Hexapod¶

Note

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

Commands¶

clearError¶

Description: Clear the fault state.

EFDB_Topic:	Hexapod_command_clearError

configureAcceleration¶

Description: Set maximum acceleration for all actuators.

EFDB_Topic:	Hexapod_command_configureAcceleration

accmax¶

IDL_Type:	double
Units:	um/s2

Description: Maximum acceleration.

configureLimits¶

Description: Set position and orientation limits.

EFDB_Topic:	Hexapod_command_configureLimits

xymax¶

IDL_Type:	double
Units:	um

Description: xy max

zmin¶

IDL_Type:	double
Units:	um

Description: z min

zmax¶

IDL_Type:	double
Units:	um

Description: z max

uvmax¶

IDL_Type:	double
Units:	deg

Description: uv max

wmin¶

IDL_Type:	double
Units:	deg

Description: w min

wmax¶

IDL_Type:	double
Units:	deg

Description: w max

configureVelocity¶

Description: Set velocity limits for position and orientation.

EFDB_Topic:	Hexapod_command_configureVelocity

xymax¶

IDL_Type:	double
Units:	um/s

Description: xymax

rxrymax¶

IDL_Type:	double
Units:	deg/s

Description: rxrymax

zmax¶

IDL_Type:	double
Units:	um/s

Description: zmax

rzmax¶

IDL_Type:	double
Units:	deg/s

Description: rzmax

move¶

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

EFDB_Topic:	Hexapod_command_move

sync¶

IDL_Type:	boolean
Units:	dimensionless

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.

EFDB_Topic:	Hexapod_command_moveLUT

elevation¶

IDL_Type:	double
Units:	deg

Description: Telescope elevation

azimuth¶

IDL_Type:	double
Units:	deg

Description: Telescope azimuth

temperature¶

IDL_Type:	double
Units:	Celsius

Description: Ambient temperature

sync¶

IDL_Type:	boolean
Units:	dimensionless

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

offset¶

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

EFDB_Topic:	Hexapod_command_offset

u¶

IDL_Type:	double
Units:	deg

Description: Offset of rotation about x

v¶

IDL_Type:	double
Units:	deg

Description: Offset of rotation about y

w¶

IDL_Type:	double
Units:	deg

Description: Offset of rotation about z

sync¶

IDL_Type:	boolean
Units:	dimensionless

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.

EFDB_Topic:	Hexapod_command_offsetLUT

elevation¶

IDL_Type:	double
Units:	deg

Description: Telescope elevation

azimuth¶

IDL_Type:	double
Units:	deg

Description: Telescope azimuth

temperature¶

IDL_Type:	double
Units:	Celsius

Description: Ambient temperature

u¶

IDL_Type:	double
Units:	deg

Description: Offset of rotation about x

v¶

IDL_Type:	double
Units:	deg

Description: Offset of rotation about y

w¶

IDL_Type:	double
Units:	deg

Description: Offset of rotation about z

sync¶

IDL_Type:	boolean
Units:	dimensionless

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).

EFDB_Topic:	Hexapod_command_pivot

stop¶

Description: Stop motion.

EFDB_Topic:	Hexapod_command_stop

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¶

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¶

actuatorInPosition¶

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

EFDB_Topic:	Hexapod_logevent_actuatorInPosition

inPosition¶

IDL_Type:	boolean
Units:	unitless
Count:	6

Description: Actuator in position.

commandableByDDS¶

Description: Can the CSC can control the hexapod?

EFDB_Topic:	Hexapod_logevent_commandableByDDS

state¶

IDL_Type:	boolean
Units:	dimensionless

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

configuration¶

Description: Hexapod configuration.

EFDB_Topic:	Hexapod_logevent_configuration

accelerationAccmax¶

IDL_Type:	double
Units:	um/s2

Description: Maximum acceleration

limitXYMax¶

IDL_Type:	double
Units:	um

Description: Maximum XY (Combined linear motion limit)

limitZMin¶

IDL_Type:	double
Units:	um

Description: Minimum Z

limitZMax¶

IDL_Type:	double
Units:	um

Description: Maximum Z limit

limitUVMax¶

IDL_Type:	double
Units:	deg

Description: Maximum UV (Combined angular motion limit)

limitWMin¶

IDL_Type:	double
Units:	deg

Description: Minimum W limit

limitWMax¶

IDL_Type:	double
Units:	deg

Description: Maximum W limit

velocityXYMax¶

IDL_Type:	double
Units:	um/s

Description: Maximum XY velocity limit

velocityRxRyMax¶

IDL_Type:	double
Units:	deg/s

Description: Maximum RXRY velocity limit

velocityZMax¶

IDL_Type:	double
Units:	um/s

Description: Maximum Z velocity

velocityRzMax¶

IDL_Type:	double
Units:	deg/s

Description: Maximum Rz velocity

positionX¶

IDL_Type:	double
Units:	um

Description: x position

positionY¶

IDL_Type:	double
Units:	um

Description: y position

positionZ¶

IDL_Type:	double
Units:	um

Description: z position

positionU¶

IDL_Type:	double
Units:	deg

Description: U position

positionV¶

IDL_Type:	double
Units:	deg

Description: V position

positionW¶

IDL_Type:	double
Units:	deg

Description: W position

pivotX¶

IDL_Type:	double
Units:	um

Description: Pivot coordinate X

pivotY¶

IDL_Type:	double
Units:	um

Description: Pivot coordinate Y

pivotZ¶

IDL_Type:	double
Units:	um

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

Description: strutDisplacementMax

strutVelocityMax¶

IDL_Type:	double
Units:	um/s

Description: strutVelocityMax

connected¶

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

EFDB_Topic:	Hexapod_logevent_connected

command¶

IDL_Type:	boolean
Units:	unitless

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

telemetry¶

IDL_Type:	boolean
Units:	unitless

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

controllerState¶

Description: State reported by the controller.

EFDB_Topic:	Hexapod_logevent_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.

offlineSubstate¶

IDL_Type:	long
Units:	unitless

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

enabledSubstate¶

IDL_Type:	long
Units:	unitless

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.

inPosition¶

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

EFDB_Topic:	Hexapod_logevent_inPosition

inPosition¶

IDL_Type:	boolean
Units:	unitless

Description: All actuators are in position.

interlock¶

Description: Safety interlock engaged or disengaged.

EFDB_Topic:	Hexapod_logevent_interlock

detail¶

IDL_Type:	string
IDL_Size:	256
Units:	dimensionless

Description: One of two values: Engaged or Disengaged

timestamp¶

IDL_Type:	double
Units:	dimensionless

Description: timestamp

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¶

actuators¶

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¶

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¶

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¶

configureAcceleration¶

accmax¶

configureLimits¶

xymax¶

zmin¶

zmax¶

uvmax¶

wmin¶

wmax¶

configureVelocity¶

xymax¶

rxrymax¶

zmax¶

rzmax¶

move¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

moveLUT¶

elevation¶

azimuth¶

temperature¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

offset¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

offsetLUT¶

elevation¶

azimuth¶

temperature¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

pivot¶

x¶

y¶

z¶

stop¶

abort¶

value¶

disable¶

value¶

enable¶

value¶

enterControl¶

value¶

exitControl¶

value¶

setAuthList¶

authorizedUsers¶

nonAuthorizedCSCs¶

setLogLevel¶

level¶

setValue¶

parametersAndValues¶

standby¶

value¶