ATHexapod¶

Note

This page is generated by the following python script generate_cet.py.

Commands¶

applyPositionLimits¶

EFDB_Topic:	ATHexapod_command_applyPositionLimits

xyMax¶

IDL_Type:	double
Units:	mm

Description: X and Y maximum position.

zMin¶

IDL_Type:	double
Units:	mm

Description: Z minimum position.

zMax¶

IDL_Type:	double
Units:	mm

Description: Z Maximum position.

uvMax¶

IDL_Type:	double
Units:	deg

Description: U and V Maximum position.

wMin¶

IDL_Type:	double
Units:	deg

Description: W minimum position.

wMax¶

IDL_Type:	double
Units:	deg

Description: W maximum position.

applyPositionOffset¶

EFDB_Topic:	ATHexapod_command_applyPositionOffset

x¶

IDL_Type:	double
Units:	mm

Description: X position offset.

y¶

IDL_Type:	double
Units:	mm

Description: Y position offset.

z¶

IDL_Type:	double
Units:	mm

Description: Z position offset.

u¶

IDL_Type:	double
Units:	deg

Description: U position offset.

v¶

IDL_Type:	double
Units:	deg

Description: V position offset.

w¶

IDL_Type:	double
Units:	deg

Description: W position offset.

moveToPosition¶

EFDB_Topic:	ATHexapod_command_moveToPosition

x¶

IDL_Type:	double
Units:	mm

Description: X position.

y¶

IDL_Type:	double
Units:	mm

Description: Y position.

z¶

IDL_Type:	double
Units:	mm

Description: Z position.

u¶

IDL_Type:	double
Units:	deg

Description: U position.

v¶

IDL_Type:	double
Units:	deg

Description: V position.

w¶

IDL_Type:	double
Units:	deg

Description: W position.

pivot¶

EFDB_Topic:	ATHexapod_command_pivot

x¶

IDL_Type:	double
Units:	mm

Description: X position to pivot.

y¶

IDL_Type:	double
Units:	mm

Description: Y position to pivot.

z¶

IDL_Type:	double
Units:	mm

Description: Z position to pivot.

setMaxSystemSpeeds¶

EFDB_Topic:	ATHexapod_command_setMaxSystemSpeeds

speed¶

IDL_Type:	double
Units:	mm/s

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

stopAllAxes¶

EFDB_Topic:	ATHexapod_command_stopAllAxes

stopAllAxes¶

IDL_Type:	boolean
Units:	unitless

Description: Stop all axes.

abort¶

EFDB_Topic:	SALGeneric_command_abort

value¶

IDL_Type:	boolean
Units:	unitless

Description: Not used

disable¶

Description: Transition from state Enabled to Disabled.

EFDB_Topic:	SALGeneric_command_disable

value¶

IDL_Type:	boolean
Units:	unitless

Description: Not used

enable¶

Description: Transition from state Disabled to Enabled.

EFDB_Topic:	SALGeneric_command_enable

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

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

value¶

IDL_Type:	boolean
Units:	unitless

Description: Not used

setAuthList¶

EFDB_Topic:	SALGeneric_command_setAuthList

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.

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

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

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

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

settingsToApply¶

IDL_Type:	string
IDL_Size:	256
Units:	unitless

Description: Name of the selected settings set

Enumerations¶

SummaryState:	DisabledState EnabledState FaultState OfflineState StandbyState
DetailedState:	InMotionState NotInMotionState

Events¶

detailedState¶

EFDB_Topic:	ATHexapod_logevent_detailedState

detailedState¶

IDL_Type:	long
Units:	unitless

Description: Detailed state.

inPosition¶

EFDB_Topic:	ATHexapod_logevent_inPosition

inPosition¶

IDL_Type:	boolean
Units:	unitless

Description: AT Hexapod in position.

timestamp¶

IDL_Type:	double
Units:	unitless

Description: Timestamp of telescope in position.

positionUpdate¶

EFDB_Topic:	ATHexapod_logevent_positionUpdate

positionX¶

IDL_Type:	double
Units:	mm

Description: New X position.

positionY¶

IDL_Type:	double
Units:	mm

Description: New Y position.

positionZ¶

IDL_Type:	double
Units:	mm

Description: New Z position.

positionU¶

IDL_Type:	double
Units:	deg

Description: New U position.

positionV¶

IDL_Type:	double
Units:	deg

Description: New V position.

positionW¶

IDL_Type:	double
Units:	deg

Description: New W position.

readyForCommand¶

EFDB_Topic:	ATHexapod_logevent_readyForCommand

ready¶

IDL_Type:	boolean
Units:	unitless

Description: Hexapod ready to be commanded

settingsAppliedPivot¶

EFDB_Topic:	ATHexapod_logevent_settingsAppliedPivot

pivotX¶

IDL_Type:	double
Units:	mm

Description: Pivot X position.

pivotY¶

IDL_Type:	double
Units:	mm

Description: Pivot Y position.

pivotZ¶

IDL_Type:	double
Units:	mm

Description: Pivot Z position.

settingsAppliedPositionLimits¶

EFDB_Topic:	ATHexapod_logevent_settingsAppliedPositionLimits

limitXYMax¶

IDL_Type:	double
Units:	mm

Description: X and Y maximum limit.

limitZMin¶

IDL_Type:	double
Units:	mm

Description: Z minimum limit.

limitZMax¶

IDL_Type:	double
Units:	mm

Description: Z maximum limit.

limitUVMax¶

IDL_Type:	double
Units:	deg

Description: U and V maximum limit.

limitWMin¶

IDL_Type:	double
Units:	deg

Description: W minimum limit.

limitWMax¶

IDL_Type:	double
Units:	deg

Description: W maximum limit.

settingsAppliedTcp¶

EFDB_Topic:	ATHexapod_logevent_settingsAppliedTcp

ip¶

IDL_Type:	string
IDL_Size:	15
Units:	unitless

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

port¶

IDL_Type:	long
Units:	unitless

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

readTimeout¶

IDL_Type:	float
Units:	second

Description: TCP/IP read timeout

writeTimeout¶

IDL_Type:	float
Units:	second

Description: TCP/IP write timeout

connectionTimeout¶

IDL_Type:	float
Units:	second

Description: TCP/IP open/close connection timeout

settingsAppliedVelocities¶

EFDB_Topic:	ATHexapod_logevent_settingsAppliedVelocities

systemSpeed¶

IDL_Type:	double
Units:	mm/s

Description: System speed.

appliedSettingsMatchStart¶

EFDB_Topic:	SALGeneric_logevent_appliedSettingsMatchStart

appliedSettingsMatchStartIsTrue¶

IDL_Type:	boolean
Units:	unitless

Description: True when the configuration matches the start conditions

authList¶

EFDB_Topic:	SALGeneric_logevent_authList

authorizedUsers¶

IDL_Type:	string
Units:	unitless

Description: Comma seperated list of authorized users currently allowed to command this CSC.

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

errorCode¶

IDL_Type:	long
Units:	unitless

Description: A numeric error code

errorReport¶

IDL_Type:	string
Units:	unitless

Description: An string providing detailed information about the error

traceback¶

IDL_Type:	string
Units:	unitless

Description: An optional stack trace of the error condition

heartbeat¶

EFDB_Topic:	SALGeneric_logevent_heartbeat

heartbeat¶

IDL_Type:	boolean
Units:	unitless

Description: Beats the drum.

logLevel¶

Description: Current logging level.

EFDB_Topic:	SALGeneric_logevent_logLevel

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

name¶

IDL_Type:	string
Units:	unitless

Description: Log name.

level¶

IDL_Type:	int
Units:	unitless

Description: Message level, a Python logging level: error=40, warning=30, info=20, debug=10.

message¶

IDL_Type:	string
Units:	unitless

Description: Log message.

traceback¶

IDL_Type:	string
Units:	unitless

Description: Exception traceback; “” if not an exception.

filePath¶

IDL_Type:	string
Units:	unitless

Description: Path to source file.

functionName¶

IDL_Type:	string
Units:	unitless

Description: Function or method name.

lineNumber¶

IDL_Type:	long
Units:	unitless

Description: Line number in the file specified by filePath.

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

recommendedSettingsVersion¶

IDL_Type:	string
Units:	unitless

Description: List of comma seperated recomended versions of settings sets

recommendedSettingsLabels¶

IDL_Type:	string
Units:	unitless

Description: List of comma seperated names of settings sets

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

settingsVersion¶

IDL_Type:	string
IDL_Size:	256
Units:	unitless

Description: The SHA or name corresponding to the published configuration

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

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

salVersion¶

IDL_Type:	string
IDL_Size:	16
Units:	unitless

Description: This is the current version of SAL generation

xmlVersion¶

IDL_Type:	string
IDL_Size:	16
Units:	unitless

Description: This is the current version of CSC XML

openSpliceVersion¶

IDL_Type:	string
IDL_Size:	16
Units:	unitless

Description: This is the current version of OpenSplice

cscVersion¶

IDL_Type:	string
IDL_Size:	16
Units:	unitless

Description: This is the top-level version of the CSC

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

summaryState¶

IDL_Type:	long
Units:	unitless

Description: High level state machine state identifier

Telemetry¶

positionStatus¶

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¶

applyPositionOffset¶

x¶

y¶

z¶

u¶

v¶

w¶

moveToPosition¶

x¶

y¶

z¶

u¶

v¶

w¶

pivot¶

x¶

y¶

z¶

setMaxSystemSpeeds¶

speed¶

stopAllAxes¶

stopAllAxes¶

abort¶

value¶

disable¶

value¶

enable¶

value¶

enterControl¶

value¶

exitControl¶

value¶

setAuthList¶

authorizedUsers¶

nonAuthorizedCSCs¶

setLogLevel¶

level¶

setValue¶

parametersAndValues¶

standby¶

value¶

start¶

settingsToApply¶

Enumerations¶

Events¶

detailedState¶

detailedState¶

inPosition¶

inPosition¶

timestamp¶

positionUpdate¶

positionX¶

positionY¶

positionZ¶

positionU¶

positionV¶

positionW¶

readyForCommand¶

ready¶

settingsAppliedPivot¶

pivotX¶

pivotY¶

pivotZ¶

settingsAppliedPositionLimits¶

limitXYMax¶

limitZMin¶

limitZMax¶

limitUVMax¶

limitWMin¶

limitWMax¶