| Device Properties |
| Property name |
Property type |
Description |
| Serialline |
Tango::DEV_STRING |
Serial line device to access the motor controller. |
| Channel |
Tango::DEV_SHORT |
Channel number for the motor on the controller. Number between 1 and 6. |
| Limit_switches |
Tango::DEV_STRING |
Limit switches can be 'enabled' or 'disabled'. |
| Acceleration |
Tango::DEV_DOUBLE |
Motor Acceleration |
| Steps_per_unit |
Tango::DEV_DOUBLE |
Motors steps per unit of the position value.
Position might have a unit as: mm, um, rad, mrad.... |
| Velocity |
Tango::DEV_DOUBLE |
Constant velocity of the motor |
| Current |
Tango::DEV_LONG |
Current to drive motor in |
| Micro_stepping |
Tango::DEV_LONG |
Multiplies the steps/tr of the motor by the micro_stepping value. |
| Backlash |
Tango::DEV_DOUBLE |
Backlash to be applied with every motor movement. |
| Encoder_present |
Tango::DEV_SHORT |
The motor position is read either in motor steps (=0) or
in encoder steps (=1). |
| Encoder_input |
Tango::DEV_SHORT |
Refer to Paragon stepper drive user's guide.
9=step/dir, 1=cw/ccw, 2=quad ABZ, default=2 |
| Encoder_resolution |
Tango::DEV_LONG |
Resolution of the encoder connected to the axe. |
| Home_switch_edge |
Tango::DEV_STRING |
The reference edge of the home switch to be used for the home
positioning. The value can either be the rising edge (+) or falling edge
(-). |
| Home_switch_type |
Tango::DEV_SHORT |
The home switch used can be normally in a open = 0 or a closed = 1
position. |
| Home_search_direction |
Tango::DEV_STRING |
Direction to search for the home switch + or -. |
| Home_mode |
Tango::DEV_SHORT |
The mode determines what happens when the specified edge
of the home switch is encountered:
See the stepper drive user guide for a detailed description |
| Home_position |
Tango::DEV_DOUBLE |
The position value to be applied to the motor in the home position. |
| Posmain |
Tango::DEV_STRING |
Position mainenanace can be \"enabled\" or \"disabled\". |
| Posmain_deadband_range |
Tango::DEV_LONG |
The dead band range is measured in encoder counts as a +/- band.
A dead band of 10 will be 20 units wide |
| Posmain_settle_time |
Tango::DEV_LONG |
Time in milliseconds the indexer will wait after a motion, before
doing a feedback. |
| Calibrated |
Tango::DEV_SHORT |
When this property is different from 0, the motor is considered as calibrated
and a certain number of attributes cannot be changed anymore.( e.g. step_per_unit)
The goal is to avoid undesired change when the calibratiuon process has been
performed. |
| Position |
Tango::DEV_DOUBLE |
The last position value saved to the database by the server.
Must be written to the controller on start-up. |
| Auto_numbering |
Tango::DEV_STRING |
Defines if the controller is configured to accept the auto numbering. This feature is
only available with RS232 controlled devices.
This property is set by default to \"ON\" in the code of the server.
It should be set to \"OFF\" to disable it. |
| BrakeMask |
Tango::DEV_STRING |
This is a string representing the mask to be applied to the output bits
in order to activate or de-activate the brake mechanism. All the bits set
to 'x' will not be changed, only the bit set to '1'. |
