MTHexapod¶
Note
This page is generated by python script generate_cet.py.
Commands¶
configureAcceleration¶
Description: Set the acceleration for all struts.
- EFDB_Topic:
MTHexapod_command_configureAcceleration
acceleration¶
- IDL_Type:
double
- Units:
um/s2
Description: Strut acceleration.
configureLimits¶
Description: Set position and orientation limits.
- EFDB_Topic:
MTHexapod_command_configureLimits
maxXY¶
- IDL_Type:
double
- Units:
um
Description: Maximum |X| and |Y|
minZ¶
- IDL_Type:
double
- Units:
um
Description: Minimum Z
maxZ¶
- IDL_Type:
double
- Units:
um
Description: Maximum Z
maxUV¶
- IDL_Type:
double
- Units:
deg
Description: Maximum |U| and |V|
minW¶
- IDL_Type:
double
- Units:
deg
Description: Minimum W
maxW¶
- IDL_Type:
double
- Units:
deg
Description: Maximum W
configureVelocity¶
Description: Set velocity limits for position and orientation.
- EFDB_Topic:
MTHexapod_command_configureVelocity
xy¶
- IDL_Type:
double
- Units:
um/s
Description: Maximum velocity for X and Y
z¶
- IDL_Type:
double
- Units:
um/s
Description: Maximum velocity for Z
uv¶
- IDL_Type:
double
- Units:
deg/s
Description: Maximum velocity for U and V
w¶
- IDL_Type:
double
- Units:
deg/s
Description: Maximum velocity for W
move¶
Description: Move the Hexapod to a specified position and orientation. This sets the uncompensated position; if compensation is enabled, the actual position will be slightly different.
- EFDB_Topic:
MTHexapod_command_move
x¶
- IDL_Type:
double
- Units:
um
Description: x position
y¶
- IDL_Type:
double
- Units:
um
Description: y position
z¶
- IDL_Type:
double
- Units:
um
Description: z position
u¶
- IDL_Type:
double
- Units:
deg
Description: Rotation about x
v¶
- IDL_Type:
double
- Units:
deg
Description: Rotation about y
w¶
- IDL_Type:
double
- Units:
deg
Description: Rotation about z
sync¶
- IDL_Type:
boolean
- Units:
unitless
Description: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode.
offset¶
Description: Offset the Hexapod by a specified change in position and orientation.
- EFDB_Topic:
MTHexapod_command_offset
x¶
- IDL_Type:
double
- Units:
um
Description: Offset in x
y¶
- IDL_Type:
double
- Units:
um
Description: Offset in y
z¶
- IDL_Type:
double
- Units:
um
Description: Offset in z
u¶
- IDL_Type:
double
- Units:
deg
Description: Offset of rotation about x
v¶
- IDL_Type:
double
- Units:
deg
Description: Offset of rotation about y
w¶
- IDL_Type:
double
- Units:
deg
Description: Offset of rotation about z
sync¶
- IDL_Type:
boolean
- Units:
unitless
Description: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode.
setCompensationMode¶
Description: Enable or disable automatic compensation for telescope elevation, etc.
- EFDB_Topic:
MTHexapod_command_setCompensationMode
enable¶
- IDL_Type:
boolean
- Units:
unitless
Description: Enable or disable automatic compensation?
setPivot¶
Description: Specify the location of pivot point (the reference point whose position and orientation are specified by the move and offset commands). The origin is the center of the base plate interface plane and +Z points away from the motion plate (see LTS-206 section 2.2).
- EFDB_Topic:
MTHexapod_command_setPivot
x¶
- IDL_Type:
double
- Units:
um
Description: x
y¶
- IDL_Type:
double
- Units:
um
Description: y
z¶
- IDL_Type:
double
- Units:
um
Description: z
stop¶
Description: Stop motion.
- EFDB_Topic:
MTHexapod_command_stop
disable¶
Description: Transition from state Enabled to Disabled.
- EFDB_Topic:
SALGeneric_command_disable
- Category:
csc
enable¶
Description: Transition from state Disabled to Enabled.
- EFDB_Topic:
SALGeneric_command_enable
- Category:
csc
exitControl¶
Description: Transition from state Standby to Offline. Most CSCs will quit, but CSCs that support the enterControl command will keep running.
- EFDB_Topic:
SALGeneric_command_exitControl
- Category:
csc
setLogLevel¶
Description: Set the logging level.
- EFDB_Topic:
SALGeneric_command_setLogLevel
- Category:
csc
level¶
- IDL_Type:
int
- Units:
unitless
Description: Logging level, as a Python logging level: error=40, warning=30, info=20, debug=10.
subsystem¶
- IDL_Type:
string
- Units:
unitless
Description: If this CSC itself has sub-ordinate components, they may be listed here. An empty string means the setting applies to all such sub-ordinate components, or just to this CSC itself.
standby¶
Description: Transition from state Offline/Available, Disabled or Fault to Standby.
- EFDB_Topic:
SALGeneric_command_standby
- Category:
csc
start¶
Description: Transition from state Standby to Disable, in a specified configuration.
- EFDB_Topic:
SALGeneric_command_start
- Category:
csc
configurationOverride¶
- IDL_Type:
string
- Units:
unitless
- Description:
Configuration override in the form [{name}][:{version}]. For salobj-based CSCs: name is a filename with “.yaml” suffix and version is a git hash; for example:
“foo.yaml” specifies just a file. Two or three config files are loaded: “_init.yaml”, “_{site}.yaml” (if present), and “foo.yaml”.
“:37bf936” specifies just a git hash. One or two config files are loaded from the specified git commit: “_init.yaml” and “_{site}.yaml” (if present.
“bar.yaml:HEAD~2” specifies both a file and a git hash. Two or three config files are read from the specified git commit: “_init.yaml”, “_{site}.yaml” (if present), and “bar.yaml”.
Enumerations¶
- ControllerState:
Standby=0
Disabled=1
Enabled=2
Offline=3
Fault=4
- OfflineSubstate:
PublishOnly=0
Available=1
- EnabledSubstate:
Stationary=0
MovingPointToPoint=1
SlewingOrTracking=2
ControlledStopping=3
Initializing=4
Relative=5
ConstantVelocity=6
- ApplicationStatus:
FOLLOWING_ERROR = 0x1
MOVE_COMPLETE = 0x2
EUI_CONNECTED = 0x4
RELATIVE_MOVE_MODE = 0x8
SYNC_MODE = 0x10
COMMAND_REJECTED = 0x20
SAFETY_INTERLOCK = 0x40
EXTEND_LIMIT_SWITCH = 0x80
RETRACT_LIMIT_SWITCH = 0x100
ETHERCAT_PROBLEM = 0x200
DDS_COMMAND_SOURCE = 0x400
MOTION_TIMEOUT = 0x800
DDS_CONNECTED = 0x1000
DRIVE_FAULT = 0x2000
SIMULINK_FAULT = 0x4000
LUT_TABLE_INVALID = 0x8000
- ErrorCode:
CONTROLLER_FAULT
CONNECTION_LOST
NO_CONFIG
Events¶
commandableByDDS¶
Description: Can the CSC control the MTHexapod?
- EFDB_Topic:
MTHexapod_logevent_commandableByDDS
state¶
- IDL_Type:
boolean
- Units:
unitless
Description: If true the CSC can control the MTHexapod; else the Engineering User Interface has control.
compensatedPosition¶
Description: The compensated position and orientation of the pivot point (the position used to compute actuator lengths). If compensation mode is disabled it will match uncompensatedPosition.
- EFDB_Topic:
MTHexapod_logevent_compensatedPosition
x¶
- IDL_Type:
double
- Units:
um
Description: X position.
y¶
- IDL_Type:
double
- Units:
um
Description: Y position.
z¶
- IDL_Type:
double
- Units:
um
Description: Z position.
u¶
- IDL_Type:
double
- Units:
deg
Description: U angle.
v¶
- IDL_Type:
double
- Units:
deg
Description: V angle.
w¶
- IDL_Type:
double
- Units:
deg
Description: W angle.
compensationMode¶
Description: Mode of compensation for telescope elevation, etc.
- EFDB_Topic:
MTHexapod_logevent_compensationMode
enabled¶
- IDL_Type:
boolean
- Units:
unitless
Description: Is automatic compensation enabled or disabled?
compensationOffset¶
Description: The computed compensation offset and the input parameters used to compute the offset.
- EFDB_Topic:
MTHexapod_logevent_compensationOffset
elevation¶
- IDL_Type:
double
- Units:
deg
Description: Elevation on which the compensation was based.
azimuth¶
- IDL_Type:
double
- Units:
deg
Description: Azimuth on which the compensation was based.
rotation¶
- IDL_Type:
double
- Units:
deg
Description: Camera rotator angle.
temperature¶
- IDL_Type:
double
- Units:
deg_C
Description: Temperature on which the compensation was based.
x¶
- IDL_Type:
double
- Units:
um
Description: compensated - uncompensated x
y¶
- IDL_Type:
double
- Units:
um
Description: compensated - uncompensated y
z¶
- IDL_Type:
double
- Units:
um
Description: compensated - uncompensated z
u¶
- IDL_Type:
double
- Units:
deg
Description: compensated - uncompensated u
v¶
- IDL_Type:
double
- Units:
deg
Description: compensated - uncompensated v
w¶
- IDL_Type:
double
- Units:
deg
Description: compensated - uncompensated w
configuration¶
Description: MTHexapod configuration.
- EFDB_Topic:
MTHexapod_logevent_configuration
maxXY¶
- IDL_Type:
double
- Units:
um
Description: Maximum |X| and |Y|
minZ¶
- IDL_Type:
double
- Units:
um
Description: Minimum allowed Z
maxZ¶
- IDL_Type:
double
- Units:
um
Description: Maximum allowed Z
maxUV¶
- IDL_Type:
double
- Units:
deg
Description: Maximum |U| and |V|
minW¶
- IDL_Type:
double
- Units:
deg
Description: Minimum allowed W
maxW¶
- IDL_Type:
double
- Units:
deg
Description: Maximum allowed W
maxVelocityXY¶
- IDL_Type:
double
- Units:
um/s
Description: Maximum velocity for X and Y
maxVelocityZ¶
- IDL_Type:
double
- Units:
um/s
Description: Maximum velocity for Z
maxVelocityUV¶
- IDL_Type:
double
- Units:
deg/s
Description: Maximum velocity for U and V
maxVelocityW¶
- IDL_Type:
double
- Units:
deg/s
Description: Maximum velocity for W
pivotX¶
- IDL_Type:
double
- Units:
um
Description: Pivot point X
pivotY¶
- IDL_Type:
double
- Units:
um
Description: Pivot point Y
pivotZ¶
- IDL_Type:
double
- Units:
um
Description: Pivot point Z
maxDisplacementStrut¶
- IDL_Type:
double
- Units:
um
Description: Maximum strut displacement from 0
maxVelocityStrut¶
- IDL_Type:
double
- Units:
um/s
Description: Maximum strut velocity
accelerationStrut¶
- IDL_Type:
double
- Units:
um/s2
Description: Strut acceleration
connected¶
Description: State of TCP/IP connection to the low level controller.
- EFDB_Topic:
MTHexapod_logevent_connected
connected¶
- IDL_Type:
boolean
- Units:
unitless
Description: Is the socket connected (true=yes, false=no)?
controllerState¶
Description: State reported by the controller.
- EFDB_Topic:
MTHexapod_logevent_controllerState
controllerState¶
- IDL_Type:
long
- Units:
unitless
Description: Basic state, a ControllerState enumeration value. The state names and meanings are the same as standard CSC summaryState, but the numeric values differ. We report the controller state in addition to summaryState because we need to report a summaryState even when the controller is not connected, and to aid diagnostics, e.g. in case the controller reports an unrecognized state.
offlineSubstate¶
- IDL_Type:
long
- Units:
unitless
Description: Substate in OFFLINE mode, an OfflineSubstate enumeration value.
enabledSubstate¶
- IDL_Type:
long
- Units:
unitless
Description: Substate in ENABLED mode, an EnabledSubstate enumeration value.
applicationStatus¶
- IDL_Type:
long
- Units:
unitless
Description: Application status. A bitmask of ApplicationStatus enumeration values.
inPosition¶
Description: Indicates whether or not all actuators have reached their commanded position.
- EFDB_Topic:
MTHexapod_logevent_inPosition
inPosition¶
- IDL_Type:
boolean
- Units:
unitless
Description: All actuators are in position.
interlock¶
Description: Safety interlock engaged (preventing motion) or disengaged.
- EFDB_Topic:
MTHexapod_logevent_interlock
engaged¶
- IDL_Type:
boolean
- Units:
unitless
Description: Is the interlock engaged (true) or not (false)?
uncompensatedPosition¶
Description: The uncompensated position and orientation of the pivot point, as specified by the move command and offset by the offset command. It is not output when motion is commanded by the engineering user interface.
- EFDB_Topic:
MTHexapod_logevent_uncompensatedPosition
x¶
- IDL_Type:
double
- Units:
um
Description: X position.
y¶
- IDL_Type:
double
- Units:
um
Description: Y position.
z¶
- IDL_Type:
double
- Units:
um
Description: Z position.
u¶
- IDL_Type:
double
- Units:
deg
Description: U angle.
v¶
- IDL_Type:
double
- Units:
deg
Description: V angle.
w¶
- IDL_Type:
double
- Units:
deg
Description: W angle.
configurationApplied¶
Description: Information about this CSC’s current configuration overrides.
- EFDB_Topic:
SALGeneric_logevent_configurationApplied
- Category:
configurable
configurations¶
- IDL_Type:
string
- Units:
unitless
Description: A comma-separated list of configurations applied. If configuration comes from a clone of a git repo, or similar directory, then it will be a list of file names, without the file extension. Ignore whitespace after commas.
version¶
- IDL_Type:
string
- Units:
unitless
Description: Version of the configuration source. For a clone of a git repo it will be a git hash.
url¶
- IDL_Type:
string
- Units:
unitless
Description: URL of the configuration source. For a clone of a git repo this will be a file URL. For a database it will be a standard database URL. This should always match the same-named field in configurationsAvailable.
schemaVersion¶
- IDL_Type:
string
- Units:
unitless
Description: Version of config schema used by this CSC. For a configuration git repo, this is the name of a folder in the config package, and is typically something like “v1”. This should always match the same-named field in configurationsAvailable.
otherInfo¶
- IDL_Type:
string
- Units:
unitless
Description: A comma-separated list of event topics (without the logevent prefix) used to publish the entire set of configuration parameters loaded by this CSC, and any other pertinent information. Ignore whitespace after commas.
configurationsAvailable¶
Description: Available configuration overrides for this CSC.
- EFDB_Topic:
SALGeneric_logevent_configurationsAvailable
- Category:
configurable
overrides¶
- IDL_Type:
string
- Units:
unitless
Description: Available overrides as a comma-separated list. Each entry is a possible value of the configurationOverride field of the start command. Ignore whitespace after commas.
version¶
- IDL_Type:
string
- Units:
unitless
Description: Version of the configuration source. For a clone of a git repo it will be a git hash.
url¶
- IDL_Type:
string
- Units:
unitless
Description: URL of the configuration source. For a clone of a git repo this will be a file URL. For a database it will be a standard database URL.
schemaVersion¶
- IDL_Type:
string
- Units:
unitless
Description: Version of config schema used by this CSC. For a configuration git repo, this is the name of a folder in the config package, and is typically something like “v1”.
errorCode¶
Description: Output when this CSC goes into the Fault state as an explanation of the problem.
- EFDB_Topic:
SALGeneric_logevent_errorCode
- Category:
csc
errorCode¶
- IDL_Type:
long
- Units:
unitless
Description: A numeric error code.
errorReport¶
- IDL_Type:
string
- Units:
unitless
Description: An string providing detailed information about the error.
traceback¶
- IDL_Type:
string
- Units:
unitless
Description: An optional stack trace of the error condition.
heartbeat¶
Description: Event output at regular intervals (typcally once per second) to show that the SAL component is alive.
- EFDB_Topic:
SALGeneric_logevent_heartbeat
- Category:
mandatory
heartbeat¶
- IDL_Type:
boolean
- Units:
unitless
Description: Deprecated field that you should ignore.
logLevel¶
Description: Current logging level.
- EFDB_Topic:
SALGeneric_logevent_logLevel
- Category:
mandatory
level¶
- IDL_Type:
int
- Units:
unitless
Description: Current logging level, a Python logging level: error=40, warning=30, info=20, debug=10.
subsystem¶
- IDL_Type:
string
- Units:
unitless
Description: If this CSC itself has sub-ordinate components, they may be listed here. An empty string means the setting applies to all such sub-ordinate components, or just to this CSC itself.
logMessage¶
Description: A log message.
- EFDB_Topic:
SALGeneric_logevent_logMessage
- Category:
mandatory
name¶
- IDL_Type:
string
- Units:
unitless
Description: Log name.
level¶
- IDL_Type:
int
- Units:
unitless
Description: Message level, a Python logging level: error=40, warning=30, info=20, debug=10.
message¶
- IDL_Type:
string
- Units:
unitless
Description: Log message.
traceback¶
- IDL_Type:
string
- Units:
unitless
Description: Exception traceback; “” if not an exception.
filePath¶
- IDL_Type:
string
- Units:
unitless
Description: Path to source file.
functionName¶
- IDL_Type:
string
- Units:
unitless
Description: Function or method name.
lineNumber¶
- IDL_Type:
long
- Units:
unitless
Description: Line number in the file specified by filePath.
process¶
- IDL_Type:
long
- Units:
unitless
Description: Process ID.
timestamp¶
- IDL_Type:
double
- Units:
second
Description: The time at which the condition being reported was observed (TAI unix seconds). 0 if unspecified.
simulationMode¶
Description: Current simulation mode.
- EFDB_Topic:
SALGeneric_logevent_simulationMode
- Category:
csc
mode¶
- IDL_Type:
int
- Units:
unitless
Description: Current simulation mode; 0 for normal operation (no simulation); other supported values are specific to each CSC.
softwareVersions¶
Description: Current versions of software in use by CSC.
- EFDB_Topic:
SALGeneric_logevent_softwareVersions
- Category:
mandatory
salVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: This is the current version of SAL generation.
xmlVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: This is the current version of CSC XML.
openSpliceVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: This is the current version of OpenSplice.
cscVersion¶
- IDL_Type:
string
- IDL_Size:
256
- Units:
unitless
Description: The software version of this CSC.
subsystemVersions¶
- IDL_Type:
string
- Units:
unitless
Description: A comma delimited list of key=value pairs relating subsystem name (key) to its version number (value). This may be left blank if there are no subsystems within this CSC.
summaryState¶
Description: Current summary state of this CSC.
- EFDB_Topic:
SALGeneric_logevent_summaryState
- Category:
csc
summaryState¶
- IDL_Type:
long
- Units:
unitless
Description: High level state machine state identifier.
Telemetry¶
actuators¶
Description: Hexapod actuators information.
- EFDB_Topic:
MTHexapod_actuators
calibrated¶
- IDL_Type:
double
- Units:
um
- Count:
6
Description: Estimated strut length from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns
raw¶
- IDL_Type:
double
- Units:
unitless
- Count:
6
Description: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in counts/nanometer (raw linear load encoder, 0x6064)
positionError¶
- IDL_Type:
double
- Units:
micron
- Count:
6
Description: Position error of each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns (following error actual value, 0x60F4)
timestamp¶
- IDL_Type:
double
- Units:
second
Description: Time at which encoders were read (TAI unix seconds).
application¶
Description: Hexapod movement details of application.
- EFDB_Topic:
MTHexapod_application
demand¶
- IDL_Type:
double
- Units:
unitless
- Count:
6
Description: Commanded MTHexapod position in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.
position¶
- IDL_Type:
double
- Units:
unitless
- Count:
6
Description: Actual MTHexapod position, in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.
error¶
- IDL_Type:
double
- Units:
unitless
- Count:
6
Description: Position error (position - demand), in order (X, Y, Z, U, V, W). Linear positions are in microns, angular positions are in degrees.
electrical¶
Description: Hexapod drive/electrical information.
- EFDB_Topic:
MTHexapod_electrical
copleyStatusWordDrive¶
- IDL_Type:
unsigned short
- Units:
unitless
- Count:
6
Description: Bus undervoltage fault, bus overvoltage fault, and overcurrent fault are all being monitored for each drive channel (drive status word, 0x6041).
copleyLatchingFaultStatus¶
- IDL_Type:
unsigned short
- Units:
unitless
- Count:
6
Description: Copley latching fault status (0x2183).
copleyFaultStatus¶
- IDL_Type:
unsigned int
- Units:
unitless
- Count:
6
Description: Copley sticky amplifier event status register (0x2180).
motorCurrent¶
- IDL_Type:
double
- Units:
A
- Count:
6
Description: Actual current for each strut motor.
busVoltage¶
- IDL_Type:
double
- Units:
V
- Count:
3
Description: Actual bus voltage for each pair of strut motors.