TcpIpMotorP10

The TcpIpMotorP10 is a special implementation of the generic TangoMotor interface. The Tango server communicates via TCP/IP with some other motor server using a simple protocol. This is the syntax:

calibrate <position>
  answer: DONE / ERROR

position <position>
  answer: DONE / ERROR

position?
  answer: <position>

unitLimitMin <position>
  answer: DONE / ERROR

unitLimitMin?
  answer: <position>

unitLimitMax <position>
  answer: DONE / ERROR

unitLimitMax?
  answer: <position>

state?
 returns a number which is interpreted as a bit mask. 
 The meaning of the bits is: 
  Bit 0: 0 = idle, 1 = moving 
  Bit 1: 0 = no error, 1 = error
  Bit 2: 1 = lower limit reached (ccw)
  Bit 3: 1 = upper limit reached (cw)
 e.g.: 
   0 -> IDLE, no error, no limit 
   1 -> MOVING, no error, no limit 
   4 -> IDLE, ccw limit

stopMove
  answer: DONE / ERROR

The first external server was written by Andreas Malecki (IMETUM, Uni-Munich) for a Newport motor.

A TcpIpMotorP10 device can be introduced to Online by (/online_dir/online.xml):

<device>
 <name>newport01</name>
 <type>type_tango</type>
 <module>motor_tango</module>
 <device>p10/tcpipmotorp10/exp.01</device>
 <control>tango</control>
 <hostname>hasppXX:10000</hostname>
</device>

Figure 63.1: Jive: TcpIpMotorP10 Server Properties at P10