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| Conversion | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Conversion factor encoder steps => units For rotation axes this sets the number of units for one rotation (e.g. setting this to 360 units will be degrees). When changing the sign of the conversion (to swap movement direction) UnitLimitMin/Max will not be adjusted auromatically, you will have to do that yourself. |
| PositionKnown | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | Returns true, if the axis was referenced after controller power on, otherwise false. This makes use of the fact that the controllers UI[n] variables are set to default 0 after powerup. The server will write 666 to UI[1] after a successful run of the Home command. If this value is found in UI[1] at server startup the server assumes the axis to be referenced. If for some reason you cannot reach the reference mark safely (e.g. because something would crash) and have to move the motor, you can write `true` to this attribute to make the axis moveable. But generally this is not a good idea, rather change things so you can safely run the Home command. And this will only hold until the controller is power-cycled. |
| MoveUnhomed | false | false | Scalar | READ_WRITE | Tango::DEV_BOOLEAN | EXPERT | If set to true, it is possible to move the axis even if it was not referenced (i.i. PositionKnow = false) |
| Position | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Write / read position in units ( writing will start movement) |
| UnitLimitMin | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Minimum value to be given to the Position attribute. If both UnitLimitMin/UnitLimitMax are set to 0 limits are disabled. |
| UnitLimitMax | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Maximum value to be given to the Position attribute. If both UnitLimitMin/UnitLimitMax are set to 0 limits are disabled. |
| SlewRate | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Velocity in units/sec normally reached at the end of the acceleration ramp during a profiled motion (i.e. by writing the position attribute) |
| Acceleration | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | maximum allowed acceleration in units/s^2 |
| Deceleration | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | maximum allowed deceleration in units/s^2 |
| StepLimitMin | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | EXPERT | This makes use of the controllers ability to store limit settings (command VH[3]). Has to be set in encoder steps, no conversion is applied. Consider this a safety catch to prevent things bumping. |
| StepLimitMax | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | EXPERT | This makes use of the controllers ability to store limit settings (command VH[3]). Has to be set in encoder steps, no conversion is applied. Consider this a safety catch to prevent things bumping. |
| MotorState | false | false | Scalar | READ_WRITE | Tango::DEV_BOOLEAN | OPERATOR | Read motor state / turn motor on / off (true = on, false = off). |
| ServoState | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | Read servo state (true = on, false = off). |
| ForwardLimitSwitch | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | State of forward limit switch (true = hit) |
| ReverseLimitSwitch | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | State of reverse limit switch (true = hit) |
| StepPosition | false | false | Scalar | READ_WRITE | Tango::DEV_LONG64 | EXPERT | Write / read position in encoder steps ( writing will start movement). UnitLimitMin/Max is not taken into acoount. |
| HomeSpeed | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Velocity in units/sec used when running a home sequence. Sign defines the direction. |
| HomePosition | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Position value in units which will be set when reference mark is hit when running Home. |
| JogSpeed | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Velocity in units/sec used when running the Jog command. Sign defines the direction. |