=======
Hexapod
=======
Commands
--------
clearError
~~~~~~~~~~
**Description**: Clear the fault state.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_clearError
ignored
*******
:IDL_Type: boolean
:Units: dimensionless
:Count: 1

**Description**: Ignored.

configureAcceleration
~~~~~~~~~~~~~~~~~~~~~
**Description**: Set maximum acceleration for all actuators.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_configureAcceleration
accmax
******
:IDL_Type: double
:Units: um/s2
:Count: 1

**Description**: Maximum acceleration.

configureLimits
~~~~~~~~~~~~~~~
**Description**: Set position and orientation limits.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_configureLimits
xymax
*****
:IDL_Type: double
:Units: um
:Count: 1

**Description**: xy max

zmin
****
:IDL_Type: double
:Units: um
:Count: 1

**Description**: z min

zmax
****
:IDL_Type: double
:Units: um
:Count: 1

**Description**: z max

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

**Description**: uv max

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

**Description**: w min

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

**Description**: w max

move
~~~~
**Description**: Move the Hexapod to a specified position and orientation.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_move
x
*
:IDL_Type: double
:Units: um
:Count: 1

**Description**: x position

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

**Description**: y position

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

**Description**: z position

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

**Description**: Rotation about x

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

**Description**: Rotation about y

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

**Description**: Rotation about z

sync
****
:IDL_Type: boolean
:Units: dimensionless
:Count: 1

**Description**: Synchronize motion so that all actuators start and stop moving at the same time?

moveLUT
~~~~~~~
**Description**: A variant of the move command that applies a correction for elevation, azimuth and temperature.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_moveLUT
elevation
*********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: Telescope elevation

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

**Description**: Telescope azimuth

temperature
***********
:IDL_Type: double
:Units: Celsius
:Count: 1

**Description**: Ambient temperature

x
*
:IDL_Type: double
:Units: um
:Count: 1

**Description**: x position

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

**Description**: y position

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

**Description**: z position

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

**Description**: Rotation about x

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

**Description**: Rotation about y

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

**Description**: Rotation about z

sync
****
:IDL_Type: boolean
:Units: dimensionless
:Count: 1

**Description**: Synchronize motion so that all actuators start and stop moving at the same time?

configureVelocity
~~~~~~~~~~~~~~~~~
**Description**: Set velocity limits for position and orientation.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_configureVelocity
xymax
*****
:IDL_Type: double
:Units: um/s
:Count: 1

**Description**: xymax

rxrymax
*******
:IDL_Type: double
:Units: deg/s
:Count: 1

**Description**: rxrymax

zmax
****
:IDL_Type: double
:Units: um/s
:Count: 1

**Description**: zmax

rzmax
*****
:IDL_Type: double
:Units: deg/s
:Count: 1

**Description**: rzmax

offset
~~~~~~
**Description**: Offset the Hexapod by a specified change in position and orientation.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_offset
x
*
:IDL_Type: double
:Units: um
:Count: 1

**Description**: Offset in x

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

**Description**: Offset in y

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

**Description**: Offset in z

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

**Description**: Offset of rotation about x

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

**Description**: Offset of rotation about y

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

**Description**: Offset of rotation about z

sync
****
:IDL_Type: boolean
:Units: dimensionless
:Count: 1

**Description**: Synchronize motion so that all actuators start and stop moving at the same time?

offsetLUT
~~~~~~~~~
**Description**: A variant of the offset command that applies a correction for elevation, azimuth and temperature.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_offsetLUT
elevation
*********
:IDL_Type: double
:Units: deg
:Count: 1

**Description**: Telescope elevation

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

**Description**: Telescope azimuth

temperature
***********
:IDL_Type: double
:Units: Celsius
:Count: 1

**Description**: Ambient temperature

x
*
:IDL_Type: double
:Units: um
:Count: 1

**Description**: Offset in x

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

**Description**: Offset in y

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

**Description**: Offset in z

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

**Description**: Offset of rotation about x

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

**Description**: Offset of rotation about y

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

**Description**: Offset of rotation about z

sync
****
:IDL_Type: boolean
:Units: dimensionless
:Count: 1

**Description**: Synchronize motion so that all actuators start and stop moving at the same time?

pivot
~~~~~
**Description**: Specify the pivot point (the reference point whose position and orientation is set by the move, moveLUT, offset, and offsetLUT commands).

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_pivot
x
*
:IDL_Type: double
:Units: um
:Count: 1

**Description**: x

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

**Description**: y

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

**Description**: z

stop
~~~~
**Description**: Stop motion.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_command_stop
ignored
*******
:IDL_Type: int
:Units: unitless
:Count: 1

**Description**: Ignored.

Events
------
* 
    ControllerState_Standby=0
* 
    ControllerState_Disabled=1
* 
    ControllerState_Enabled=2
* 
    ControllerState_Offline=3
* 
    ControllerState_Fault=4


* 
    OfflineSubstate_PublishOnly=0
* 
    OfflineSubstate_Available=1


* 
    EnabledSubstate_Stationary = 0
* 
    EnabledSubstate_MovingPointToPoint=1
* 
    EnabledSubstate_SlewingOrTracking=2
* 
    EnabledSubstate_ControlledStopping=3
* 
    EnabledSubstate_Initializing=4
* 
    EnabledSubstate_Relative=5
* 
    EnabledSubstate_ConstantVelocity=6


* 
    ApplicationStatus_HEX_FOLLOWING_ERROR_MASK=0x00000001
* 
    ApplicationStatus_HEX_MOVE_COMPLETE_MASK=0x00000002
* 
    ApplicationStatus_COMMAND_REJECT_MASK=0x00000020
* 
    ApplicationStatus_SAFTEY_INTERLOCK=0x00000040
* 
    ApplicationStatus_EXTEND_LIMIT_SWITCH=0x00000080
* 
    ApplicationStatus_RETRACT_LIMIT_SWITCH=0x00000100
* 
    ApplicationStatus_ETHERCAT_PROBLEM=0x00000200
* 
    ApplicationStatus_DDS_COMMAND_SOURCE=0x00000400
* 
    ApplicationStatus_MOTION_TIMEOUT=0x00000800
* 
    ApplicationStatus_DRIVE_FAULT=0x00002000
* 
    ApplicationStatus_SIMULINK_FAULT=0x00004000
* 
    ApplicationStatus_ENCODER_FAULT=0x00008000


controllerState
~~~~~~~~~~~~~~~
**Description**: State reported by the controller.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_logevent_controllerState
controllerState
***************
:IDL_Type: long
:Units: unitless
:Count: 1

**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
:Count: 1

**Description**: Substate in OFFLINE mode, an OfflineSubstate enumeration value.

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

**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.

connected
~~~~~~~~~
**Description**: State of TCP/IP connection to the low level controller.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_logevent_connected
command
*******
:IDL_Type: boolean
:Units: unitless
:Count: 1

**Description**: Is the command socket connected (true=yes, false=no)?

telemetry
*********
:IDL_Type: boolean
:Units: unitless
:Count: 1

**Description**: Is the telemetry/config socket connected (true=yes, false=no)?

interlock
~~~~~~~~~
**Description**: Safety interlock engaged or disengaged.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_logevent_interlock
detail
******
:IDL_Type: string
:IDL_Size: 256
:Units: dimensionless
:Count: 1

**Description**: One of two values: Engaged or Disengaged

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

**Description**: timestamp

actuatorInPosition
~~~~~~~~~~~~~~~~~~
**Description**: Indicates whether each linear actuator has reached its commanded position.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_logevent_actuatorInPosition
inPosition
**********
:IDL_Type: boolean
:Units: unitless
:Count: 6

**Description**: Actuator in position.

inPosition
~~~~~~~~~~
**Description**: Indicates whether or not all actuators have reached their commanded position.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_logevent_inPosition
inPosition
**********
:IDL_Type: boolean
:Units: unitless
:Count: 1

**Description**: All actuators are in position.

configuration
~~~~~~~~~~~~~
**Description**: Hexapod configuration.

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_logevent_configuration
accelerationAccmax
******************
:IDL_Type: double
:Units: um/s2
:Count: 1

**Description**: Maximum acceleration

limitXYMax
**********
:IDL_Type: double
:Units: um
:Count: 1

**Description**: Maximum XY (Combined linear motion limit)

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

**Description**: Minimum Z

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

**Description**: Maximum Z limit

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

**Description**: Maximum UV (Combined angular motion limit)

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

**Description**: Minimum W limit

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

**Description**: Maximum W limit

velocityXYMax
*************
:IDL_Type: double
:Units: um/s
:Count: 1

**Description**: Maximum XY velocity limit

velocityRxRyMax
***************
:IDL_Type: double
:Units: deg/s
:Count: 1

**Description**: Maximum RXRY velocity limit

velocityZMax
************
:IDL_Type: double
:Units: um/s
:Count: 1

**Description**: Maximum Z velocity

velocityRzMax
*************
:IDL_Type: double
:Units: deg/s
:Count: 1

**Description**: Maximum Rz velocity

positionX
*********
:IDL_Type: double
:Units: um
:Count: 1

**Description**: x position

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

**Description**: y position

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

**Description**: z position

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

**Description**: U position

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

**Description**: V position

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

**Description**: W position

pivotX
******
:IDL_Type: double
:Units: um
:Count: 1

**Description**: Pivot coordinate X

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

**Description**: Pivot coordinate Y

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

**Description**: Pivot coordinate Z

elevationRawLUTElevIndex
************************
:IDL_Type: short
:Units: dimensionless
:Count: 19

**Description**: elevationRawLUTElevIndex

elevationRawLUTX
****************
:IDL_Type: double
:Units: um
:Count: 19

**Description**: elevationRawLUTX

elevationRawLUTY
****************
:IDL_Type: double
:Units: um
:Count: 19

**Description**: elevationRawLUTY

elevationRawLUTZ
****************
:IDL_Type: double
:Units: um
:Count: 19

**Description**: elevationRawLUTZ

elevationRawLUTRx
*****************
:IDL_Type: double
:Units: deg
:Count: 19

**Description**: elevationRawLUTRx

elevationRawLUTRy
*****************
:IDL_Type: double
:Units: deg
:Count: 19

**Description**: elevationRawLUTRy

elevationRawLUTRz
*****************
:IDL_Type: double
:Units: deg
:Count: 19

**Description**: elevationRawLUTRz

azimuthRawLUTAzIndex
********************
:IDL_Type: short
:Units: dimensionless
:Count: 37

**Description**: azimuthRawLUTAzIndex

azimuthRawLUTX
**************
:IDL_Type: double
:Units: um
:Count: 37

**Description**: azimuthRawLUTX

azimuthRawLUTY
**************
:IDL_Type: double
:Units: um
:Count: 37

**Description**: azimuthRawLUTY

azimuthRawLUTZ
**************
:IDL_Type: double
:Units: um
:Count: 37

**Description**: azimuthRawLUTZ

azimuthRawLUTRx
***************
:IDL_Type: double
:Units: deg
:Count: 37

**Description**: azimuthRawLUTRx

azimuthRawLUTRy
***************
:IDL_Type: double
:Units: deg
:Count: 37

**Description**: azimuthRawLUTRy

azimuthRawLUTRz
***************
:IDL_Type: double
:Units: deg
:Count: 37

**Description**: azimuthRawLUTRz

temperatureRawLUTTempIndex
**************************
:IDL_Type: short
:Units: dimensionless
:Count: 9

**Description**: temperatureRawLUTTempIndex

temperatureRawLUTX
******************
:IDL_Type: double
:Units: um
:Count: 9

**Description**: temperatureRawLUTX

temperatureRawLUTY
******************
:IDL_Type: double
:Units: um
:Count: 9

**Description**: temperatureRawLUTY

temperatureRawLUTZ
******************
:IDL_Type: double
:Units: um
:Count: 9

**Description**: temperatureRawLUTZ

temperatureRawLUTRx
*******************
:IDL_Type: double
:Units: deg
:Count: 9

**Description**: temperatureRawLUTRx

temperatureRawLUTRy
*******************
:IDL_Type: double
:Units: deg
:Count: 9

**Description**: temperatureRawLUTRy

temperatureRawLUTRz
*******************
:IDL_Type: double
:Units: deg
:Count: 9

**Description**: temperatureRawLUTRz

strutDisplacementMax
********************
:IDL_Type: double
:Units: um
:Count: 1

**Description**: strutDisplacementMax

strutVelocityMax
****************
:IDL_Type: double
:Units: um/s
:Count: 1

**Description**: strutVelocityMax

commandableByDDS
~~~~~~~~~~~~~~~~
**Description**: Can the CSC can control the hexapod?

:Subsystem: Hexapod
:EFDB_Topic: Hexapod_logevent_commandableByDDS
state
*****
:IDL_Type: boolean
:Units: dimensionless
:Count: 1

**Description**: If true the CSC can control the hexapod; else the Engineering User Interface has control.

Telemetry
---------
actuators
~~~~~~~~~
:Subsystem: Hexapod
:EFDB_Topic: Hexapod_actuators
calibrated
**********
:IDL_Type: double
:Units: um
:Count: 6

**Description**: Linear encoder readings from each hexapod actuator (x1,x2,x3,x4,x5,x6) in microns

raw
***
:IDL_Type: double
:Units: dimensionless
:Count: 6

**Description**: Linear encoder readings from each hexapod actuator (x1,x2,x3,x4,x5,x6)in counts

application
~~~~~~~~~~~
:Subsystem: Hexapod
:EFDB_Topic: Hexapod_application
demand
******
:IDL_Type: double
:Units: dimensionless
:Count: 6

**Description**: Commanded hexapod position in order (X, Y, Z, RX, RY, RZ). Linear positions are in microns, angular positions are in degrees.

position
********
:IDL_Type: double
:Units: dimensionless
:Count: 6

**Description**: Actual hexapod position, in order (X, Y, Z, RX, RY, RZ). 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 (x1,x2,x3,x4,x5,x6). Linear positions are in microns, angular positions are in degrees.

electrical
~~~~~~~~~~
:Subsystem: Hexapod
:EFDB_Topic: Hexapod_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