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

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

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

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

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

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

Navigation

Hexapod¶

Commands¶

clearError¶

ignored¶

configureAcceleration¶

accmax¶

configureLimits¶

xymax¶

zmin¶

zmax¶

uvmax¶

wmin¶

wmax¶

move¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

moveLUT¶

elevation¶

azimuth¶

temperature¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

configureVelocity¶

xymax¶

rxrymax¶

zmax¶

rzmax¶

offset¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

offsetLUT¶

elevation¶

azimuth¶

temperature¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

pivot¶

x¶

y¶

z¶

stop¶

ignored¶

Events¶

controllerState¶

controllerState¶

offlineSubstate¶

enabledSubstate¶

applicationStatus¶

connected¶

command¶

telemetry¶

interlock¶

detail¶

timestamp¶

actuatorInPosition¶

inPosition¶

inPosition¶

inPosition¶

configuration¶