=========
ATHexapod
=========
Commands
--------
applyPositionLimits
~~~~~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_command_applyPositionLimits
:Explanation: http://sal.lsst.org
xyMax
*****
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: X and Y maximum position.

zMin
****
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Z minimum position.

zMax
****
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Z Maximum position.

uvMax
*****
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: U and V Maximum position.

wMin
****
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: W minimum position.

wMax
****
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: W maximum position.

moveToPosition
~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_command_moveToPosition
:Explanation: http://sal.lsst.org
x
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: X position.

y
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Y position.

z
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Z position.

u
*
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: U position.

v
*
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: V position.

w
*
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: W position.

setMaxSystemSpeeds
~~~~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_command_setMaxSystemSpeeds
:Explanation: http://sal.lsst.org
speed
*****
:IDL_Type: double
:Units: mm/s
:Count: 1

**Description**: Velocities in the range of under 1 mm/s are recommended.

applyPositionOffset
~~~~~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_command_applyPositionOffset
:Explanation: http://sal.lsst.org
x
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: X position offset.

y
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Y position offset.

z
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Z position offset.

u
*
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: U position offset.

v
*
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: V position offset.

w
*
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: W position offset.

stopAllAxes
~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_command_stopAllAxes
:Explanation: http://sal.lsst.org
stopAllAxes
***********
:IDL_Type: boolean
:Units: unitless
:Count: 1

**Description**: Stop all axes.

pivot
~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_command_pivot
:Explanation: http://sal.lsst.org
x
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: X position to pivot.

y
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Y position to pivot.

z
*
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Z position to pivot.

Events
------
* SummaryState_DisabledState
* SummaryState_EnabledState
* SummaryState_FaultState
* SummaryState_OfflineState
* SummaryState_StandbyState

* DetailedState_InMotionState
*  DetailedState_NotInMotionState

inPosition
~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_inPosition
:Explanation: http://sal.lsst.org
inPosition
**********
:IDL_Type: boolean
:Units: unitless
:Count: 1

**Description**: AT Hexapod in position.

timestamp
*********
:IDL_Type: double
:Units: unitless
:Count: 1

**Description**: Timestamp of telescope in position.

detailedState
~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_detailedState
:Explanation: http://sal.lsst.org
detailedState
*************
:IDL_Type: long
:Units: unitless
:Count: 1

**Description**: Detailed state.

settingsAppliedPositionLimits
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_settingsAppliedPositionLimits
:Explanation: http://sal.lsst.org
limitXYMax
**********
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: X and Y maximum limit.

limitZMin
*********
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Z minimum limit.

limitZMax
*********
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Z maximum limit.

limitUVMax
**********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: U and V maximum limit.

limitWMin
*********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: W minimum limit.

limitWMax
*********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: W maximum limit.

settingsAppliedVelocities
~~~~~~~~~~~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_settingsAppliedVelocities
:Explanation: http://sal.lsst.org
systemSpeed
***********
:IDL_Type: double
:Units: mm/s
:Count: 1

**Description**: System speed.

settingsAppliedPivot
~~~~~~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_settingsAppliedPivot
:Explanation: http://sal.lsst.org
pivotX
******
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Pivot X position.

pivotY
******
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Pivot Y position.

pivotZ
******
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: Pivot Z position.

positionUpdate
~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_positionUpdate
:Explanation: http://sal.lsst.org
positionX
*********
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: New X position.

positionY
*********
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: New Y position.

positionZ
*********
:IDL_Type: double
:Units: mm
:Count: 1

**Description**: New Z position.

positionU
*********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: New U position.

positionV
*********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: New V position.

positionW
*********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: New W position.

settingsAppliedTcp
~~~~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_settingsAppliedTcp
:Explanation: http://sal.lsst.org
ip
**
:IDL_Type: string
:IDL_Size: 15
:Units: unitless
:Count: 1

**Description**: IP address of the hexapod controller (XXX.XXX.XXX.XXX).

port
****
:IDL_Type: long
:Units: unitless
:Count: 1

**Description**: port range, it will try to connect to any of the ports in this range

readTimeout
***********
:IDL_Type: float
:Units: second
:Count: 1

**Description**: TCP/IP read timeout

writeTimeout
************
:IDL_Type: float
:Units: second
:Count: 1

**Description**: TCP/IP write timeout

connectionTimeout
*****************
:IDL_Type: float
:Units: second
:Count: 1

**Description**: TCP/IP open/close connection timeout

readyForCommand
~~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_logevent_readyForCommand
:Explanation: http://sal.lsst.org
ready
*****
:IDL_Type: boolean
:Units: unitless
:Count: 1

**Description**: Hexapod ready to be commanded

Telemetry
---------
positionStatus
~~~~~~~~~~~~~~
:Subsystem: ATHexapod
:Version: 3.8
:Author: None
:EFDB_Topic: ATHexapod_positionStatus
setpointPosition
****************
:IDL_Type: double
:Units: mm
:Count: 6

**Description**: http://sal.lsst.org/SAL/Telemetry/hexapod_Application_Demand.html

reportedPosition
****************
:IDL_Type: double
:Units: mm
:Count: 6

**Description**: http://sal.lsst.org/SAL/Telemetry/hexapod_Application_Position.html

positionFollowingError
**********************
:IDL_Type: double
:Units: mm
:Count: 6

**Description**: http://sal.lsst.org/SAL/Telemetry/hexapod_Application_Error.html