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

Navigation

ATHexapod¶

Commands¶

applyPositionLimits¶

xyMax¶

zMin¶

zMax¶

uvMax¶

wMin¶

wMax¶

moveToPosition¶

x¶

y¶

z¶

u¶

v¶

w¶

setMaxSystemSpeeds¶

speed¶

applyPositionOffset¶

x¶

y¶

z¶

u¶

v¶

w¶

stopAllAxes¶

stopAllAxes¶

pivot¶

x¶

y¶

z¶

Events¶

inPosition¶

inPosition¶

timestamp¶

detailedState¶

detailedState¶

settingsAppliedPositionLimits¶

limitXYMax¶

limitZMin¶

limitZMax¶

limitUVMax¶

limitWMin¶

limitWMax¶

settingsAppliedVelocities¶

systemSpeed¶

settingsAppliedPivot¶

pivotX¶

pivotY¶

pivotZ¶

positionUpdate¶

positionX¶

positionY¶

positionZ¶

positionU¶

positionV¶

positionW¶

settingsAppliedTcp¶

ip¶

port¶

readTimeout¶

writeTimeout¶

connectionTimeout¶

readyForCommand¶

ready¶

Telemetry¶

positionStatus¶

setpointPosition¶

reportedPosition¶

positionFollowingError¶