position see AxisInitType and Desrver documentation in user units |
| MotoristMemo | Tango::DEV_STRING | Makes nothing. For some memos for the motorist. |
| ServoPIDProp | Tango::DEV_FLOAT | For Servo motors only ( DC or bruhless motors ) proportionall componement of the PID error loop correction Default : 6 |
| ServoPIDInteg | Tango::DEV_FLOAT | For Servo motors only ( DC or bruhsless motors ) Integral componement of the PID error loop correction Default : 0 |
| ServoPIDDeriv | Tango::DEV_FLOAT | For Servo motors only ( DC or bruhsless motors ) Derivate componement of the PID error loop correction Default : 64 |
| ServoPIDIntegLimit | Tango::DEV_FLOAT | For Servo motors only ( DC or bruhsless motors ) Limitation of the Integral componement of the PID error loop correction A negative parameter freezes the effect of the parameter during the move. Default : 5.0 |
| ErrorLimit | Tango::DEV_SHORT | Error limit sets the magnitude of the dynamic position error ( during the move ). When the limit is exceeded, the motor is disabled. -1 inhibits error limit. Must never be reached under normal operation, only in case of hardware jam ( motor, encoder, mechanics ) Default : -1 Maximum : 32767 |
| Property Name | Default Values |
| AxisNumber | No default value |
| AxisBoxAttachement | No default value |
| EncoderMotorRatio | No default value |
| UserEncoderRatio | No default value |
| CurrentOffset | No default value |
| CurrentAcceleration | No default value |
| CurrentDeceleration | No default value |
| CurrentVelocity | No default value |
| CurrentPercent | No default value |
| CurrentMotionAccuracy | No default value |
| CurrentRetry | No default value |
| AxisEncoderType | No default value |
| CurrentBacklash | No default value |
| CurrentDirection | No default value |
| AxisSmoothing | No default value |
| AxisMotorDirection | No default value |
| AxisEncoderDirection | No default value |
| AxisForwardLimit | No default value |
| AxisBackwardLimit | No default value |
| CurrentUserDirection | No default value |
| AbsoluteEncoderOffset | No default value |
| AbsoluteEncoderDirection | No default value |
| AxisInitType | No default value |
| AxisInitPosition | No default value |
| MotoristMemo | No default value |
| ServoPIDProp | No default value |
| ServoPIDInteg | No default value |
| ServoPIDDeriv | No default value |
| ServoPIDIntegLimit | No default value |
| ErrorLimit | No default value |