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| Acceleration | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | Acceleration, [steps/sec**2] |
| BaseRate | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | Slew rate at with the motion starts. |
| CcwLimit | false | false | Scalar | READ | Tango::DEV_LONG | OPERATOR | State of the counter-clockwise limit, `1`: motor is in the limit. CCW: negative direction QA: PDLN, `L` limit switch hit QL: 0100 X Axis Positive Limit 0001 X Axis Negative Limit |
| Conversion | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Factor converting units to steps, units = (steps - stepCalibration)/conversion |
| CwLimit | false | false | Scalar | READ | Tango::DEV_LONG | OPERATOR | The status of the clock-wise limit, `1`: motor is in the limit. CW corresponds to movements in positibe direction. QA: PDLN, `L`, limit was hit QL: 0100 X Axis Positive Limit, 0001 X Axis Negative Limit |
| Position | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | The motor position in units, pos = (steps - stepCalibratio9n)/conversion |
| SettleTime | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Time to wait before the motor changes from MOVING to ON |
| SlewRate | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | Speed of the motor, steps/sec |
| StepBacklash | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | backlash is used for movements which have NOT (steps> 0 && StepBacklash)> 0 || (steps < 0 && StepsBacklash) < 0 |
| StepCalibration | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | units = (steps-stepCalibration)/conversion |
| StepLimitMax | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | |
| StepLimitMin | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | |
| StepPosition | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | The step position, stepCalibration is subtracted, moves the motor, not memorized |
| TotalMoveTime | false | false | Scalar | READ | Tango::DEV_DOUBLE | OPERATOR | |
| UnitBacklash | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | unitBacklash=stepBacklash/conversion Backlash 0.5 No backlash going from 0 to 1 Backlash going from 1 to 0 Backlash -0.5 Backlash going from 0 to 1 No Backlash going from 1 to 0 Independent of the sign of the conversion factor |
| UnitLimitMax | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | unitLimitMax=(stepLimitMax-stepCalibration)/conversion |
| UnitLimitMin | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | unitLimitMin=(stepLimitMin - stepCalibration)/conversion |
| Message | false | false | Scalar | READ_WRITE | Tango::DEV_STRING | OPERATOR | Message is used to transfer some information to the client, e.g. for automated tests whether a backlash has been performed |
| StepRegister | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | Mirrors the step register, memorized, restored at server start |
| RemainingTime | false | false | Scalar | READ | Tango::DEV_DOUBLE | OPERATOR | Remaining time until the move is finished |
| EncoderRegister | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | This attribute mirrors the encoder register, not corrected by the home position, memorized, Written to the hardware at server start. |
| ConversionEncoder | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Factor converting units to steps, positionEncoder = encs/conversionEncoder + homePosition |
| PositionEncoder | false | false | Scalar | READ | Tango::DEV_DOUBLE | OPERATOR | PositionEncoder = HomePosition + EncoderRegister/ConversionEncoder |
| HomePosition | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | The unit position of the home switch |