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
configureLimits¶
Description: Set position and orientation limits.
- EFDB_Topic
MTHexapod_command_configureLimits
configureVelocity¶
Description: Set velocity limits for position and orientation.
- EFDB_Topic
MTHexapod_command_configureVelocity
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
sync¶
- IDL_Type
boolean
- Units
dimensionless
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
sync¶
- IDL_Type
boolean
- Units
dimensionless
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
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
abort¶
- EFDB_Topic
SALGeneric_command_abort
disable¶
Description: Transition from state Enabled to Disabled.
- EFDB_Topic
SALGeneric_command_disable
enable¶
Description: Transition from state Disabled to Enabled.
- EFDB_Topic
SALGeneric_command_enable
enterControl¶
Description: Transition from state Offline to Standby. Only that start in Offline state CSCs support this command; other CSCs start in Standby state and quit when they go to Offline.
- EFDB_Topic
SALGeneric_command_enterControl
exitControl¶
Description: Transition from state Standby to Offline. For CSCs that start in Standby state this makes the CSC quit. CSCs that start in Offline state, they remain active.
- EFDB_Topic
SALGeneric_command_exitControl
setAuthList¶
- EFDB_Topic
SALGeneric_command_setAuthList
authorizedUsers¶
- IDL_Type
string
- Units
unitless
- Description: Comma seperated list of authorized users currently allowed to command this CSC,
in the form user@host. If the first character is +/- then the specified users are added/removed. Duplicates are silently ignored. The CSC’s own user@host is silently ignored, because it is always authorized. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma.
nonAuthorizedCSCs¶
- IDL_Type
string
- Units
unitless
- Description: Comma seperated list of CSC’s not currently allowed to command this CSC,
in the form name[:index]. An index of 0 is stripped (name:0 becomes name). If the first character is +/- then the specified CSCs are added/removed. Duplicates are silently ignored. For removal, CSCs that are not in the list are silently ignored. Whitespace is allowed after the optional initial +/- and after each comma.
setLogLevel¶
Description: Set the logging level.
- EFDB_Topic
SALGeneric_command_setLogLevel
level¶
- IDL_Type
int
- Units
unitless
Description: Logging level, as a Python logging level: error=40, warning=30, info=20, debug=10.
setValue¶
- EFDB_Topic
SALGeneric_command_setValue
parametersAndValues¶
- IDL_Type
string
- IDL_Size
256
- Units
unitless
Description: List of parameters and their values as a Json string
standby¶
Description: Transition from state Offline, Disabled or Fault to Standby.
- EFDB_Topic
SALGeneric_command_standby
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
MOVE
EUI
RELATIVE
SYNC
COMMAND
SAFETY
EXTEND
RETRACT
ETHERCAT
DDS
MOTION
DDS
DRIVE
SIMULINK
LUT
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
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
temperature¶
- IDL_Type
double
- Units
deg_C
Description: Temperature on which the compensation was based.
connected¶
Description: State of TCP/IP connection to the low level controller.
- EFDB_Topic
MTHexapod_logevent_connected
command¶
- IDL_Type
boolean
- Units
unitless
Description: Is the command socket connected (true=yes, false=no)?
telemetry¶
- IDL_Type
boolean
- Units
unitless
Description: Is the telemetv/config 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
- Count
6
Description: Application status; one value for each linear actuator. A bitmask of ApplicationStatus enumeration values.
inPosition¶
Description: Indicates whether or not all actuators have reached their commanded position.
- EFDB_Topic
MTHexapod_logevent_inPosition
interlock¶
Description: Safety interlock engaged or disengaged.
- EFDB_Topic
MTHexapod_logevent_interlock
detail¶
- IDL_Type
string
- IDL_Size
256
- Units
unitless
Description: One of two values: Engaged or Disengaged
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
appliedSettingsMatchStart¶
- EFDB_Topic
SALGeneric_logevent_appliedSettingsMatchStart
appliedSettingsMatchStartIsTrue¶
- IDL_Type
boolean
- Units
unitless
Description: True when the configuration matches the start conditions
authList¶
- EFDB_Topic
SALGeneric_logevent_authList
authorizedUsers¶
- IDL_Type
string
- Units
unitless
Description: Comma seperated list of authorized users currently allowed to command this CSC.
nonAuthorizedCSCs¶
- IDL_Type
string
- Units
unitless
Description: Comma seperated list of CSC’s not currently allowed to command this CSC.
errorCode¶
Description: Output when a CSC goes into the Fault state as an explanation of the problem.
- EFDB_Topic
SALGeneric_logevent_errorCode
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¶
- EFDB_Topic
SALGeneric_logevent_heartbeat
logLevel¶
Description: Current logging level.
- EFDB_Topic
SALGeneric_logevent_logLevel
level¶
- IDL_Type
int
- Units
unitless
Description: Current logging level, a Python logging level: error=40, warning=30, info=20, debug=10.
logMessage¶
Description: A log message.
- EFDB_Topic
SALGeneric_logevent_logMessage
level¶
- IDL_Type
int
- Units
unitless
Description: Message level, a Python logging level: error=40, warning=30, info=20, debug=10.
lineNumber¶
- IDL_Type
long
- Units
unitless
Description: Line number in the file specified by filePath.
settingVersions¶
Description: Information about settings which can be specified in the start command.
- EFDB_Topic
SALGeneric_logevent_settingVersions
recommendedSettingsVersion¶
- IDL_Type
string
- Units
unitless
Description: List of comma seperated recomended versions of settings sets
recommendedSettingsLabels¶
- IDL_Type
string
- Units
unitless
Description: List of comma seperated names of settings sets
settingsUrl¶
- IDL_Type
string
- Units
unitless
Description: The URL where the settings sets definitions can be found
settingsApplied¶
Description: Base settings applied.
- EFDB_Topic
SALGeneric_logevent_settingsApplied
settingsVersion¶
- IDL_Type
string
- IDL_Size
256
- Units
unitless
Description: The SHA or name corresponding to the published configuration
otherSettingsEvents¶
- IDL_Type
string
- Units
unitless
Description: A comma delimited list of other specific CSC configuration events. This may be blank if no other CSC specific events are necessary
simulationMode¶
Description: Current simulation mode.
- EFDB_Topic
SALGeneric_logevent_simulationMode
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
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: This is the top-level version of the 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 a CSC
Telemetry¶
actuators¶
- EFDB_Topic
MTHexapod_actuators
calibrated¶
- IDL_Type
double
- Units
um
- Count
6
Description: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6) in microns
raw¶
- IDL_Type
double
- Units
dimensionless
- Count
6
Description: Linear encoder readings from each MTHexapod actuator (x1,x2,x3,x4,x5,x6)in counts
application¶
- EFDB_Topic
MTHexapod_application
demand¶
- IDL_Type
double
- Units
dimensionless
- 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
dimensionless
- 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
dimensionless
- 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¶
- EFDB_Topic
MTHexapod_electrical
copleyStatusWordDrive¶
- IDL_Type
unsigned short
- Units
dimensionless
- Count
6
Description: Bus undervoltage fault, bus overvoltage fault, and overcurrent fault are all being monitored for each drive channel
copleyLatchingFaultStatus¶
- IDL_Type
unsigned short
- Units
dimensionless
- Count
6
Description: Copley latching fault status