:tocdepth: 3 ####### Hexapod ####### .. note:: This page is generated by the following python script ``generate_cet.py``. :ref:`Back to table ` Commands -------- .. _Hexapod:Commands:clearError: clearError ~~~~~~~~~~ **Description**: Clear the fault state. :EFDB_Topic: Hexapod_command_clearError .. _Hexapod:Commands:configureAcceleration: configureAcceleration ~~~~~~~~~~~~~~~~~~~~~ **Description**: Set maximum acceleration for all actuators. :EFDB_Topic: Hexapod_command_configureAcceleration .. _Hexapod:Commands:configureAcceleration:accmax: accmax ****** :IDL_Type: double :Units: um/s2 **Description**: Maximum acceleration. .. _Hexapod:Commands:configureLimits: configureLimits ~~~~~~~~~~~~~~~ **Description**: Set position and orientation limits. :EFDB_Topic: Hexapod_command_configureLimits .. _Hexapod:Commands:configureLimits:xymax: xymax ***** :IDL_Type: double :Units: um **Description**: xy max .. _Hexapod:Commands:configureLimits:zmin: zmin **** :IDL_Type: double :Units: um **Description**: z min .. _Hexapod:Commands:configureLimits:zmax: zmax **** :IDL_Type: double :Units: um **Description**: z max .. _Hexapod:Commands:configureLimits:uvmax: uvmax ***** :IDL_Type: double :Units: deg **Description**: uv max .. _Hexapod:Commands:configureLimits:wmin: wmin **** :IDL_Type: double :Units: deg **Description**: w min .. _Hexapod:Commands:configureLimits:wmax: wmax **** :IDL_Type: double :Units: deg **Description**: w max .. _Hexapod:Commands:configureVelocity: configureVelocity ~~~~~~~~~~~~~~~~~ **Description**: Set velocity limits for position and orientation. :EFDB_Topic: Hexapod_command_configureVelocity .. _Hexapod:Commands:configureVelocity:xymax: xymax ***** :IDL_Type: double :Units: um/s **Description**: xymax .. _Hexapod:Commands:configureVelocity:rxrymax: rxrymax ******* :IDL_Type: double :Units: deg/s **Description**: rxrymax .. _Hexapod:Commands:configureVelocity:zmax: zmax **** :IDL_Type: double :Units: um/s **Description**: zmax .. _Hexapod:Commands:configureVelocity:rzmax: rzmax ***** :IDL_Type: double :Units: deg/s **Description**: rzmax .. _Hexapod:Commands:move: move ~~~~ **Description**: Move the Hexapod to a specified position and orientation. :EFDB_Topic: Hexapod_command_move .. _Hexapod:Commands:move:x: x * :IDL_Type: double :Units: um **Description**: x position .. _Hexapod:Commands:move:y: y * :IDL_Type: double :Units: um **Description**: y position .. _Hexapod:Commands:move:z: z * :IDL_Type: double :Units: um **Description**: z position .. _Hexapod:Commands:move:u: u * :IDL_Type: double :Units: deg **Description**: Rotation about x .. _Hexapod:Commands:move:v: v * :IDL_Type: double :Units: deg **Description**: Rotation about y .. _Hexapod:Commands:move:w: w * :IDL_Type: double :Units: deg **Description**: Rotation about z .. _Hexapod:Commands:move:sync: sync **** :IDL_Type: boolean :Units: dimensionless **Description**: Synchronize motion so that all actuators start and stop moving at the same time? .. _Hexapod:Commands:moveLUT: moveLUT ~~~~~~~ **Description**: A variant of the move command that applies a correction for elevation, azimuth and temperature. :EFDB_Topic: Hexapod_command_moveLUT .. _Hexapod:Commands:moveLUT:elevation: elevation ********* :IDL_Type: double :Units: deg **Description**: Telescope elevation .. _Hexapod:Commands:moveLUT:azimuth: azimuth ******* :IDL_Type: double :Units: deg **Description**: Telescope azimuth .. _Hexapod:Commands:moveLUT:temperature: temperature *********** :IDL_Type: double :Units: Celsius **Description**: Ambient temperature .. _Hexapod:Commands:moveLUT:x: x * :IDL_Type: double :Units: um **Description**: x position .. _Hexapod:Commands:moveLUT:y: y * :IDL_Type: double :Units: um **Description**: y position .. _Hexapod:Commands:moveLUT:z: z * :IDL_Type: double :Units: um **Description**: z position .. _Hexapod:Commands:moveLUT:u: u * :IDL_Type: double :Units: deg **Description**: Rotation about x .. _Hexapod:Commands:moveLUT:v: v * :IDL_Type: double :Units: deg **Description**: Rotation about y .. _Hexapod:Commands:moveLUT:w: w * :IDL_Type: double :Units: deg **Description**: Rotation about z .. _Hexapod:Commands:moveLUT:sync: sync **** :IDL_Type: boolean :Units: dimensionless **Description**: Synchronize motion so that all actuators start and stop moving at the same time? .. _Hexapod:Commands:offset: offset ~~~~~~ **Description**: Offset the Hexapod by a specified change in position and orientation. :EFDB_Topic: Hexapod_command_offset .. _Hexapod:Commands:offset:x: x * :IDL_Type: double :Units: um **Description**: Offset in x .. _Hexapod:Commands:offset:y: y * :IDL_Type: double :Units: um **Description**: Offset in y .. _Hexapod:Commands:offset:z: z * :IDL_Type: double :Units: um **Description**: Offset in z .. _Hexapod:Commands:offset:u: u * :IDL_Type: double :Units: deg **Description**: Offset of rotation about x .. _Hexapod:Commands:offset:v: v * :IDL_Type: double :Units: deg **Description**: Offset of rotation about y .. _Hexapod:Commands:offset:w: w * :IDL_Type: double :Units: deg **Description**: Offset of rotation about z .. _Hexapod:Commands:offset:sync: sync **** :IDL_Type: boolean :Units: dimensionless **Description**: Synchronize motion so that all actuators start and stop moving at the same time? .. _Hexapod:Commands:offsetLUT: offsetLUT ~~~~~~~~~ **Description**: A variant of the offset command that applies a correction for elevation, azimuth and temperature. :EFDB_Topic: Hexapod_command_offsetLUT .. _Hexapod:Commands:offsetLUT:elevation: elevation ********* :IDL_Type: double :Units: deg **Description**: Telescope elevation .. _Hexapod:Commands:offsetLUT:azimuth: azimuth ******* :IDL_Type: double :Units: deg **Description**: Telescope azimuth .. _Hexapod:Commands:offsetLUT:temperature: temperature *********** :IDL_Type: double :Units: Celsius **Description**: Ambient temperature .. _Hexapod:Commands:offsetLUT:x: x * :IDL_Type: double :Units: um **Description**: Offset in x .. _Hexapod:Commands:offsetLUT:y: y * :IDL_Type: double :Units: um **Description**: Offset in y .. _Hexapod:Commands:offsetLUT:z: z * :IDL_Type: double :Units: um **Description**: Offset in z .. _Hexapod:Commands:offsetLUT:u: u * :IDL_Type: double :Units: deg **Description**: Offset of rotation about x .. _Hexapod:Commands:offsetLUT:v: v * :IDL_Type: double :Units: deg **Description**: Offset of rotation about y .. _Hexapod:Commands:offsetLUT:w: w * :IDL_Type: double :Units: deg **Description**: Offset of rotation about z .. _Hexapod:Commands:offsetLUT:sync: sync **** :IDL_Type: boolean :Units: dimensionless **Description**: Synchronize motion so that all actuators start and stop moving at the same time? .. _Hexapod:Commands:pivot: pivot ~~~~~ **Description**: Specify the pivot point (the reference point whose position and orientation is set by the move, moveLUT, offset, and offsetLUT commands). :EFDB_Topic: Hexapod_command_pivot .. _Hexapod:Commands:pivot:x: x * :IDL_Type: double :Units: um **Description**: x .. _Hexapod:Commands:pivot:y: y * :IDL_Type: double :Units: um **Description**: y .. _Hexapod:Commands:pivot:z: z * :IDL_Type: double :Units: um **Description**: z .. _Hexapod:Commands:stop: stop ~~~~ **Description**: Stop motion. :EFDB_Topic: Hexapod_command_stop abort ~~~~~ :EFDB_Topic: SALGeneric_command_abort .. _Hexapod:abort:value: value ***** :IDL_Type: boolean :Units: unitless **Description**: Not used disable ~~~~~~~ **Description**: Transition from state Enabled to Disabled. :EFDB_Topic: SALGeneric_command_disable .. _Hexapod:disable:value: value ***** :IDL_Type: boolean :Units: unitless **Description**: Not used enable ~~~~~~ **Description**: Transition from state Disabled to Enabled. :EFDB_Topic: SALGeneric_command_enable .. _Hexapod:enable:value: value ***** :IDL_Type: boolean :Units: unitless **Description**: Not used enterControl ~~~~~~~~~~~~ **Description**: Transition from state Offline to Standby. Only "externally commandable" CSCs support this command; other CSCs start in Standby state and quit when they go to Offline. :EFDB_Topic: SALGeneric_command_enterControl .. _Hexapod:enterControl:value: value ***** :IDL_Type: boolean :Units: unitless **Description**: Not used exitControl ~~~~~~~~~~~ **Description**: Transition from state Standby to Offline. For CSCs that are not "externally commandable" this makes the CSC quit. :EFDB_Topic: SALGeneric_command_exitControl .. _Hexapod:exitControl:value: value ***** :IDL_Type: boolean :Units: unitless **Description**: Not used setAuthList ~~~~~~~~~~~ :EFDB_Topic: SALGeneric_command_setAuthList .. _Hexapod:setAuthList:authorizedUsers: 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. .. _Hexapod:setAuthList:nonAuthorizedCSCs: 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 .. _Hexapod:setLogLevel:level: 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 .. _Hexapod:setValue:parametersAndValues: 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 .. _Hexapod:standby:value: value ***** :IDL_Type: boolean :Units: unitless **Description**: Not used start ~~~~~ **Description**: Transition from state Standby to Disable, in a specified configuration. :EFDB_Topic: SALGeneric_command_start .. _Hexapod:start:settingsToApply: settingsToApply *************** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: Name of the selected settings set 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: * HEX * HEX * COMMAND * SAFTEY * EXTEND * RETRACT * ETHERCAT * DDS * MOTION * DRIVE * SIMULINK * ENCODER Events ------ .. _Hexapod:Events:actuatorInPosition: actuatorInPosition ~~~~~~~~~~~~~~~~~~ **Description**: Indicates whether each linear actuator has reached its commanded position. :EFDB_Topic: Hexapod_logevent_actuatorInPosition .. _Hexapod:Events:actuatorInPosition:inPosition: inPosition ********** :IDL_Type: boolean :Units: unitless :Count: 6 **Description**: Actuator in position. .. _Hexapod:Events:commandableByDDS: commandableByDDS ~~~~~~~~~~~~~~~~ **Description**: Can the CSC can control the hexapod? :EFDB_Topic: Hexapod_logevent_commandableByDDS .. _Hexapod:Events:commandableByDDS:state: state ***** :IDL_Type: boolean :Units: dimensionless **Description**: If true the CSC can control the hexapod; else the Engineering User Interface has control. .. _Hexapod:Events:configuration: configuration ~~~~~~~~~~~~~ **Description**: Hexapod configuration. :EFDB_Topic: Hexapod_logevent_configuration .. _Hexapod:Events:configuration:accelerationAccmax: accelerationAccmax ****************** :IDL_Type: double :Units: um/s2 **Description**: Maximum acceleration .. _Hexapod:Events:configuration:limitXYMax: limitXYMax ********** :IDL_Type: double :Units: um **Description**: Maximum XY (Combined linear motion limit) .. _Hexapod:Events:configuration:limitZMin: limitZMin ********* :IDL_Type: double :Units: um **Description**: Minimum Z .. _Hexapod:Events:configuration:limitZMax: limitZMax ********* :IDL_Type: double :Units: um **Description**: Maximum Z limit .. _Hexapod:Events:configuration:limitUVMax: limitUVMax ********** :IDL_Type: double :Units: deg **Description**: Maximum UV (Combined angular motion limit) .. _Hexapod:Events:configuration:limitWMin: limitWMin ********* :IDL_Type: double :Units: deg **Description**: Minimum W limit .. _Hexapod:Events:configuration:limitWMax: limitWMax ********* :IDL_Type: double :Units: deg **Description**: Maximum W limit .. _Hexapod:Events:configuration:velocityXYMax: velocityXYMax ************* :IDL_Type: double :Units: um/s **Description**: Maximum XY velocity limit .. _Hexapod:Events:configuration:velocityRxRyMax: velocityRxRyMax *************** :IDL_Type: double :Units: deg/s **Description**: Maximum RXRY velocity limit .. _Hexapod:Events:configuration:velocityZMax: velocityZMax ************ :IDL_Type: double :Units: um/s **Description**: Maximum Z velocity .. _Hexapod:Events:configuration:velocityRzMax: velocityRzMax ************* :IDL_Type: double :Units: deg/s **Description**: Maximum Rz velocity .. _Hexapod:Events:configuration:positionX: positionX ********* :IDL_Type: double :Units: um **Description**: x position .. _Hexapod:Events:configuration:positionY: positionY ********* :IDL_Type: double :Units: um **Description**: y position .. _Hexapod:Events:configuration:positionZ: positionZ ********* :IDL_Type: double :Units: um **Description**: z position .. _Hexapod:Events:configuration:positionU: positionU ********* :IDL_Type: double :Units: deg **Description**: U position .. _Hexapod:Events:configuration:positionV: positionV ********* :IDL_Type: double :Units: deg **Description**: V position .. _Hexapod:Events:configuration:positionW: positionW ********* :IDL_Type: double :Units: deg **Description**: W position .. _Hexapod:Events:configuration:pivotX: pivotX ****** :IDL_Type: double :Units: um **Description**: Pivot coordinate X .. _Hexapod:Events:configuration:pivotY: pivotY ****** :IDL_Type: double :Units: um **Description**: Pivot coordinate Y .. _Hexapod:Events:configuration:pivotZ: pivotZ ****** :IDL_Type: double :Units: um **Description**: Pivot coordinate Z .. _Hexapod:Events:configuration:elevationRawLUTElevIndex: elevationRawLUTElevIndex ************************ :IDL_Type: short :Units: dimensionless :Count: 19 **Description**: elevationRawLUTElevIndex .. _Hexapod:Events:configuration:elevationRawLUTX: elevationRawLUTX **************** :IDL_Type: double :Units: um :Count: 19 **Description**: elevationRawLUTX .. _Hexapod:Events:configuration:elevationRawLUTY: elevationRawLUTY **************** :IDL_Type: double :Units: um :Count: 19 **Description**: elevationRawLUTY .. _Hexapod:Events:configuration:elevationRawLUTZ: elevationRawLUTZ **************** :IDL_Type: double :Units: um :Count: 19 **Description**: elevationRawLUTZ .. _Hexapod:Events:configuration:elevationRawLUTRx: elevationRawLUTRx ***************** :IDL_Type: double :Units: deg :Count: 19 **Description**: elevationRawLUTRx .. _Hexapod:Events:configuration:elevationRawLUTRy: elevationRawLUTRy ***************** :IDL_Type: double :Units: deg :Count: 19 **Description**: elevationRawLUTRy .. _Hexapod:Events:configuration:elevationRawLUTRz: elevationRawLUTRz ***************** :IDL_Type: double :Units: deg :Count: 19 **Description**: elevationRawLUTRz .. _Hexapod:Events:configuration:azimuthRawLUTAzIndex: azimuthRawLUTAzIndex ******************** :IDL_Type: short :Units: dimensionless :Count: 37 **Description**: azimuthRawLUTAzIndex .. _Hexapod:Events:configuration:azimuthRawLUTX: azimuthRawLUTX ************** :IDL_Type: double :Units: um :Count: 37 **Description**: azimuthRawLUTX .. _Hexapod:Events:configuration:azimuthRawLUTY: azimuthRawLUTY ************** :IDL_Type: double :Units: um :Count: 37 **Description**: azimuthRawLUTY .. _Hexapod:Events:configuration:azimuthRawLUTZ: azimuthRawLUTZ ************** :IDL_Type: double :Units: um :Count: 37 **Description**: azimuthRawLUTZ .. _Hexapod:Events:configuration:azimuthRawLUTRx: azimuthRawLUTRx *************** :IDL_Type: double :Units: deg :Count: 37 **Description**: azimuthRawLUTRx .. _Hexapod:Events:configuration:azimuthRawLUTRy: azimuthRawLUTRy *************** :IDL_Type: double :Units: deg :Count: 37 **Description**: azimuthRawLUTRy .. _Hexapod:Events:configuration:azimuthRawLUTRz: azimuthRawLUTRz *************** :IDL_Type: double :Units: deg :Count: 37 **Description**: azimuthRawLUTRz .. _Hexapod:Events:configuration:temperatureRawLUTTempIndex: temperatureRawLUTTempIndex ************************** :IDL_Type: short :Units: dimensionless :Count: 9 **Description**: temperatureRawLUTTempIndex .. _Hexapod:Events:configuration:temperatureRawLUTX: temperatureRawLUTX ****************** :IDL_Type: double :Units: um :Count: 9 **Description**: temperatureRawLUTX .. _Hexapod:Events:configuration:temperatureRawLUTY: temperatureRawLUTY ****************** :IDL_Type: double :Units: um :Count: 9 **Description**: temperatureRawLUTY .. _Hexapod:Events:configuration:temperatureRawLUTZ: temperatureRawLUTZ ****************** :IDL_Type: double :Units: um :Count: 9 **Description**: temperatureRawLUTZ .. _Hexapod:Events:configuration:temperatureRawLUTRx: temperatureRawLUTRx ******************* :IDL_Type: double :Units: deg :Count: 9 **Description**: temperatureRawLUTRx .. _Hexapod:Events:configuration:temperatureRawLUTRy: temperatureRawLUTRy ******************* :IDL_Type: double :Units: deg :Count: 9 **Description**: temperatureRawLUTRy .. _Hexapod:Events:configuration:temperatureRawLUTRz: temperatureRawLUTRz ******************* :IDL_Type: double :Units: deg :Count: 9 **Description**: temperatureRawLUTRz .. _Hexapod:Events:configuration:strutDisplacementMax: strutDisplacementMax ******************** :IDL_Type: double :Units: um **Description**: strutDisplacementMax .. _Hexapod:Events:configuration:strutVelocityMax: strutVelocityMax **************** :IDL_Type: double :Units: um/s **Description**: strutVelocityMax .. _Hexapod:Events:connected: connected ~~~~~~~~~ **Description**: State of TCP/IP connection to the low level controller. :EFDB_Topic: Hexapod_logevent_connected .. _Hexapod:Events:connected:command: command ******* :IDL_Type: boolean :Units: unitless **Description**: Is the command socket connected (true=yes, false=no)? .. _Hexapod:Events:connected:telemetry: telemetry ********* :IDL_Type: boolean :Units: unitless **Description**: Is the telemetry/config socket connected (true=yes, false=no)? .. _Hexapod:Events:controllerState: controllerState ~~~~~~~~~~~~~~~ **Description**: State reported by the controller. :EFDB_Topic: Hexapod_logevent_controllerState .. _Hexapod:Events:controllerState: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. .. _Hexapod:Events:controllerState:offlineSubstate: offlineSubstate *************** :IDL_Type: long :Units: unitless **Description**: Substate in OFFLINE mode, an OfflineSubstate enumeration value. .. _Hexapod:Events:controllerState:enabledSubstate: enabledSubstate *************** :IDL_Type: long :Units: unitless **Description**: Substate in ENABLED mode, an EnabledSubstate enumeration value. .. _Hexapod:Events:controllerState:applicationStatus: applicationStatus ***************** :IDL_Type: long :Units: unitless :Count: 6 **Description**: Application status; one value for each linear actuator. A bitmask of ApplicationStatus enumeration values. .. _Hexapod:Events:inPosition: inPosition ~~~~~~~~~~ **Description**: Indicates whether or not all actuators have reached their commanded position. :EFDB_Topic: Hexapod_logevent_inPosition .. _Hexapod:Events:inPosition:inPosition: inPosition ********** :IDL_Type: boolean :Units: unitless **Description**: All actuators are in position. .. _Hexapod:Events:interlock: interlock ~~~~~~~~~ **Description**: Safety interlock engaged or disengaged. :EFDB_Topic: Hexapod_logevent_interlock .. _Hexapod:Events:interlock:detail: detail ****** :IDL_Type: string :IDL_Size: 256 :Units: dimensionless **Description**: One of two values: Engaged or Disengaged .. _Hexapod:Events:interlock:timestamp: timestamp ********* :IDL_Type: double :Units: dimensionless **Description**: timestamp appliedSettingsMatchStart ~~~~~~~~~~~~~~~~~~~~~~~~~ :EFDB_Topic: SALGeneric_logevent_appliedSettingsMatchStart .. _Hexapod:appliedSettingsMatchStart:appliedSettingsMatchStartIsTrue: appliedSettingsMatchStartIsTrue ******************************* :IDL_Type: boolean :Units: unitless **Description**: True when the configuration matches the start conditions authList ~~~~~~~~ :EFDB_Topic: SALGeneric_logevent_authList .. _Hexapod:authList:authorizedUsers: authorizedUsers *************** :IDL_Type: string :Units: unitless **Description**: Comma seperated list of authorized users currently allowed to command this CSC. .. _Hexapod:authList:nonAuthorizedCSCs: 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 .. _Hexapod:errorCode:errorCode: errorCode ********* :IDL_Type: long :Units: unitless **Description**: A numeric error code .. _Hexapod:errorCode:errorReport: errorReport *********** :IDL_Type: string :Units: unitless **Description**: An string providing detailed information about the error .. _Hexapod:errorCode:traceback: traceback ********* :IDL_Type: string :Units: unitless **Description**: An optional stack trace of the error condition heartbeat ~~~~~~~~~ :EFDB_Topic: SALGeneric_logevent_heartbeat .. _Hexapod:heartbeat:heartbeat: heartbeat ********* :IDL_Type: boolean :Units: unitless **Description**: Beats the drum. logLevel ~~~~~~~~ **Description**: Current logging level. :EFDB_Topic: SALGeneric_logevent_logLevel .. _Hexapod:logLevel:level: 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 .. _Hexapod:logMessage:name: name **** :IDL_Type: string :Units: unitless **Description**: Log name. .. _Hexapod:logMessage:level: level ***** :IDL_Type: int :Units: unitless **Description**: Message level, a Python logging level: error=40, warning=30, info=20, debug=10. .. _Hexapod:logMessage:message: message ******* :IDL_Type: string :Units: unitless **Description**: Log message. .. _Hexapod:logMessage:traceback: traceback ********* :IDL_Type: string :Units: unitless **Description**: Exception traceback; "" if not an exception. .. _Hexapod:logMessage:filePath: filePath ******** :IDL_Type: string :Units: unitless **Description**: Path to source file. .. _Hexapod:logMessage:functionName: functionName ************ :IDL_Type: string :Units: unitless **Description**: Function or method name. .. _Hexapod:logMessage:lineNumber: lineNumber ********** :IDL_Type: long :Units: unitless **Description**: Line number in the file specified by filePath. .. _Hexapod:logMessage:process: process ******* :IDL_Type: long :Units: unitless **Description**: Process ID. settingVersions ~~~~~~~~~~~~~~~ **Description**: Information about settings which can be specified in the start command. :EFDB_Topic: SALGeneric_logevent_settingVersions .. _Hexapod:settingVersions:recommendedSettingsVersion: recommendedSettingsVersion ************************** :IDL_Type: string :Units: unitless **Description**: List of comma seperated recomended versions of settings sets .. _Hexapod:settingVersions:recommendedSettingsLabels: recommendedSettingsLabels ************************* :IDL_Type: string :Units: unitless **Description**: List of comma seperated names of settings sets .. _Hexapod:settingVersions:settingsUrl: 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 .. _Hexapod:settingsApplied:settingsVersion: settingsVersion *************** :IDL_Type: string :IDL_Size: 256 :Units: unitless **Description**: The SHA or name corresponding to the published configuration .. _Hexapod:settingsApplied:otherSettingsEvents: 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 .. _Hexapod:simulationMode:mode: 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 .. _Hexapod:softwareVersions:salVersion: salVersion ********** :IDL_Type: string :IDL_Size: 16 :Units: unitless **Description**: This is the current version of SAL generation .. _Hexapod:softwareVersions:xmlVersion: xmlVersion ********** :IDL_Type: string :IDL_Size: 16 :Units: unitless **Description**: This is the current version of CSC XML .. _Hexapod:softwareVersions:openSpliceVersion: openSpliceVersion ***************** :IDL_Type: string :IDL_Size: 16 :Units: unitless **Description**: This is the current version of OpenSplice .. _Hexapod:softwareVersions:cscVersion: cscVersion ********** :IDL_Type: string :IDL_Size: 16 :Units: unitless **Description**: This is the top-level version of the CSC .. _Hexapod:softwareVersions:subsystemVersions: 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 summaryState ~~~~~~~~~~~~ **Description**: Current summary state of the CSC :EFDB_Topic: SALGeneric_logevent_summaryState .. _Hexapod:summaryState:summaryState: summaryState ************ :IDL_Type: long :Units: unitless **Description**: High level state machine state identifier Telemetry --------- .. _Hexapod:Telemetry:actuators: actuators ~~~~~~~~~ :EFDB_Topic: Hexapod_actuators .. _Hexapod:Telemetry:actuators:calibrated: calibrated ********** :IDL_Type: double :Units: um :Count: 6 **Description**: Linear encoder readings from each hexapod actuator (x1,x2,x3,x4,x5,x6) in microns .. _Hexapod:Telemetry:actuators:raw: raw *** :IDL_Type: double :Units: dimensionless :Count: 6 **Description**: Linear encoder readings from each hexapod actuator (x1,x2,x3,x4,x5,x6)in counts .. _Hexapod:Telemetry:application: application ~~~~~~~~~~~ :EFDB_Topic: Hexapod_application .. _Hexapod:Telemetry:application:demand: 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. .. _Hexapod:Telemetry:application:position: 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. .. _Hexapod:Telemetry:application:error: 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. .. _Hexapod:Telemetry:electrical: electrical ~~~~~~~~~~ :EFDB_Topic: Hexapod_electrical .. _Hexapod:Telemetry:electrical:copleyStatusWordDrive: 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 .. _Hexapod:Telemetry:electrical:copleyLatchingFaultStatus: copleyLatchingFaultStatus ************************* :IDL_Type: unsigned short :Units: dimensionless :Count: 6 **Description**: Copley latching fault status