Hexapod¶

Note

This page is generated by python script generate_cet.py.

Commands¶

clearError¶

Description: Clear the fault state.

EFDB_Topic:	Hexapod_command_clearError

configureAcceleration¶

Description: Set the acceleration for all struts.

EFDB_Topic:	Hexapod_command_configureAcceleration

acceleration¶

IDL_Type:	double
Units:	um/s2

Description: Strut acceleration.

configureLimits¶

Description: Set position and orientation limits.

EFDB_Topic:	Hexapod_command_configureLimits

maxXY¶

IDL_Type:	double
Units:	um

Description: Maximum |X| and |Y|

minZ¶

IDL_Type:	double
Units:	um

Description: Minimum Z

maxZ¶

IDL_Type:	double
Units:	um

Description: Maximum Z

maxUV¶

IDL_Type:	double
Units:	deg

Description: Maximum |U| and |V|

minW¶

IDL_Type:	double
Units:	deg

Description: Minimum W

maxW¶

IDL_Type:	double
Units:	deg

Description: Maximum W

configureVelocity¶

Description: Set velocity limits for position and orientation.

EFDB_Topic:	Hexapod_command_configureVelocity

xy¶

IDL_Type:	double
Units:	um/s

Description: Maximum velocity for X and Y

uv¶

IDL_Type:	double
Units:	deg/s

Description: Maximum velocity for U and V

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? Synchronize motion is our normal operating mode.

moveWithCompensation¶

Description: A variant of the move command that compensates for elevation, azimuth and temperature.

EFDB_Topic:	Hexapod_command_moveWithCompensation

elevation¶

IDL_Type:	double
Units:	deg

Description: Telescope elevation. Must be in the range [0, 90].

azimuth¶

IDL_Type:	double
Units:	deg

Description: Telescope azimuth. There is no range limit.

temperature¶

IDL_Type:	double
Units:	Celsius

Description: Ambient temperature. There is no range limit.

sync¶

IDL_Type:	boolean
Units:	dimensionless

Description: Synchronize motion so that all actuators start and stop moving at the same time? Synchronize motion is our normal operating mode.

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? Synchronize motion is our normal operating mode.

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 SAFETY 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 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

maxXY¶

IDL_Type:	double
Units:	um

Description: Maximum |X| and |Y|

minZ¶

IDL_Type:	double
Units:	um

Description: Minimum allowed Z

maxZ¶

IDL_Type:	double
Units:	um

Description: Maximum allowed Z

maxUV¶

IDL_Type:	double
Units:	deg

Description: Maximum |U| and |V|

minW¶

IDL_Type:	double
Units:	deg

Description: Minimum allowed W

maxW¶

IDL_Type:	double
Units:	deg

Description: Maximum allowed W

maxVelocityXY¶

IDL_Type:	double
Units:	um/s

Description: Maximum velocity for X and Y

maxVelocityZ¶

IDL_Type:	double
Units:	um/s

Description: Maximum velocity for Z

maxVelocityUV¶

IDL_Type:	double
Units:	deg/s

Description: Maximum velocity for U and V

maxVelocityW¶

IDL_Type:	double
Units:	deg/s

Description: Maximum velocity for W

initialX¶

IDL_Type:	double
Units:	um

Description: Initial X

initialY¶

IDL_Type:	double
Units:	um

Description: Initial Y

initialZ¶

IDL_Type:	double
Units:	um

Description: Initial Z

initialU¶

IDL_Type:	double
Units:	deg

Description: Initial U

initialV¶

IDL_Type:	double
Units:	deg

Description: Initial V

initialW¶

IDL_Type:	double
Units:	deg

Description: Initial W

pivotX¶

IDL_Type:	double
Units:	um

Description: Pivot point X

pivotY¶

IDL_Type:	double
Units:	um

Description: Pivot point Y

pivotZ¶

IDL_Type:	double
Units:	um

Description: Pivot point Z

maxDisplacementStrut¶

IDL_Type:	double
Units:	um

Description: Maximum strut displacement from 0

maxVelocityStrut¶

IDL_Type:	double
Units:	um/s

Description: Maximum strut velocity

accelerationStrut¶

IDL_Type:	double
Units:	um/s2

Description: Strut acceleration

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 telemetv/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 summavState, but the numeric values differ. We report the controller state in addition to summavState because we need to report a summavState 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

target¶

Description: Target position and orientation of pivot point. This is output in response to SAL move commands (move, moveWithCompensation, and offset), but is not output when motion is commanded by the engineering user interface.

EFDB_Topic:	Hexapod_logevent_target

compensated¶

IDL_Type:	boolean
Units:	unitless

Description: Was compensation applied for elevation, azimuth and temperature? If false then ignore elevation, azimuth and temperature, and x,y,z,u,v,w will match the uncompensated values.

elevation¶

IDL_Type:	double
Units:	deg

Description: Elevation on which the compensation was based.

azimuth¶

IDL_Type:	double
Units:	deg

Description: Azimuth on which the compensation was based.

temperature¶

IDL_Type:	double
Units:	C

Description: Temperature on which the compensation was based.

uncompensatedX¶

IDL_Type:	double
Units:	um

Description: Uncompensated x (specified by user)

uncompensatedY¶

IDL_Type:	double
Units:	um

Description: Uncompensated y (specified by user)

uncompensatedZ¶

IDL_Type:	double
Units:	um

Description: Uncompensated z (specified by user)

uncompensatedU¶

IDL_Type:	double
Units:	deg

Description: Uncompensated u (specified by user)

uncompensatedV¶

IDL_Type:	double
Units:	deg

Description: Uncompensated v (specified by user)

uncompensatedW¶

IDL_Type:	double
Units:	deg

Description: Uncompensated w (specified by user)

x¶

IDL_Type:	double
Units:	um

Description: X position, with compensation applied if “compensated” true.

y¶

IDL_Type:	double
Units:	um

Description: Y position, with compensation applied if “compensated” true.

z¶

IDL_Type:	double
Units:	um

Description: Z position, with compensation applied if “compensated” true.

u¶

IDL_Type:	double
Units:	deg

Description: U angle, with compensation applied if “compensated” true.

v¶

IDL_Type:	double
Units:	deg

Description: V angle, with compensation applied if “compensated” true.

w¶

IDL_Type:	double
Units:	deg

Description: W angle, with compensation applied if “compensated” true.

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:	256
Units:	unitless

Description: This is the current version of SAL generation

xmlVersion¶

IDL_Type:	string
IDL_Size:	256
Units:	unitless

Description: This is the current version of CSC XML

openSpliceVersion¶

IDL_Type:	string
IDL_Size:	256
Units:	unitless

Description: This is the current version of OpenSplice

cscVersion¶

IDL_Type:	string
IDL_Size:	256
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, U, V, W). 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, U, V, W). 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 (X, Y, Z, U, V, W). 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¶

acceleration¶

configureLimits¶

maxXY¶

minZ¶

maxZ¶

maxUV¶

minW¶

maxW¶

configureVelocity¶

xy¶

z¶

uv¶

w¶

move¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

moveWithCompensation¶

elevation¶

azimuth¶

temperature¶

x¶

y¶

z¶

u¶

v¶

w¶

sync¶

offset¶

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¶

start¶

settingsToApply¶

Enumerations¶

Events¶

actuatorInPosition¶

inPosition¶

commandableByDDS¶

state¶

configuration¶

maxXY¶

minZ¶