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| MoveMode | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | Get/Set move mode. This might mofify meaning and behaviour of Position attribute 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode Smaract property: SA_CTL_PKEY_MOVE_MODE |
| StepAmplitude | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | Gets/sets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V Smaract property: SA_CTL_PKEY_STEP_AMPLITUDE |
| StepFrequency | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | Gets/sets step frequency for open-loop movements. Value range: 1 - 20000 Hz Smaract property: SA_CTL_PKEY_STEP_FREQUENCY |
| Position | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Native units are picometer for linear axes and nanodegrees for rotary axes. Can be changed by adjusting conversion attribute. Smaract property (for reading): SA_CTL_PKEY_POSITION Smaract command (for writing): SA_CTL_Move |
| Conversion | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Factor for converting encoder steps to units, defaults to 1 |
| UnitLimitMin | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | MInimum position in units we are allowed to go to. If both UnitLimitMin and UnitLimitMax are set to 0 limit settings are ignored. |
| UnitLimitMax | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Maximum position in units we are allowed to go to. If both UnitLimitMin and UnitLimitMax are set to 0 limit settings are ignored. |
| AutoZero | false | false | Scalar | READ_WRITE | Tango::DEV_BOOLEAN | OPERATOR | If set to true, the current position will be set to 0 when the reference mark is found on running the Home command. Smaract property: SA_CTL_PKEY_REFERENCING_OPTIONS/SA_CTL_REF_OPT_BIT_AUTO_ZERO |
| HoldTime | false | false | Scalar | READ_WRITE | Tango::DEV_ULONG | OPERATOR | Closed loop hold time (time in ms the position is actively held after reaching the target posi- tion) Range: 0 - 4294967295 (0 disables holding, max value is for infinite, i.e. hold until motor is stopped) Smaract property: SA_CTL_PKEY_HOLD_TIME |
| Speed | false | false | Scalar | READ_WRITE | Tango::DEV_LONG64 | OPERATOR | Closed loop velocity, pm s^-1 for linear movements, nanodegree s^?1 for rotary movements Range: 0 - 100000000000 Smaract property depends on MoveMode: for closed loop relative/absolute: SA_CTL_PKEY_MOVE_VELOCITY for scan mode relative/absolut: SA_CTL_PKEY_SCAN_VELOCITY for step mode: not applicable, throws exception use attributes StepFrequency/StepAmplitude to adjust |
| PositionKnown | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | True, if physical position is known (i.e. Home command ran successfully). Not applicable in scan mode / step mode, throws exception. Smaract property: SA_CTL_PKEY_CHANNEL_STATE/SA_CTL_CH_STATE_BIT_IS_REFERENCED |
| AxisType | false | false | Scalar | READ | Tango::DEV_ULONG | OPERATOR | The axis type, 0: linear movement 1: rotary movement 2: goniometer 3: tilt movement Smaract property: SA_CTL_PKEY_POS_MOVEMENT_TYPE |
| MaxFrequency | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | The maximum closed loop frequency in hz (50 - 20000). If you experience sudden stops on one axis when starting a movement on another try setting this to a lower value. Smaract property: SA_CTL_PKEY_MAX_CL_FREQUENCY |
| SensorType | false | false | Scalar | READ | Tango::DEV_ULONG | OPERATOR | Sensor type number, check with hardware doc (MCS2PositionerTypes.pdf) Smaract property: SA_CTL_PKEY_POSITIONER_TYPE |
| StepLimitMin | false | false | Scalar | READ_WRITE | Tango::DEV_LONG64 | OPERATOR | This attribute uses the controllers ability to store limit values. If this value is set a movement will stop if this limit is hit. The attribute does not take conversion into account, it treats values as encoder steps. To enable this feature set StepLimitMax to a value greater than StepLimitMin. Valid range: -100000000000000 - 100000000000000 Smaract property: SA_CTL_PKEY_RANGE_LIMIT_MIN |
| StepLimitMax | false | false | Scalar | READ_WRITE | Tango::DEV_LONG64 | OPERATOR | This attribute uses the controllers ability to store limit values. If this value is set a movement will stop if this limit is hit. The attribute does not take conversion into account, it treats values as encoder steps. To enable this feature set StepLimitMax to a value greater than StepLimitMin. Valid range: -100000000000000 - 100000000000000 Smaract property: SA_CTL_PKEY_RANGE_LIMIT_MAX |
| SensorMode | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | sensor mode 0: sensor disabled 1: sensor continuously supplied with power 2: sensor power supply pulsed to keep the heat generation low Smaract property: SA_CTL_PKEY_SENSOR_POWER_MODE |
| ActuatorMode | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | actuator mode 0: normal 1: quiet 2: low vibration (needs feature permission activated and payed for) Smaract property: SA_CTL_PKEY_ACTUATOR_MODE |
| Acceleration | false | false | Scalar | READ_WRITE | Tango::DEV_LONG64 | OPERATOR | Closed loop acceleration, pm s^?2 for linear positioners and nanodegree s^?2 for rotary positioners Range: 0 - 100000000000 Smaract property: SA_CTL_PKEY_MOVE_ACCELERATION |
| FollowingErrorLimit | false | false | Scalar | READ_WRITE | Tango::DEV_LONG64 | OPERATOR | Following error limit, pm for linear movements and n° for rotary movements. A value of 0 disables following error detection. Range: 0 - 100000000000 Smaract property: SA_CTL_PKEY_FOLLOWING_ERROR_LIMIT |
| SearchDirection | false | false | Scalar | READ_WRITE | Tango::DEV_BOOLEAN | OPERATOR | Toggling the value will reverse start direction on reference mark search. true: search in negative direction false: search in positive direction The search direction value does not take the sign of the conversion attribute into respect. Smaract property: SA_CTL_PKEY_REFERENCING_OPTIONS/SA_CTL_REF_OPT_BIT_START_DIR |
| SensorName | false | false | Scalar | READ | Tango::DEV_STRING | OPERATOR | Sensor type description, check with hardware doc (MCS2PositionerTypes.pdf) Smaract property: SA_CTL_PKEY_POSITIONER_TYPE_NAME |
| LogicalScaleInversion | false | false | Scalar | READ_WRITE | Tango::DEV_BOOLEAN | OPERATOR | Get / set logical scale inversion (false = not inverted, true = inverted) Smaract property: SA_CTL_PKEY_LOGICAL_SCALE_INVERSION |
| LogicalScaleOffset | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | Set / Get the logical scale offset (SA_CTL_PKEY_LOGICAL_SCALE_OFFSET), attribute conversion is taken into respect. |
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| PicoDouble | false | false | Scalar | READ | Tango::DEV_DOUBLE | OPERATOR | For internal use only |
| PicoUShort | false | false | Scalar | READ | Tango::DEV_USHORT | OPERATOR | For internal use only |
| PicoBoolean | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | For internal use only |
| DevLongDynamicAttribute | false | false | Scalar | READ_WRITE | Tango::DEV_LONG | OPERATOR | |
| DevDoubleDynamicAttribute | false | false | Scalar | READ_WRITE | Tango::DEV_DOUBLE | OPERATOR | |
| CWLimit | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | |
| CCWLimit | false | false | Scalar | READ | Tango::DEV_BOOLEAN | OPERATOR | |