org.mbari.siam.foce.devices.elmo.base
Class Elmo

java.lang.Object
  org.mbari.siam.foce.devices.elmo.base.Elmo

Direct Known Subclasses:

ElmoSolo

public abstract class Elmo
extends java.lang.Object

Base class for Elmo motor controllers.

Field Summary

protected byte[]	_doubleBuf
protected byte[]	_intBuf
protected byte[]	_junk32 Buffer for reading disposable input
protected static org.apache.log4j.Logger	_log4j Log4j logger
protected byte[]	_longBuf
protected int	_serialMode Serial port mode.
protected gnu.io.SerialPort	_serialPort Serial port for Elmo control I/O
protected java.io.InputStream	_serialRx Serial port input stream
protected java.io.OutputStream	_serialTx Serial port output stream
protected byte[]	_stringBuf
protected byte[]	_terminator Response terminator (as byte array)
protected java.lang.String	_terminatorString Response terminator (as String)
static int	BUF128 Buffer size (128)
static int	BUF32 Buffer size (32)
static java.lang.String	CMD_ABSOLUTE_POSITION Get/Set absolute position
static java.lang.String	CMD_ACCELERATION Get/Set acceleration
static java.lang.String	CMD_ARM_HOMING_PROCESS Arm homing process
static java.lang.String	CMD_BEGIN_MOTION Begin motion
static java.lang.String	CMD_COMMUTATION_ARRAY Get/Set commutation array parameters
static java.lang.String	CMD_CONT_CURRENT_LIMIT Get/set continuous active current limit Max value=MC/2 Supply current = (active current) * (PWM duty cycle)
static java.lang.String	CMD_CURRENT_I_FILTER Get/Set controller current PID gain (Integral)
static java.lang.String	CMD_CURRENT_P_FILTER Get/Set controller current PID gain (Proportional)
static java.lang.String	CMD_DECELERATION Get/Set motion deceleration
static java.lang.String	CMD_DIGITAL_INPUT_FILTER Get/Set Digital input filter
static java.lang.String	CMD_DIGITIAL_OUTPUT Get/Set digital output state
static java.lang.String	CMD_DISARM_HOMING_PROCESS Disarm homing process
static java.lang.String	CMD_DUMP_CPU Set hex mode off
static java.lang.String	CMD_ECHO Get/Set echo mode
static java.lang.String	CMD_ENABLE_AUX_HOME_SEQUENCE_HI Configure high speed input as active HI/aux homing trigger
static java.lang.String	CMD_ENABLE_AUX_HOME_SEQUENCE_LO Configure high speed input as active LO/aux homing trigger
static java.lang.String	CMD_ENABLE_MAIN_HOME_SEQUENCE_HI Configure high speed input as active HI/main homing trigger
static java.lang.String	CMD_ENABLE_MAIN_HOME_SEQUENCE_LO Configure high speed input as active LO/main homing trigger
static java.lang.String	CMD_GENERAL_PURPOSE_HI Configure high speed input as active HI/general purpose
static java.lang.String	CMD_GET_AUX_ENC_VELOCITY Get velocity aux encoder velocity
static java.lang.String	CMD_GET_DESIRED_VELOCITY Get commanded velocity
static java.lang.String	CMD_GET_DIGITAL_INPUTS Set digital input state
static java.lang.String	CMD_GET_MAIN_ENC_VELOCITY Get velocity main encoder velocity
static java.lang.String	CMD_GET_MOTION_STATUS Get motion status register
static java.lang.String	CMD_GET_MOTOR_FAULT Get motor fault register
static java.lang.String	CMD_GET_SERIAL_NUMBER Get serial numbers SN[1] returns the vendor ID.
static java.lang.String	CMD_GET_STATUS_REGISTER Get status register
static java.lang.String	CMD_GET_VELOCITY_ERROR Get velocity error
static java.lang.String	CMD_GET_VERSION Get software (firmware) version
static java.lang.String	CMD_HEXMODE Get/Set hex mode
static java.lang.String	CMD_HOMING_ABSOLUTE_VALUE Get/Set homing absolute value
static java.lang.String	CMD_HOMING_ACTIVATION_MODE Get/Set homing activation mode
static java.lang.String	CMD_HOMING_BEHAVIOR Get/Set homing behavior (what to do on homing event trigger)
static java.lang.String	CMD_HOMING_EVENT_DEFINITION Get/Set homing event
static java.lang.String	CMD_HOMING_EVENT_PX Get/Set homing event PX register behavior
static java.lang.String	CMD_HOMING_OUTPUT_VALUE Get/Set homing digital output value
static java.lang.String	CMD_INPUT_LOGIC Get/Set Input Functions IL[N]
static java.lang.String	CMD_JOGGING_VELOCITY Get/Set jogging velocity
static java.lang.String	CMD_MAX_CURRENT Get (read-only) Max active current limit
static java.lang.String	CMD_MOTOR_ENABLE Motor enable state
static java.lang.String	CMD_PEAK_CURRENT_DURATION Get/set peak active current duration (sec)
static java.lang.String	CMD_PEAK_CURRENT_LIMIT Get/set peak active current limit (A) Max value=MC
static java.lang.String	CMD_POSITION_COUNTER Get/set position counter
static java.lang.String	CMD_POSITION_ERROR Get position error
static java.lang.String	CMD_POSITION_REF_HI Get/Set upper reference position
static java.lang.String	CMD_POSITION_REF_LO Get/Set lower reference position
static java.lang.String	CMD_PTP_SPEED Get/Set max speed for PTP (point to point) motion Although SP is not used in velocity mode, it must be set so that SP<|VL[2]| and SP<|VH[2]|.
static java.lang.String	CMD_RELATIVE_POSITION Get/Set relative position
static java.lang.String	CMD_SET_DIO5_IGNORE_HI Configure high speed input as active HI/ignore
static java.lang.String	CMD_SET_DIO5_IGNORE_LO Configure high speed input as active LO/ignore
static java.lang.String	CMD_SET_XMODULUS_HI Get/Set X Modulus
static java.lang.String	CMD_SET_XMODULUS_LO Get/Set X Modulus
static java.lang.String	CMD_SPEED_LIMIT_HI Get/Set upper reference speed limit
static java.lang.String	CMD_SPEED_LIMIT_LO Get/Set lower reference speed limit
static java.lang.String	CMD_SPEED_REF_HI Get/Set upper reference speed command
static java.lang.String	CMD_SPEED_REF_LO Get/Set lower reference speed command
static java.lang.String	CMD_STOP_DECELERATION Get/Set stop deceleration
static java.lang.String	CMD_STOP_MOTION Stop motor
static java.lang.String	CMD_STUCK_SPEED Get/set min stuck motor speed (counts/s)
static java.lang.String	CMD_TORQUE_LIMIT Get/set torque limit (% of continuous current limit) If <2, stuck motor protection is disabled
static java.lang.String	CMD_UNIT_MODE Set/Get unit motion mode torque:1 velocity:2 position:3-5
static java.lang.String	CMD_VELOCITY_I_FILTER Get/Set controller velocity PID gain (Integral)
static java.lang.String	CMD_VELOCITY_P_FILTER Get/Set controller velocity PID gain (Proportional)
static int	COUNTS_PER_REVOLUTION Motor counts per revolution Note: this depends on the motor commutation and feedback mechanism.
static double	DBL_SEC_PER_MIN seconds per minute (double)
static int	DIGITAL_INPUT_BIT0
static int	DIGITAL_INPUT_BIT1
static int	DIGITAL_INPUT_BIT2
static int	DIGITAL_INPUT_BIT3
static int	DIGITAL_INPUT_BIT4
static int	DIGITAL_INPUT_BIT5
static int	ECHO_DISABLED Echo mode enabled
static int	ECHO_ENABLED Echo mode disabled
static int	HEX_MODE_DISABLED
static int	HEX_MODE_ENABLED
static java.lang.String	HOMING_BEHAVIOR_NONE Homing Behavior: do nothing
static java.lang.String	HOMING_BEHAVIOR_SET_OUTPUT Homing Behavior: set digital output
static java.lang.String	HOMING_BEHAVIOR_STOP Homing Behavior: stop motor
static java.lang.String	HOMING_EVENT_ABS Homing PX register behavior: absolute
static java.lang.String	HOMING_EVENT_DIN5 Homing Event Definition: trigger main switch closure
static java.lang.String	HOMING_EVENT_IMMEDIATE Homing Event Definition: trigger immediate (manual)
static java.lang.String	HOMING_EVENT_MAIN_HOME_SWITCH Homing Event Definition: trigger main switch closure
static java.lang.String	HOMING_EVENT_NONE Homing PX register behavior: no action
static java.lang.String	HOMING_EVENT_REL Homing PX register behavior: relative
static int	IL_MAX_INDEX
static int	IL_MAX_VALUE
static int	IL_MIN_INDEX
static int	IL_MIN_VALUE
static int	INPUT_LOGIC_ABORT_HI Input Logic Mode
static int	INPUT_LOGIC_ABORT_LO Input Logic Mode
static int	INPUT_LOGIC_AUXHOME_HI Input Logic Mode
static int	INPUT_LOGIC_AUXHOME_LO Input Logic Mode
static int	INPUT_LOGIC_BG_HI Input Logic Mode
static int	INPUT_LOGIC_BG_LO Input Logic Mode
static int	INPUT_LOGIC_BOTHSTOP_HI Input Logic Mode
static int	INPUT_LOGIC_BOTHSTOP_LO Input Logic Mode
static int	INPUT_LOGIC_FLS_HI Input Logic Mode
static int	INPUT_LOGIC_FLS_LO Input Logic Mode
static int	INPUT_LOGIC_FREEWHEEL_HI Input Logic Mode
static int	INPUT_LOGIC_FREEWHEEL_LO Input Logic Mode
static int	INPUT_LOGIC_GP_HI Input Logic Mode
static int	INPUT_LOGIC_GP_LO Input Logic Mode
static int	INPUT_LOGIC_HARDSTOP_HI Input Logic Mode
static int	INPUT_LOGIC_HARDSTOP_LO Input Logic Mode
static int	INPUT_LOGIC_IGNORE_HI Input Logic Mode
static int	INPUT_LOGIC_IGNORE_LO Input Logic Mode
static int	INPUT_LOGIC_MAINHOME_HI Input Logic Mode
static int	INPUT_LOGIC_MAINHOME_LO Input Logic Mode
static int	INPUT_LOGIC_RLS_HI Input Logic Mode
static int	INPUT_LOGIC_RLS_LO Input Logic Mode
static int	INPUT_LOGIC_SOFTSTOP_HI Input Logic Mode
static int	INPUT_LOGIC_SOFTSTOP_LO Input Logic Mode
static int	INT_SEC_PER_MIN seconds per minute (int)
static byte[]	LINE_END_BYTES line end for terminating command
static int	MASK_DIGITAL_INPUT_ABORT
static int	MASK_DIGITAL_INPUT_ACTIVE
static int	MASK_DIGITAL_INPUT_AUXHOME
static int	MASK_DIGITAL_INPUT_BG
static int	MASK_DIGITAL_INPUT_FLS
static int	MASK_DIGITAL_INPUT_HARDSTOP
static int	MASK_DIGITAL_INPUT_INH
static int	MASK_DIGITAL_INPUT_MAINHOME
static int	MASK_DIGITAL_INPUT_PIN
static int	MASK_DIGITAL_INPUT_PORT
static int	MASK_DIGITAL_INPUT_RLS
static int	MASK_DIGITAL_INPUT_SOFTSTOP
static int	MAX_ACCELERATION Absolute max allowed acceleration (counts per second^2)
static int	MAX_DECELERATION Absolute max allowed deceleration (counts per second^2)
static int	MAX_STOP_DECELERATION Absolute max allowed stopping deceleration (counts per second^2)
static int	MAX_VELOCITY_COUNTS Absolute max allowed commanded speed (counts per second)
static int	MAX_VELOCITY_LIMIT Absolute max allowed actual speed (counts per second)
static long	MAX_XMODULUS min x-modulus value
static int	MF_ANALOG_FEEBACK
static int	MF_CPU
static int	MF_DATABASE
static int	MF_ECAM
static int	MF_FEEDBACK_LOSS
static int	MF_HEARTBEAT
static int	MF_INHIBIT
static int	MF_MULT_HALL
static int	MF_NO_START
static int	MF_OK
static int	MF_OVER_VOLTAGE
static int	MF_PEAK_CURRENT
static int	MF_POSITION
static int	MF_POSITION_TRACKING
static int	MF_SERVO
static int	MF_SHORT_CIRCUIT
static int	MF_SPEED
static int	MF_SPEED_TRACKING
static int	MF_STACK_OVERFLOW
static int	MF_STUCK
static int	MF_TEMPERATURE
static int	MF_UNDER_VOLTAGE
static int	MF_ZERO_NOT_FOUND
static int	MIN_ACCELERATION Absolute min allowed acceleration (counts per second^2)
static int	MIN_DECELERATION Absolute min allowed deceleration (counts per second^2)
static int	MIN_STOP_DECELERATION Absolute min allowed stopping deceleration (counts per second^2)
static long	MIN_XMODULUS max x-modulus value
static int	MODE_DUAL_FEEDBACK_POSITION Unit Mode: Dual Feedback Position
static int	MODE_SERIAL_LOCAL Driver serial mode - use local serial port If this mode is selected command pacing is not used during cmdWriteRead (not an Elmo mode)
static int	MODE_SERIAL_RFC1722 Driver RFC1722 mode - use ethernet/serial converter e.g.
static int	MODE_SINGLE_FEEDBACK_POSITION Unit Mode: Single Feedback Position
static int	MODE_SPEED Unit Mode: Speed
static int	MODE_STEPPER Unit Mode: Stepper
static int	MODE_TORQUE Unit Mode: Torque
static int	MOTOR_DISABLED
static int	MOTOR_ENABLED
static int	MS_POS_STABLIZED
static int	MS_REF_CONTROLLED
static int	MS_REF_STATIONARY
static int	MS_RESERVED
static long	PX_MAX_VALUE max position counter value
static long	PX_MIN_VALUE min position counter value
static int	SR_CPU_STATUS
static int	SR_CURRENT_LIMIT_ON
static int	SR_DIGITAL_HALLS
static int	SR_DRIVE_READ
static int	SR_GAIN_SCHEDULING_ON
static int	SR_HOMING_PROCESSING
static int	SR_LIMIT_STOP
static int	SR_MOTION_STATUS
static int	SR_MOTOR_FAILURE_LATCHED
static int	SR_MOTOR_ON
static int	SR_OFFSET_CPU_STATUS
static int	SR_OFFSET_CURRENT_LIMIT_ON
static int	SR_OFFSET_DIGITAL_HALLS
static int	SR_OFFSET_DRIVE_READ
static int	SR_OFFSET_GAIN_SCHEDULING_ON
static int	SR_OFFSET_HOMING_PROCESSING
static int	SR_OFFSET_LIMIT_STOP
static int	SR_OFFSET_MOTION_STATUS
static int	SR_OFFSET_MOTOR_FAILURE_LATCHED
static int	SR_OFFSET_MOTOR_ON
static int	SR_OFFSET_PROGRAM_RUNNING
static int	SR_OFFSET_RECORDER_STATUS
static int	SR_OFFSET_REFERENCE_MODE
static int	SR_OFFSET_STATUS
static int	SR_OFFSET_UNIT_MODE
static int	SR_OFFSET_USER_PROGRAM_ERROR
static int	SR_PROGRAM_RUNNING
static int	SR_RECORDER_STATUS
static int	SR_REFERENCE_MODE
static int	SR_STATUS
static int	SR_UNIT_MODE
static int	SR_USER_PROGRAM_ERROR
static long	TM_CMD_MSEC Command timeout (milliseconds)
static long	TM_EMPTY_INPUT_MSEC default timeout during input stream flush
static long	TM_MOTION_WAIT_MSEC default motion wait polling interval
static long	TM_POLL_DELAY_MSEC polling delay during motor start/stop (milliseconds)
static long	TM_START_MSEC motor startup timeout (milliseconds)
static long	TM_STOP_MSEC motor stop timeout (milliseconds)

Constructor Summary

Elmo(gnu.io.SerialPort port)
Constructor

Method Summary

void	beginMotion() Begin motion.
protected int	cmdWriteRead(java.lang.String cmd, byte[] buf, byte[] terminator, long timeoutMsec) Perform one I/O transaction, (write then read).
protected double	cmdWriteReadDouble(java.lang.String cmd, int len, long timeoutMsec) Write one command and parse the resulting return value as an double.
protected int	cmdWriteReadInt(java.lang.String cmd, int len, long timeoutMsec) Write one command and parse the resulting return value as an integer.
protected long	cmdWriteReadLong(java.lang.String cmd, int len, long timeoutMsec) Write one command and parse the resulting return value as a long.
protected java.lang.String	cmdWriteReadString(java.lang.String cmd, int len, long timeoutMsec) Write one command and parse the resulting return value as a String.
protected int	cmdWriteReadX(java.lang.String cmd) write a command and cleanup returned terminator (discards characters read)
static double	counts2rpm(int counts, int countsPerRevolution) Convert motor speed from counts/second to RPM
protected void	delay(long delayMsec) Sleep for specified time
protected void	emptyInput(java.io.InputStream instream, long timeoutMsec) Flush the serial input stream.
void	emptyInput(long timeoutMsec) Flush the serial input stream.
int	getAcceleration() Get speed-up acceleration.
double	getContinuousCurrent() Get continous current limit (A)
int	getDeceleration() Get slow-down acceleration.
int	getDesiredVelocity() Get commanded velocity.
int	getEchoMode()
int	getEncoderVelocity() Get encoder velocity VX.
int	getHexMode()
int	getInputLogic(int inputBit) Get Input Logic register.
int	getInputPort() read digital input port
java.io.InputStream	getInputStream() Return serial port input stream used by this controller.
int	getJoggingVelocity() Get jogging velocity.
double	getMaxCurrent() Get max current from read-only MC parameter (A)
int	getMotionStatus() Get motion status register.
int	getMotorFault() Get detailed motor fault codes.
java.io.OutputStream	getOutputStream() Return serial port output stream used by this controller.
double	getPeakCurrent() Get peak current limit (A)
int	getPeakCurrentDuration() Get peak current duration (sec)
protected long	getPositionCounter() Get motor position.
protected long	getPositionError() Get motor position error.
int	getPTPSpeed()
int	getReferenceLimitHi() Get high reference speed limit (VH[2]) (counts/sec)
int	getReferenceLimitLo() Get low reference speed limit (VL[2]) (counts/sec)
int	getReferenceSpeedHi() Get high reference speed limit (VH[2]) (counts/sec)
int	getReferenceSpeedLo() Get low reference speed limit (VL[2]) (counts/sec)
int	getSerialMode() set serial mode
gnu.io.SerialPort	getSerialPort() Return SerialPort used by this controller.
int	getStatusRegister() Get status register value.
int	getStopDeceleration() Get slow-down stop acceleration.
int	getStuckSpeed() Get stuck speed (counts/sec)
double	getTorqueLimit() Get torque limit (% continous active current)
int	getUnitMode() Get controller operation mode.
java.lang.String	getVersion() Return controller version information.
long	getXModulusHi()
long	getXModulusLo()
abstract void	initializeController(int serialMode, int unitMode) Initialize motor controller.
boolean	isEnabled() Determine if motor is enabled.
void	jog(int velocity) Command new velocity; changes velocity during motion based on current AC, DC and specified JV parameters Sets jogging velocity and initiates new motion.
void	jog(int velocity, int acceleration, int deceleration) Command new velocity w/ new acceleration parameters.
static java.lang.String	mkCmd(java.lang.String cmd, int value)
static java.lang.String	mkCmd(java.lang.String cmd, long value)
static java.lang.String	mkCmd(java.lang.String cmd, java.lang.String value)
static java.lang.String	mkIndex(java.lang.String cmd, int index)
static java.lang.String	mkIndexCmd(java.lang.String cmd, int index, int value)
static java.lang.String	mkIndexCmd(java.lang.String cmd, int index, long value)
static java.lang.String	mkIndexCmd(java.lang.String cmd, int index, java.lang.String value)
void	motionWait(long distance, long pollMsec) wait for relative/absolute motion to complete
void	ptpAbsolute(long position, boolean wait) Command new absolute position; changes velocity during motion based on current AC, DC and specified JV parameters Enables motor and initiates new motion.
void	ptpAbsolute(long position, int velocity, int acceleration, int deceleration, boolean wait) Command new absolute position w/ new acceleration parameters.
void	ptpRelative(long position, boolean wait) Command new relative position; changes velocity during motion based on current AC, DC and specified JV parameters Enables motor and initiates new motion.
void	ptpRelative(long position, int velocity, int acceleration, int deceleration, boolean wait) Command new relative position w/ new acceleration parameters.
java.lang.String	readRegister(java.lang.String register) Return value (String) of Elmo register
static int	rpm2counts(double rpm, int countsPerRevolution) Convert motor speed from counts/second to RPM
void	setAcceleration(int value) Set speed-up acceleration.
void	setContinuousCurrent(double contCurrent) Set continuous current (A).
void	setDeceleration(int value) Set slow-down acceleration.
void	setEchoMode(int mode) Set echo mode
void	setEnable(boolean value, long timeoutMsec) Enable or disable the motor fulfills MotorControlIF interface
void	setHexMode(boolean mode) Set hex mode.
void	setInputLogic(int inputBit, int value) Set Input Logic register.
void	setJoggingVelocity(double velocityRPM, int countsPerRev) Set motor velocity.
void	setJoggingVelocity(int velocityCounts) Set jogging velocity (counts/second).
void	setPeakCurrent(double peakCurrent) Set peak current (A).
void	setPeakCurrentDuration(int peakCurrentDurationSec) Set peak current duration (sec).
void	setPositionAbsolute(long value) Position Absolute.
void	setPositionCounter(long value) Set Position Counter.
void	setPositionRelative(long value) Position Relative.
void	setPTPSpeed(int ptpSpeed) Set max speed for PTP (point to point) motion.
void	setReferenceLimit(int min, int max) Set controller reference speed limits.
void	setReferenceSpeed(int min, int max) Set controller reference speed.
void	setSerialMode(int mode) set serial mode
void	setSerialPort(gnu.io.SerialPort port) Set the SerialPort for this controller to use.
void	setStopDeceleration(int value) Set slow-down acceleration, Motor stop deceleration (counts/sec^2) Controls rate at which motor stops when ST command is issued; deceleration during jogging velocity change is handled separately.
void	setStuckSpeed(int stuckSpeed) Set stuck speed (counts/sec).
void	setTorqueLimit(double torquePercent) Set torque limit (% of continuous current).
void	setUnitMode(int mode) Set controller operation mode.
void	setXModulus(long xmLo, long xmHi) Set XModulus.
protected int	stopMotor() Stop motor.
protected void	writeCommand(java.lang.String cmd) Write a command to the serial port.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

_log4j

protected static org.apache.log4j.Logger _log4j

Log4j logger

MAX_VELOCITY_COUNTS

public static final int MAX_VELOCITY_COUNTS

Absolute max allowed commanded speed (counts per second)

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Constant Field Values

MAX_VELOCITY_LIMIT

public static final int MAX_VELOCITY_LIMIT

Absolute max allowed actual speed (counts per second)

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Constant Field Values

MIN_ACCELERATION

public static final int MIN_ACCELERATION

Absolute min allowed acceleration (counts per second^2)

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MIN_DECELERATION

public static final int MIN_DECELERATION

Absolute min allowed deceleration (counts per second^2)

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Constant Field Values

MAX_ACCELERATION

public static final int MAX_ACCELERATION

Absolute max allowed acceleration (counts per second^2)

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MAX_DECELERATION

public static final int MAX_DECELERATION

Absolute max allowed deceleration (counts per second^2)

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MIN_STOP_DECELERATION

public static final int MIN_STOP_DECELERATION

Absolute min allowed stopping deceleration (counts per second^2)

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MAX_STOP_DECELERATION

public static final int MAX_STOP_DECELERATION

Absolute max allowed stopping deceleration (counts per second^2)

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Constant Field Values

PX_MIN_VALUE

public static final long PX_MIN_VALUE

min position counter value

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PX_MAX_VALUE

public static final long PX_MAX_VALUE

max position counter value

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MAX_XMODULUS

public static final long MAX_XMODULUS

min x-modulus value

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MIN_XMODULUS

public static final long MIN_XMODULUS

max x-modulus value

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IL_MIN_INDEX

public static final int IL_MIN_INDEX

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IL_MAX_INDEX

public static final int IL_MAX_INDEX

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IL_MIN_VALUE

public static final int IL_MIN_VALUE

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IL_MAX_VALUE

public static final int IL_MAX_VALUE

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COUNTS_PER_REVOLUTION

public static final int COUNTS_PER_REVOLUTION

Motor counts per revolution Note: this depends on the motor commutation and feedback mechanism. This default value is for a simple DC brushless motor with a single pole pair.

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Constant Field Values

TM_CMD_MSEC

public static final long TM_CMD_MSEC

Command timeout (milliseconds)

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TM_START_MSEC

public static final long TM_START_MSEC

motor startup timeout (milliseconds)

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TM_STOP_MSEC

public static final long TM_STOP_MSEC

motor stop timeout (milliseconds)

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TM_POLL_DELAY_MSEC

public static final long TM_POLL_DELAY_MSEC

polling delay during motor start/stop (milliseconds)

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TM_EMPTY_INPUT_MSEC

public static final long TM_EMPTY_INPUT_MSEC

default timeout during input stream flush

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TM_MOTION_WAIT_MSEC

public static final long TM_MOTION_WAIT_MSEC

default motion wait polling interval

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INT_SEC_PER_MIN

public static final int INT_SEC_PER_MIN

seconds per minute (int)

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DBL_SEC_PER_MIN

public static final double DBL_SEC_PER_MIN

seconds per minute (double)

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BUF32

public static final int BUF32

Buffer size (32)

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BUF128

public static final int BUF128

Buffer size (128)

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MODE_SPEED

public static final int MODE_SPEED

Unit Mode: Speed

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MODE_STEPPER

public static final int MODE_STEPPER

Unit Mode: Stepper

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MODE_TORQUE

public static final int MODE_TORQUE

Unit Mode: Torque

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MODE_DUAL_FEEDBACK_POSITION

public static final int MODE_DUAL_FEEDBACK_POSITION

Unit Mode: Dual Feedback Position

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MODE_SINGLE_FEEDBACK_POSITION

public static final int MODE_SINGLE_FEEDBACK_POSITION

Unit Mode: Single Feedback Position

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MODE_SERIAL_LOCAL

public static final int MODE_SERIAL_LOCAL

Driver serial mode - use local serial port If this mode is selected command pacing is not used during cmdWriteRead (not an Elmo mode)

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MODE_SERIAL_RFC1722

public static final int MODE_SERIAL_RFC1722

Driver RFC1722 mode - use ethernet/serial converter e.g. Digi. If this mode is selected, command pacing is used during cmdWriteRead (not an Elmo mode)

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Constant Field Values

MOTOR_ENABLED

public static final int MOTOR_ENABLED

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MOTOR_DISABLED

public static final int MOTOR_DISABLED

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MASK_DIGITAL_INPUT_PORT

public static final int MASK_DIGITAL_INPUT_PORT

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MASK_DIGITAL_INPUT_ACTIVE

public static final int MASK_DIGITAL_INPUT_ACTIVE

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MASK_DIGITAL_INPUT_MAINHOME

public static final int MASK_DIGITAL_INPUT_MAINHOME

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MASK_DIGITAL_INPUT_AUXHOME

public static final int MASK_DIGITAL_INPUT_AUXHOME

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MASK_DIGITAL_INPUT_SOFTSTOP

public static final int MASK_DIGITAL_INPUT_SOFTSTOP

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MASK_DIGITAL_INPUT_HARDSTOP

public static final int MASK_DIGITAL_INPUT_HARDSTOP

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MASK_DIGITAL_INPUT_FLS

public static final int MASK_DIGITAL_INPUT_FLS

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MASK_DIGITAL_INPUT_RLS

public static final int MASK_DIGITAL_INPUT_RLS

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MASK_DIGITAL_INPUT_INH

public static final int MASK_DIGITAL_INPUT_INH

See Also:

Constant Field Values

MASK_DIGITAL_INPUT_BG

public static final int MASK_DIGITAL_INPUT_BG

See Also:

Constant Field Values

MASK_DIGITAL_INPUT_ABORT

public static final int MASK_DIGITAL_INPUT_ABORT

See Also:

Constant Field Values

MASK_DIGITAL_INPUT_PIN

public static final int MASK_DIGITAL_INPUT_PIN

See Also:

Constant Field Values

DIGITAL_INPUT_BIT0

public static final int DIGITAL_INPUT_BIT0

See Also:

Constant Field Values

DIGITAL_INPUT_BIT1

public static final int DIGITAL_INPUT_BIT1

See Also:

Constant Field Values

DIGITAL_INPUT_BIT2

public static final int DIGITAL_INPUT_BIT2

See Also:

Constant Field Values

DIGITAL_INPUT_BIT3

public static final int DIGITAL_INPUT_BIT3

See Also:

Constant Field Values

DIGITAL_INPUT_BIT4

public static final int DIGITAL_INPUT_BIT4

See Also:

Constant Field Values

DIGITAL_INPUT_BIT5

public static final int DIGITAL_INPUT_BIT5

See Also:

Constant Field Values

MS_POS_STABLIZED

public static final int MS_POS_STABLIZED

See Also:

Constant Field Values

MS_REF_STATIONARY

public static final int MS_REF_STATIONARY

See Also:

Constant Field Values

MS_REF_CONTROLLED

public static final int MS_REF_CONTROLLED

See Also:

Constant Field Values

MS_RESERVED

public static final int MS_RESERVED

See Also:

Constant Field Values

HEX_MODE_DISABLED

public static final int HEX_MODE_DISABLED

See Also:

Constant Field Values

HEX_MODE_ENABLED

public static final int HEX_MODE_ENABLED

See Also:

Constant Field Values

INPUT_LOGIC_FREEWHEEL_LO

public static final int INPUT_LOGIC_FREEWHEEL_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_FREEWHEEL_HI

public static final int INPUT_LOGIC_FREEWHEEL_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_HARDSTOP_LO

public static final int INPUT_LOGIC_HARDSTOP_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_HARDSTOP_HI

public static final int INPUT_LOGIC_HARDSTOP_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_IGNORE_LO

public static final int INPUT_LOGIC_IGNORE_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_IGNORE_HI

public static final int INPUT_LOGIC_IGNORE_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_GP_LO

public static final int INPUT_LOGIC_GP_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_GP_HI

public static final int INPUT_LOGIC_GP_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_RLS_LO

public static final int INPUT_LOGIC_RLS_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_RLS_HI

public static final int INPUT_LOGIC_RLS_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_FLS_LO

public static final int INPUT_LOGIC_FLS_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_FLS_HI

public static final int INPUT_LOGIC_FLS_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_BG_LO

public static final int INPUT_LOGIC_BG_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_BG_HI

public static final int INPUT_LOGIC_BG_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_SOFTSTOP_LO

public static final int INPUT_LOGIC_SOFTSTOP_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_SOFTSTOP_HI

public static final int INPUT_LOGIC_SOFTSTOP_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_MAINHOME_LO

public static final int INPUT_LOGIC_MAINHOME_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_MAINHOME_HI

public static final int INPUT_LOGIC_MAINHOME_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_AUXHOME_LO

public static final int INPUT_LOGIC_AUXHOME_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_AUXHOME_HI

public static final int INPUT_LOGIC_AUXHOME_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_BOTHSTOP_LO

public static final int INPUT_LOGIC_BOTHSTOP_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_BOTHSTOP_HI

public static final int INPUT_LOGIC_BOTHSTOP_HI

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_ABORT_LO

public static final int INPUT_LOGIC_ABORT_LO

Input Logic Mode

See Also:

Constant Field Values

INPUT_LOGIC_ABORT_HI

public static final int INPUT_LOGIC_ABORT_HI

Input Logic Mode

See Also:

Constant Field Values

HOMING_BEHAVIOR_STOP

public static final java.lang.String HOMING_BEHAVIOR_STOP

Homing Behavior: stop motor

See Also:

Constant Field Values

HOMING_BEHAVIOR_SET_OUTPUT

public static final java.lang.String HOMING_BEHAVIOR_SET_OUTPUT

Homing Behavior: set digital output

See Also:

Constant Field Values

HOMING_BEHAVIOR_NONE

public static final java.lang.String HOMING_BEHAVIOR_NONE

Homing Behavior: do nothing

See Also:

Constant Field Values

HOMING_EVENT_MAIN_HOME_SWITCH

public static final java.lang.String HOMING_EVENT_MAIN_HOME_SWITCH

Homing Event Definition: trigger main switch closure

See Also:

Constant Field Values

HOMING_EVENT_DIN5

public static final java.lang.String HOMING_EVENT_DIN5

Homing Event Definition: trigger main switch closure

See Also:

Constant Field Values

HOMING_EVENT_IMMEDIATE

public static final java.lang.String HOMING_EVENT_IMMEDIATE

Homing Event Definition: trigger immediate (manual)

See Also:

Constant Field Values

HOMING_EVENT_ABS

public static final java.lang.String HOMING_EVENT_ABS

Homing PX register behavior: absolute

See Also:

Constant Field Values

HOMING_EVENT_REL

public static final java.lang.String HOMING_EVENT_REL

Homing PX register behavior: relative

See Also:

Constant Field Values

HOMING_EVENT_NONE

public static final java.lang.String HOMING_EVENT_NONE

Homing PX register behavior: no action

See Also:

Constant Field Values

ECHO_DISABLED

public static final int ECHO_DISABLED

Echo mode enabled

See Also:

Constant Field Values

ECHO_ENABLED

public static final int ECHO_ENABLED

Echo mode disabled

See Also:

Constant Field Values

CMD_UNIT_MODE

public static final java.lang.String CMD_UNIT_MODE

Set/Get unit motion mode torque:1 velocity:2 position:3-5

See Also:

Constant Field Values

CMD_MOTOR_ENABLE

public static final java.lang.String CMD_MOTOR_ENABLE

Motor enable state

See Also:

Constant Field Values

CMD_BEGIN_MOTION

public static final java.lang.String CMD_BEGIN_MOTION

Begin motion

See Also:

Constant Field Values

CMD_STOP_MOTION

public static final java.lang.String CMD_STOP_MOTION

Stop motor

See Also:

Constant Field Values

CMD_ACCELERATION

public static final java.lang.String CMD_ACCELERATION

Get/Set acceleration

See Also:

Constant Field Values

CMD_DECELERATION

public static final java.lang.String CMD_DECELERATION

Get/Set motion deceleration

See Also:

Constant Field Values

CMD_STOP_DECELERATION

public static final java.lang.String CMD_STOP_DECELERATION

Get/Set stop deceleration

See Also:

Constant Field Values

CMD_SPEED_REF_LO

public static final java.lang.String CMD_SPEED_REF_LO

Get/Set lower reference speed command

See Also:

Constant Field Values

CMD_SPEED_REF_HI

public static final java.lang.String CMD_SPEED_REF_HI

Get/Set upper reference speed command

See Also:

Constant Field Values

CMD_SPEED_LIMIT_LO

public static final java.lang.String CMD_SPEED_LIMIT_LO

Get/Set lower reference speed limit

See Also:

Constant Field Values

CMD_SPEED_LIMIT_HI

public static final java.lang.String CMD_SPEED_LIMIT_HI

Get/Set upper reference speed limit

See Also:

Constant Field Values

CMD_POSITION_REF_LO

public static final java.lang.String CMD_POSITION_REF_LO

Get/Set lower reference position

See Also:

Constant Field Values

CMD_POSITION_REF_HI

public static final java.lang.String CMD_POSITION_REF_HI

Get/Set upper reference position

See Also:

Constant Field Values

CMD_SET_XMODULUS_LO

public static final java.lang.String CMD_SET_XMODULUS_LO

Get/Set X Modulus

See Also:

Constant Field Values

CMD_SET_XMODULUS_HI

public static final java.lang.String CMD_SET_XMODULUS_HI

Get/Set X Modulus

See Also:

Constant Field Values

CMD_JOGGING_VELOCITY

public static final java.lang.String CMD_JOGGING_VELOCITY

Get/Set jogging velocity

See Also:

Constant Field Values

CMD_PTP_SPEED

public static final java.lang.String CMD_PTP_SPEED

Get/Set max speed for PTP (point to point) motion Although SP is not used in velocity mode, it must be set so that SP<|VL[2]| and SP<|VH[2]|. If not, parameters VL,VH,LL,HL may not be correctly written to flash

See Also:

Constant Field Values

CMD_GET_MAIN_ENC_VELOCITY

public static final java.lang.String CMD_GET_MAIN_ENC_VELOCITY

Get velocity main encoder velocity

See Also:

Constant Field Values

CMD_GET_AUX_ENC_VELOCITY

public static final java.lang.String CMD_GET_AUX_ENC_VELOCITY

Get velocity aux encoder velocity

See Also:

Constant Field Values

CMD_GET_VELOCITY_ERROR

public static final java.lang.String CMD_GET_VELOCITY_ERROR

Get velocity error

See Also:

Constant Field Values

CMD_GET_DESIRED_VELOCITY

public static final java.lang.String CMD_GET_DESIRED_VELOCITY

Get commanded velocity

See Also:

Constant Field Values

CMD_RELATIVE_POSITION

public static final java.lang.String CMD_RELATIVE_POSITION

Get/Set relative position

See Also:

Constant Field Values

CMD_ABSOLUTE_POSITION

public static final java.lang.String CMD_ABSOLUTE_POSITION

Get/Set absolute position

See Also:

Constant Field Values

CMD_POSITION_COUNTER

public static final java.lang.String CMD_POSITION_COUNTER

Get/set position counter

See Also:

Constant Field Values

CMD_POSITION_ERROR

public static final java.lang.String CMD_POSITION_ERROR

Get position error

See Also:

Constant Field Values

CMD_INPUT_LOGIC

public static final java.lang.String CMD_INPUT_LOGIC

Get/Set Input Functions IL[N]

See Also:

Constant Field Values

CMD_DIGITAL_INPUT_FILTER

public static final java.lang.String CMD_DIGITAL_INPUT_FILTER

Get/Set Digital input filter

See Also:

Constant Field Values

CMD_CURRENT_I_FILTER

public static final java.lang.String CMD_CURRENT_I_FILTER

Get/Set controller current PID gain (Integral)

See Also:

Constant Field Values

CMD_CURRENT_P_FILTER

public static final java.lang.String CMD_CURRENT_P_FILTER

Get/Set controller current PID gain (Proportional)

See Also:

Constant Field Values

CMD_VELOCITY_I_FILTER

public static final java.lang.String CMD_VELOCITY_I_FILTER

Get/Set controller velocity PID gain (Integral)

See Also:

Constant Field Values

CMD_VELOCITY_P_FILTER

public static final java.lang.String CMD_VELOCITY_P_FILTER

Get/Set controller velocity PID gain (Proportional)

See Also:

Constant Field Values

CMD_COMMUTATION_ARRAY

public static final java.lang.String CMD_COMMUTATION_ARRAY

Get/Set commutation array parameters

See Also:

Constant Field Values

CMD_MAX_CURRENT

public static final java.lang.String CMD_MAX_CURRENT

Get (read-only) Max active current limit

See Also:

Constant Field Values

CMD_PEAK_CURRENT_LIMIT

public static final java.lang.String CMD_PEAK_CURRENT_LIMIT

Get/set peak active current limit (A) Max value=MC

See Also:

Constant Field Values

CMD_PEAK_CURRENT_DURATION

public static final java.lang.String CMD_PEAK_CURRENT_DURATION

Get/set peak active current duration (sec)

See Also:

Constant Field Values

CMD_CONT_CURRENT_LIMIT

public static final java.lang.String CMD_CONT_CURRENT_LIMIT

Get/set continuous active current limit Max value=MC/2 Supply current = (active current) * (PWM duty cycle)

See Also:

Constant Field Values

CMD_TORQUE_LIMIT

public static final java.lang.String CMD_TORQUE_LIMIT

Get/set torque limit (% of continuous current limit) If <2, stuck motor protection is disabled

See Also:

Constant Field Values

CMD_STUCK_SPEED

public static final java.lang.String CMD_STUCK_SPEED

Get/set min stuck motor speed (counts/s)

See Also:

Constant Field Values

CMD_ECHO

public static final java.lang.String CMD_ECHO

Get/Set echo mode

See Also:

Constant Field Values

CMD_HEXMODE

public static final java.lang.String CMD_HEXMODE

Get/Set hex mode

See Also:

Constant Field Values

CMD_DUMP_CPU

public static final java.lang.String CMD_DUMP_CPU

Set hex mode off

See Also:

Constant Field Values

CMD_DIGITIAL_OUTPUT

public static final java.lang.String CMD_DIGITIAL_OUTPUT

Get/Set digital output state

See Also:

Constant Field Values

CMD_GET_DIGITAL_INPUTS

public static final java.lang.String CMD_GET_DIGITAL_INPUTS

Set digital input state

See Also:

Constant Field Values

CMD_GET_STATUS_REGISTER

public static final java.lang.String CMD_GET_STATUS_REGISTER

Get status register

See Also:

Constant Field Values

CMD_GET_MOTION_STATUS

public static final java.lang.String CMD_GET_MOTION_STATUS

Get motion status register

See Also:

Constant Field Values

CMD_GET_MOTOR_FAULT

public static final java.lang.String CMD_GET_MOTOR_FAULT

Get motor fault register

See Also:

Constant Field Values

CMD_GET_SERIAL_NUMBER

public static final java.lang.String CMD_GET_SERIAL_NUMBER

Get serial numbers SN[1] returns the vendor ID. SN[2] returns the product code. SN[3] returns the revision number. SN[4] returns the serial number.

See Also:

Constant Field Values

CMD_GET_VERSION

public static final java.lang.String CMD_GET_VERSION

Get software (firmware) version

See Also:

Constant Field Values

CMD_HOMING_ACTIVATION_MODE

public static final java.lang.String CMD_HOMING_ACTIVATION_MODE

Get/Set homing activation mode

See Also:

Constant Field Values

CMD_ARM_HOMING_PROCESS

public static final java.lang.String CMD_ARM_HOMING_PROCESS

Arm homing process

See Also:

Constant Field Values

CMD_DISARM_HOMING_PROCESS

public static final java.lang.String CMD_DISARM_HOMING_PROCESS

Disarm homing process

See Also:

Constant Field Values

CMD_HOMING_ABSOLUTE_VALUE

public static final java.lang.String CMD_HOMING_ABSOLUTE_VALUE

Get/Set homing absolute value

See Also:

Constant Field Values

CMD_HOMING_EVENT_DEFINITION

public static final java.lang.String CMD_HOMING_EVENT_DEFINITION

Get/Set homing event

See Also:

Constant Field Values

CMD_HOMING_BEHAVIOR

public static final java.lang.String CMD_HOMING_BEHAVIOR

Get/Set homing behavior (what to do on homing event trigger)

See Also:

Constant Field Values

CMD_HOMING_EVENT_PX

public static final java.lang.String CMD_HOMING_EVENT_PX

Get/Set homing event PX register behavior

See Also:

Constant Field Values

CMD_HOMING_OUTPUT_VALUE

public static final java.lang.String CMD_HOMING_OUTPUT_VALUE

Get/Set homing digital output value

See Also:

Constant Field Values

CMD_SET_DIO5_IGNORE_LO

public static final java.lang.String CMD_SET_DIO5_IGNORE_LO

Configure high speed input as active LO/ignore

See Also:

Constant Field Values

CMD_SET_DIO5_IGNORE_HI

public static final java.lang.String CMD_SET_DIO5_IGNORE_HI

Configure high speed input as active HI/ignore

See Also:

Constant Field Values

CMD_GENERAL_PURPOSE_HI

public static final java.lang.String CMD_GENERAL_PURPOSE_HI

Configure high speed input as active HI/general purpose

See Also:

Constant Field Values

CMD_ENABLE_MAIN_HOME_SEQUENCE_LO

public static final java.lang.String CMD_ENABLE_MAIN_HOME_SEQUENCE_LO

Configure high speed input as active LO/main homing trigger

See Also:

Constant Field Values

CMD_ENABLE_MAIN_HOME_SEQUENCE_HI

public static final java.lang.String CMD_ENABLE_MAIN_HOME_SEQUENCE_HI

Configure high speed input as active HI/main homing trigger

See Also:

Constant Field Values

CMD_ENABLE_AUX_HOME_SEQUENCE_LO

public static final java.lang.String CMD_ENABLE_AUX_HOME_SEQUENCE_LO

Configure high speed input as active LO/aux homing trigger

See Also:

Constant Field Values

CMD_ENABLE_AUX_HOME_SEQUENCE_HI

public static final java.lang.String CMD_ENABLE_AUX_HOME_SEQUENCE_HI

Configure high speed input as active HI/aux homing trigger

See Also:

Constant Field Values

MF_OK

public static final int MF_OK

See Also:

Constant Field Values

MF_ANALOG_FEEBACK

public static final int MF_ANALOG_FEEBACK

See Also:

Constant Field Values

MF_FEEDBACK_LOSS

public static final int MF_FEEDBACK_LOSS

See Also:

Constant Field Values

MF_PEAK_CURRENT

public static final int MF_PEAK_CURRENT

See Also:

Constant Field Values

MF_INHIBIT

public static final int MF_INHIBIT

See Also:

Constant Field Values

MF_MULT_HALL

public static final int MF_MULT_HALL

See Also:

Constant Field Values

MF_SPEED_TRACKING

public static final int MF_SPEED_TRACKING

See Also:

Constant Field Values

MF_POSITION_TRACKING

public static final int MF_POSITION_TRACKING

See Also:

Constant Field Values

MF_DATABASE

public static final int MF_DATABASE

See Also:

Constant Field Values

MF_ECAM

public static final int MF_ECAM

See Also:

Constant Field Values

MF_HEARTBEAT

public static final int MF_HEARTBEAT

See Also:

Constant Field Values

MF_SERVO

public static final int MF_SERVO

See Also:

Constant Field Values

MF_UNDER_VOLTAGE

public static final int MF_UNDER_VOLTAGE

See Also:

Constant Field Values

MF_OVER_VOLTAGE

public static final int MF_OVER_VOLTAGE

See Also:

Constant Field Values

MF_SHORT_CIRCUIT

public static final int MF_SHORT_CIRCUIT

See Also:

Constant Field Values

MF_TEMPERATURE

public static final int MF_TEMPERATURE

See Also:

Constant Field Values

MF_ZERO_NOT_FOUND

public static final int MF_ZERO_NOT_FOUND

See Also:

Constant Field Values

MF_SPEED

public static final int MF_SPEED

See Also:

Constant Field Values

MF_STACK_OVERFLOW

public static final int MF_STACK_OVERFLOW

See Also:

Constant Field Values

MF_CPU

public static final int MF_CPU

See Also:

Constant Field Values

MF_STUCK

public static final int MF_STUCK

See Also:

Constant Field Values

MF_POSITION

public static final int MF_POSITION

See Also:

Constant Field Values

MF_NO_START

public static final int MF_NO_START

See Also:

Constant Field Values

SR_DRIVE_READ

public static final int SR_DRIVE_READ

See Also:

Constant Field Values

SR_STATUS

public static final int SR_STATUS

See Also:

Constant Field Values

SR_MOTOR_ON

public static final int SR_MOTOR_ON

See Also:

Constant Field Values

SR_REFERENCE_MODE

public static final int SR_REFERENCE_MODE

See Also:

Constant Field Values

SR_MOTOR_FAILURE_LATCHED

public static final int SR_MOTOR_FAILURE_LATCHED

See Also:

Constant Field Values

SR_UNIT_MODE

public static final int SR_UNIT_MODE

See Also:

Constant Field Values

SR_GAIN_SCHEDULING_ON

public static final int SR_GAIN_SCHEDULING_ON

See Also:

Constant Field Values

SR_HOMING_PROCESSING

public static final int SR_HOMING_PROCESSING

See Also:

Constant Field Values

SR_PROGRAM_RUNNING

public static final int SR_PROGRAM_RUNNING

See Also:

Constant Field Values

SR_CURRENT_LIMIT_ON

public static final int SR_CURRENT_LIMIT_ON

See Also:

Constant Field Values

SR_MOTION_STATUS

public static final int SR_MOTION_STATUS

See Also:

Constant Field Values

SR_RECORDER_STATUS

public static final int SR_RECORDER_STATUS

See Also:

Constant Field Values

SR_DIGITAL_HALLS

public static final int SR_DIGITAL_HALLS

See Also:

Constant Field Values

SR_CPU_STATUS

public static final int SR_CPU_STATUS

See Also:

Constant Field Values

SR_LIMIT_STOP

public static final int SR_LIMIT_STOP

See Also:

Constant Field Values

SR_USER_PROGRAM_ERROR

public static final int SR_USER_PROGRAM_ERROR

See Also:

Constant Field Values

SR_OFFSET_DRIVE_READ

public static final int SR_OFFSET_DRIVE_READ

See Also:

Constant Field Values

SR_OFFSET_STATUS

public static final int SR_OFFSET_STATUS

See Also:

Constant Field Values

SR_OFFSET_MOTOR_ON

public static final int SR_OFFSET_MOTOR_ON

See Also:

Constant Field Values

SR_OFFSET_REFERENCE_MODE

public static final int SR_OFFSET_REFERENCE_MODE

See Also:

Constant Field Values

SR_OFFSET_MOTOR_FAILURE_LATCHED

public static final int SR_OFFSET_MOTOR_FAILURE_LATCHED

See Also:

Constant Field Values

SR_OFFSET_UNIT_MODE

public static final int SR_OFFSET_UNIT_MODE

See Also:

Constant Field Values

SR_OFFSET_GAIN_SCHEDULING_ON

public static final int SR_OFFSET_GAIN_SCHEDULING_ON

See Also:

Constant Field Values

SR_OFFSET_HOMING_PROCESSING

public static final int SR_OFFSET_HOMING_PROCESSING

See Also:

Constant Field Values

SR_OFFSET_PROGRAM_RUNNING

public static final int SR_OFFSET_PROGRAM_RUNNING

See Also:

Constant Field Values

SR_OFFSET_CURRENT_LIMIT_ON

public static final int SR_OFFSET_CURRENT_LIMIT_ON

See Also:

Constant Field Values

SR_OFFSET_MOTION_STATUS

public static final int SR_OFFSET_MOTION_STATUS

See Also:

Constant Field Values

SR_OFFSET_RECORDER_STATUS

public static final int SR_OFFSET_RECORDER_STATUS

See Also:

Constant Field Values

SR_OFFSET_DIGITAL_HALLS

public static final int SR_OFFSET_DIGITAL_HALLS

See Also:

Constant Field Values

SR_OFFSET_CPU_STATUS

public static final int SR_OFFSET_CPU_STATUS

See Also:

Constant Field Values

SR_OFFSET_LIMIT_STOP

public static final int SR_OFFSET_LIMIT_STOP

See Also:

Constant Field Values

SR_OFFSET_USER_PROGRAM_ERROR

public static final int SR_OFFSET_USER_PROGRAM_ERROR

See Also:

Constant Field Values

_serialPort

protected gnu.io.SerialPort _serialPort

Serial port for Elmo control I/O

_serialRx

protected java.io.InputStream _serialRx

Serial port input stream

_serialTx

protected java.io.OutputStream _serialTx

Serial port output stream

_terminatorString

protected java.lang.String _terminatorString

Response terminator (as String)

LINE_END_BYTES

public static final byte[] LINE_END_BYTES

line end for terminating command

_terminator

protected byte[] _terminator

Response terminator (as byte array)

_junk32

protected byte[] _junk32

Buffer for reading disposable input

_longBuf

protected byte[] _longBuf

_intBuf

protected byte[] _intBuf

_doubleBuf

protected byte[] _doubleBuf

_stringBuf

protected byte[] _stringBuf

_serialMode

protected int _serialMode

Serial port mode. Use MODE_SERIAL_LOCAL if using a standard hardware serial port User MODE_SERIAL_RFC_1722 if using a serial/ethernet converter (e.g. Digi)

Constructor Detail

Elmo

public Elmo(gnu.io.SerialPort port)
     throws java.io.IOException

Constructor

Throws:

java.io.IOException

Method Detail

setSerialPort

public void setSerialPort(gnu.io.SerialPort port)
                   throws java.io.IOException

Set the SerialPort for this controller to use.

Parameters:

port - SerialPort to use

Throws:

java.io.IOException

getSerialPort

public gnu.io.SerialPort getSerialPort()

Return SerialPort used by this controller.

Returns:

serial port or null if not set.

getInputStream

public java.io.InputStream getInputStream()

Return serial port input stream used by this controller.

Returns:

input stream or null if not set.

getOutputStream

public java.io.OutputStream getOutputStream()

Return serial port output stream used by this controller.

Returns:

output stream or null if not set.

delay

protected void delay(long delayMsec)

Sleep for specified time

Parameters:

delayMsec - Time to sleep (milliseconds)

rpm2counts

public static int rpm2counts(double rpm,
                             int countsPerRevolution)

Convert motor speed from counts/second to RPM

Parameters:

rpm - motor speed (RPM)

countsPerRevolution - counts per motor revolution

Returns:

motor speed (counts/sec)

counts2rpm

public static double counts2rpm(int counts,
                                int countsPerRevolution)

Convert motor speed from counts/second to RPM

Parameters:

counts - motor speed (counts/second)

countsPerRevolution - counts per motor revolution

Returns:

motor speed (RPM)

mkIndex

public static java.lang.String mkIndex(java.lang.String cmd,
                                       int index)

mkIndexCmd

public static java.lang.String mkIndexCmd(java.lang.String cmd,
                                          int index,
                                          java.lang.String value)

mkIndexCmd

public static java.lang.String mkIndexCmd(java.lang.String cmd,
                                          int index,
                                          int value)

mkIndexCmd

public static java.lang.String mkIndexCmd(java.lang.String cmd,
                                          int index,
                                          long value)

mkCmd

public static java.lang.String mkCmd(java.lang.String cmd,
                                     java.lang.String value)

mkCmd

public static java.lang.String mkCmd(java.lang.String cmd,
                                     int value)

mkCmd

public static java.lang.String mkCmd(java.lang.String cmd,
                                     long value)

emptyInput

public void emptyInput(long timeoutMsec)
                throws java.io.IOException

Flush the serial input stream. (using default (this) input stream)

Parameters:

timeoutMsec - (milliseconds)

Throws:

java.io.IOException

emptyInput

protected void emptyInput(java.io.InputStream instream,
                          long timeoutMsec)
                   throws java.io.IOException

Flush the serial input stream. (using default (this) input stream)

Parameters:

instream - an InputStream to flush

timeoutMsec - (milliseconds)

Throws:

java.io.IOException

writeCommand

protected void writeCommand(java.lang.String cmd)
                     throws java.io.IOException

Write a command to the serial port. terminates the command with a newline and flush the serial port. Only cmdWriteRead should call this directly. Use CmdWriteReadX for write w/ no return value needed.

Parameters:

cmd - command string to write

Throws:

java.io.IOException

cmdWriteRead

protected int cmdWriteRead(java.lang.String cmd,
                           byte[] buf,
                           byte[] terminator,
                           long timeoutMsec)
                    throws TimeoutException,
                           java.io.IOException,
                           java.lang.NullPointerException,
                           java.lang.Exception

Perform one I/O transaction, (write then read).

Parameters:

cmd - Command to send

buf - Destination buffer

terminator - End of response marker

timeoutMsec - Timeout (milliseconds)

Returns:

number of bytes in response.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

cmdWriteReadX

protected int cmdWriteReadX(java.lang.String cmd)
                     throws java.io.IOException

write a command and cleanup returned terminator (discards characters read)

Throws:

java.io.IOException

cmdWriteReadInt

protected int cmdWriteReadInt(java.lang.String cmd,
                              int len,
                              long timeoutMsec)
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.Exception

Write one command and parse the resulting return value as an integer.

Parameters:

cmd - command to send

len - maximum expected return length (bytes)

timeoutMsec - timeout for return value (milliseconds)

Returns:

command return value (integer)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

cmdWriteReadLong

protected long cmdWriteReadLong(java.lang.String cmd,
                                int len,
                                long timeoutMsec)
                         throws TimeoutException,
                                java.io.IOException,
                                java.lang.NullPointerException,
                                java.lang.Exception

Write one command and parse the resulting return value as a long.

Parameters:

cmd - command to send

len - maximum expected return length (bytes)

timeoutMsec - timeout for return value (milliseconds)

Returns:

command return value (long)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

cmdWriteReadDouble

protected double cmdWriteReadDouble(java.lang.String cmd,
                                    int len,
                                    long timeoutMsec)
                             throws TimeoutException,
                                    java.io.IOException,
                                    java.lang.NullPointerException,
                                    java.lang.Exception

Write one command and parse the resulting return value as an double.

Parameters:

cmd - command to send

len - maximum expected return length (bytes)

timeoutMsec - timeout for return value (milliseconds)

Returns:

command return value (double)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

cmdWriteReadString

protected java.lang.String cmdWriteReadString(java.lang.String cmd,
                                              int len,
                                              long timeoutMsec)
                                       throws TimeoutException,
                                              java.io.IOException,
                                              java.lang.NullPointerException,
                                              java.lang.Exception

Write one command and parse the resulting return value as a String.

Parameters:

cmd - command to send

len - maximum expected return length (bytes)

timeoutMsec - timeout for return value (milliseconds)

Returns:

command return value (String)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

initializeController

public abstract void initializeController(int serialMode,
                                          int unitMode)
                                   throws TimeoutException,
                                          java.io.IOException,
                                          java.lang.Exception

Initialize motor controller. Abstract method to be implemented by subclasses.

Parameters:

serialMode - serial comms mode (local or RFC1722)

unitMode - elmo unit mode

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

readRegister

public java.lang.String readRegister(java.lang.String register)
                              throws TimeoutException,
                                     java.io.IOException,
                                     java.lang.NullPointerException,
                                     java.lang.Exception

Return value (String) of Elmo register

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getVersion

public java.lang.String getVersion()

Return controller version information.

Returns:

Controller firmware version or "UNKNOWN" on error.

setSerialMode

public void setSerialMode(int mode)
                   throws java.lang.IllegalArgumentException

set serial mode

Throws:

java.lang.IllegalArgumentException

getSerialMode

public int getSerialMode()

set serial mode

getMaxCurrent

public double getMaxCurrent()
                     throws TimeoutException,
                            java.io.IOException,
                            java.lang.NullPointerException,
                            java.lang.Exception

Get max current from read-only MC parameter (A)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setPeakCurrent

public void setPeakCurrent(double peakCurrent)
                    throws TimeoutException,
                           java.io.IOException,
                           java.lang.NullPointerException,
                           java.lang.IllegalArgumentException,
                           java.lang.Exception

Set peak current (A). Max peak current is MC.

Parameters:

peakCurrent - (A)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getPeakCurrent

public double getPeakCurrent()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.NullPointerException,
                             java.lang.Exception

Get peak current limit (A)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setPeakCurrentDuration

public void setPeakCurrentDuration(int peakCurrentDurationSec)
                            throws TimeoutException,
                                   java.io.IOException,
                                   java.lang.NullPointerException,
                                   java.lang.IllegalArgumentException,
                                   java.lang.Exception

Set peak current duration (sec).

Parameters:

peakCurrentDurationSec - (sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getPeakCurrentDuration

public int getPeakCurrentDuration()
                           throws TimeoutException,
                                  java.io.IOException,
                                  java.lang.NullPointerException,
                                  java.lang.Exception

Get peak current duration (sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setContinuousCurrent

public void setContinuousCurrent(double contCurrent)
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.NullPointerException,
                                 java.lang.IllegalArgumentException,
                                 java.lang.Exception

Set continuous current (A). Max continuous current is MC/2.

Parameters:

contCurrent - max continous active current (A)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getContinuousCurrent

public double getContinuousCurrent()
                            throws TimeoutException,
                                   java.io.IOException,
                                   java.lang.NullPointerException,
                                   java.lang.Exception

Get continous current limit (A)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setTorqueLimit

public void setTorqueLimit(double torquePercent)
                    throws TimeoutException,
                           java.io.IOException,
                           java.lang.NullPointerException,
                           java.lang.IllegalArgumentException,
                           java.lang.Exception

Set torque limit (% of continuous current). If the torque limit is exceeded and stuck motor protection is enabled, a motor fault will occur. max value: 100%

Parameters:

torquePercent - max torque, as a percentage of max continous active current (%)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getTorqueLimit

public double getTorqueLimit()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.NullPointerException,
                             java.lang.Exception

Get torque limit (% continous active current)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setStuckSpeed

public void setStuckSpeed(int stuckSpeed)
                   throws TimeoutException,
                          java.io.IOException,
                          java.lang.NullPointerException,
                          java.lang.IllegalArgumentException,
                          java.lang.Exception

Set stuck speed (counts/sec). If the motor goes slower than the stuck speed for more than the and peak current duration and the torque exceeds the torque limit and motor protection is enabled (i.e., stuck motor speed > 2), a motor fault will occur. max value: 16000

Parameters:

stuckSpeed - min speed threshold indicating the motor is stuck (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getStuckSpeed

public int getStuckSpeed()
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.Exception

Get stuck speed (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getStatusRegister

public int getStatusRegister()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.NullPointerException,
                             java.lang.Exception

Get status register value. Reported Status Bits 0 : Drive read: 0 0: Conditions OK 1: Problem, as reported by bits 1-3 1-3 : Servo drive status indication details: refer to the following table 4 : Motor on (MO) 4 5 : Reference mode (RM) 5 6 : Motor failure latched (see MF for details) 7-9 : Unit mode (UM) 10 : Gain scheduling on 11 : Either Main or Auxiliary Homing being processed 12 : Program running 13 : Current limit on (LC) 14-15 : Motion status reflection (MS) 16-17 : Recorder status 0: Recorder inactive, no valid recorded data 1: Recorder waiting for a trigger event 2: Recorder finished; valid data ready for use 3: Recording now 18-23 : Not used 24-26 : Digital Hall sensors A, B and C6 27 : CPU status: 0: CPU OK 1: Stack overflow or CPU exception 28 : Stopped by a limit ( RLS, FLS, Stop switch ) or by a VH[3]/VL[3] position command limit 29 : Error in user program 30-31 : Unused 0x8 0x4 0x2 Meaning 0 0 0 OK. 0 0 1 Under voltage: The power supply is shut off or it has too high an impedance. 0 1 0 Over voltage: The power supply voltage is too large, or the servo drive did not succeed in absorbing the kinetic energy while braking a load. A shunt resistor may be needed. 1 0 1 Short circuit: The motor or its wiring may be defective. 1 1 0 Temperature: The drive is overheating.

Returns:

status

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getMotorFault

public int getMotorFault()
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.Exception

Get detailed motor fault codes. value/bit 0x0 : The motor is on, or the last motor shutdown was the normal result of a software command. 0x1/0 : 1. Resolver or Analog Halls feedback is not ready - Resolver or Analog Halls angle was not found yet. 2. The amplitude of the analog sensor is lost or too low. 0x1/0 : reserved 0x2/1 : reserved 0x4/2 : Feedback loss: no match between encoder and Hall location. Available in encoder + Hall feedback systems. 0x8/3 : The peak current has been exceeded. Possible reasons are drive malfunction or bad tuning of the current controller. 0x10/4 : inhibit 0x20/5 : reserved 0x40/6 : Two digital Hall sensors were changed at the same time. Error occurs because digital Hall sensors must be changed one at a time. 0x80/7 : Speed tracking error DV[2] - VX (for UM=2 or UM=4, 5) exceeded speed error limit ER[2]. This may occur due to: - Bad tuning of the speed controller - Too tight a speed error tolerance - Inability of motor to accelerate to the required speed due to too low a line voltage or not a powerful enough motor 0x100/8 : Position tracking error DV[3] - PX (UM=5) or DV[3] - PY (UM=4) exceeded position error limit ER[3]. This may occur due to: - Bad tuning of the position or speed controller - Too tight a position error tolerance - Abnormal motor load, or reaching a mechanical limit 0x200/9 : Cannot start because of inconsistent database. The type of database inconsistency is reflected in the status SR report, and in the CD CPU dump report. 0x400/10 : Too large a difference in ECAM table. 0x800/11 : Heartbeat failure. Error occurs only if drive is set to abort under heartbeat failure in a CANopen network (object 0x6007 in CAN object dictionary is set to 2). 0x1000/12 : Servo drive fault. Error described according to the servo drive fault detail bits 13 - 15 in the MF report. Refer to following table. 0x2000/13 : Servo drive fault detail bit 1. Refer to following table. 0x4000/14 : Servo drive fault detail bit 2. Refer to following table. 0x8000/15 : Servo drive fault detail bit 3. Refer to following table. 0x10000/16 : Failed to find the electrical zero of the motor in an attempt to start it with an incremental encoder and no digital Hall sensors. The reason may be that the applied motor current did not suffice for moving the motor from its position. 0x20000/17 : Speed limit exceeded: VXHL[2]. 0x40000/18 : Stack overflow - fatal exception. This may occur if the CPU was subject to a load that it could not handle. Such a situation can arise only due to a software bug in the drive. Use the CD command to get the CPU dump and report to your service center. 0x80000/19 : CPU exception - fatal exception. Something such as an attempt to divide in zero or another fatal firmware error has occurred. Use the CD command to get the CPU dump and report to your service center. 0x100000/20 : reserved 0x200000/21 : Motor stuck - the motor is powered but is not moving according to the definition of CL[2] and CL[3]. 0x400000/22 : Position limit exceeded: PXHL[3] (UM=5), or PYHL[3] (UM=4). 0x10000000/28 : reserved 0x20000000/29 : Cannot start motor 0x80000000/31 : reserved bits 0x8000 0x4000 0x2000 : code 000 : OK 001 : Under voltage. The power supply is shut down or it has too high an output impedance. 010 : Over voltage. The voltage of the power supply is too high, or the servo drive did not succeed in absorbing the kinetic energy while braking a load. A shunt resistor may be required. 011 : reserved 100 : reserved 101 : Short circuit. The motor or its wiring may be defective, or the drive is faulty. 110 : Temperature. Drive overheating. The environment is too hot, or lacks heat removal. There may be a large thermal resistance between the drive and its mounting. 111 : reserved

Returns:

motor fault code

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

See Also:

Command Reference

getMotionStatus

public int getMotionStatus()
                    throws TimeoutException,
                           java.io.IOException,
                           java.lang.NullPointerException,
                           java.lang.IllegalArgumentException,
                           java.lang.Exception

Get motion status register.

Returns:

MS_REF_CONTROLLED if moving in PTP mode, MS_REF_STATIONARY or MS_POS_STABILIZED if motor stopped.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setEchoMode

public void setEchoMode(int mode)
                 throws java.io.IOException,
                        java.lang.IllegalArgumentException

Set echo mode

Parameters:

mode - ECHO_ENABLED or ECHO_DISABLED

Throws:

java.io.IOException

java.lang.IllegalArgumentException

getEchoMode

public int getEchoMode()
                throws TimeoutException,
                       java.io.IOException,
                       java.lang.NullPointerException,
                       java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setHexMode

public void setHexMode(boolean mode)
                throws TimeoutException,
                       java.io.IOException,
                       java.lang.NullPointerException,
                       java.lang.Exception

Set hex mode. Integers returned in hexidecimal format (0xn) if true or as base 10 if false.

Parameters:

mode - enable hex mode if true, disable if false

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getHexMode

public int getHexMode()
               throws TimeoutException,
                      java.io.IOException,
                      java.lang.NullPointerException,
                      java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getReferenceSpeedLo

public int getReferenceSpeedLo()
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.Exception

Get low reference speed limit (VL[2]) (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getReferenceSpeedHi

public int getReferenceSpeedHi()
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.Exception

Get high reference speed limit (VH[2]) (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setReferenceSpeed

public void setReferenceSpeed(int min,
                              int max)
                       throws java.io.IOException,
                              java.lang.IllegalArgumentException

Set controller reference speed. The motor will ignore commands greater than this limit. The reference speed can only be set when the motor is stopped.

Parameters:

min - minimum reference speed

max - maximum reference speed

Throws:

java.io.IOException

java.lang.IllegalArgumentException

setReferenceLimit

public void setReferenceLimit(int min,
                              int max)
                       throws java.io.IOException,
                              java.lang.IllegalArgumentException

Set controller reference speed limits. The motor will stop if the speed exceeds this limit; min should be

Parameters:

min - minimum motor speed

max - maximum motor speed

Throws:

java.io.IOException

java.lang.IllegalArgumentException

getReferenceLimitLo

public int getReferenceLimitLo()
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.Exception

Get low reference speed limit (VL[2]) (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getReferenceLimitHi

public int getReferenceLimitHi()
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.Exception

Get high reference speed limit (VH[2]) (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setUnitMode

public void setUnitMode(int mode)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Set controller operation mode. The controller unit mode can only be set when the motor is stopped.

Parameters:

mode - one of: MODE_TORQUE,MODE_SPEED,MODE_SINGLE_FEEDBACK_POSITION,MODE_DUAL_FEEDBACK_POSITION,MODE_STEPPER

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getUnitMode

public int getUnitMode()
                throws TimeoutException,
                       java.io.IOException,
                       java.lang.NullPointerException,
                       java.lang.IllegalArgumentException,
                       java.lang.Exception

Get controller operation mode.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getInputPort

public int getInputPort()
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

read digital input port

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setInputLogic

public void setInputLogic(int inputBit,
                          int value)
                   throws TimeoutException,
                          java.io.IOException,
                          java.lang.NullPointerException,
                          java.lang.IllegalArgumentException

Set Input Logic register.

Parameters:

inputBit - input index (0-indexed; note adjustment for IL IL is 1-indexed)

value - value (bitfield, 0-23d)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

setXModulus

public void setXModulus(long xmLo,
                        long xmHi)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Set XModulus. Sets X Modulus for cyclic position counting. Motor must be stopped to set value

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getXModulusLo

public long getXModulusLo()
                   throws TimeoutException,
                          java.io.IOException,
                          java.lang.NullPointerException,
                          java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getXModulusHi

public long getXModulusHi()
                   throws TimeoutException,
                          java.io.IOException,
                          java.lang.NullPointerException,
                          java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getInputLogic

public int getInputLogic(int inputBit)
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.IllegalArgumentException,
                         java.lang.Exception

Get Input Logic register.

Parameters:

inputBit - input index (0-indexed; note adjustment for IL IL is 1-indexed)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setAcceleration

public void setAcceleration(int value)
                     throws TimeoutException,
                            java.io.IOException,
                            java.lang.NullPointerException,
                            java.lang.IllegalArgumentException,
                            java.lang.Exception

Set speed-up acceleration. Takes effect on next beginMotion command.

Parameters:

value - - new value (counts/sec^2)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getAcceleration

public int getAcceleration()
                    throws TimeoutException,
                           java.io.IOException,
                           java.lang.NullPointerException,
                           java.lang.IllegalArgumentException,
                           java.lang.Exception

Get speed-up acceleration. (counts/sec^2)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setDeceleration

public void setDeceleration(int value)
                     throws TimeoutException,
                            java.io.IOException,
                            java.lang.NullPointerException,
                            java.lang.IllegalArgumentException,
                            java.lang.Exception

Set slow-down acceleration. Takes effect on next beginMotion command.

Parameters:

value - - new value (counts/sec^2)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getDeceleration

public int getDeceleration()
                    throws TimeoutException,
                           java.io.IOException,
                           java.lang.NullPointerException,
                           java.lang.IllegalArgumentException,
                           java.lang.Exception

Get slow-down acceleration. Motor deceleration (counts/sec^2) Used for changing jogging velocity. Deceleration for stopping is controlled separately.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setStopDeceleration

public void setStopDeceleration(int value)
                         throws TimeoutException,
                                java.io.IOException,
                                java.lang.NullPointerException,
                                java.lang.IllegalArgumentException,
                                java.lang.Exception

Set slow-down acceleration, Motor stop deceleration (counts/sec^2) Controls rate at which motor stops when ST command is issued; deceleration during jogging velocity change is handled separately. Takes effect on next beginMotion command.

Parameters:

value - - new value (counts/sec^2)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getStopDeceleration

public int getStopDeceleration()
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException,
                               java.lang.Exception

Get slow-down stop acceleration.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getPositionCounter

protected long getPositionCounter()
                           throws TimeoutException,
                                  java.io.IOException,
                                  java.lang.NullPointerException,
                                  java.lang.Exception

Get motor position.

Returns:

motor position (always 0 for now)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setPositionCounter

public void setPositionCounter(long value)
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException

Set Position Counter. Motor must be stopped

Parameters:

value - - position counter value

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

setPositionRelative

public void setPositionRelative(long value)
                         throws TimeoutException,
                                java.io.IOException,
                                java.lang.NullPointerException,
                                java.lang.IllegalArgumentException,
                                java.lang.Exception

Position Relative. Sets relative position; does not take effect until BG. Motion subject to AC, DC, JV, etc.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setPositionAbsolute

public void setPositionAbsolute(long value)
                         throws TimeoutException,
                                java.io.IOException,
                                java.lang.NullPointerException,
                                java.lang.IllegalArgumentException,
                                java.lang.Exception

Position Absolute. Enables motor (required to set PA) Sets absolute position; does not take effect until BG

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getPositionError

protected long getPositionError()
                         throws TimeoutException,
                                java.io.IOException,
                                java.lang.NullPointerException,
                                java.lang.Exception

Get motor position error.

Returns:

difference between commanded and actual position

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setPTPSpeed

public void setPTPSpeed(int ptpSpeed)
                 throws java.io.IOException,
                        java.lang.IllegalArgumentException,
                        TimeoutException,
                        java.lang.NullPointerException,
                        java.lang.Exception

Set max speed for PTP (point to point) motion. Although SP is not used in velocity mode, it must be set so that SP<|VL[2]| and SP<|VH[2]|. If not, parameters VL,VH,LL,HL may not be correctly written to flash

Parameters:

ptpSpeed - max PTP speed (counts/sec)

Throws:

java.io.IOException

java.lang.IllegalArgumentException

TimeoutException

java.lang.NullPointerException

java.lang.Exception

getPTPSpeed

public int getPTPSpeed()
                throws java.io.IOException,
                       java.lang.IllegalArgumentException,
                       TimeoutException,
                       java.lang.NullPointerException,
                       java.lang.Exception

Throws:

java.io.IOException

java.lang.IllegalArgumentException

TimeoutException

java.lang.NullPointerException

java.lang.Exception

setJoggingVelocity

public void setJoggingVelocity(double velocityRPM,
                               int countsPerRev)
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException,
                               java.lang.Exception

Set motor velocity. Does not take effect until next BG command

Parameters:

velocityRPM - - motor speed (RPM)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setJoggingVelocity

public void setJoggingVelocity(int velocityCounts)
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException,
                               java.lang.Exception

Set jogging velocity (counts/second). The new velocity does not take effect until the next begin motion command.

Parameters:

velocityCounts - commanded velocity (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getJoggingVelocity

public int getJoggingVelocity()
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.Exception

Get jogging velocity. (requested motor velocity; reads value even if motor stopped)

Returns:

velocity

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getEncoderVelocity

public int getEncoderVelocity()
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.Exception

Get encoder velocity VX.

Returns:

velocity (instantaneous value, counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getDesiredVelocity

public int getDesiredVelocity()
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.Exception

Get commanded velocity. ( DV[2]; reads 0 if motor stopped)

Returns:

velocity

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setEnable

public void setEnable(boolean value,
                      long timeoutMsec)
               throws TimeoutException

Enable or disable the motor fulfills MotorControlIF interface

Throws:

TimeoutException

isEnabled

public boolean isEnabled()
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.Exception

Determine if motor is enabled.

Returns:

true if enabled, false otherwise.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

stopMotor

protected int stopMotor()
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.Exception

Stop motor.

Returns:

0 on success

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

motionWait

public void motionWait(long distance,
                       long pollMsec)
                throws TimeoutException,
                       java.io.IOException,
                       java.lang.NullPointerException,
                       java.lang.IllegalArgumentException,
                       java.lang.Exception

wait for relative/absolute motion to complete

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

beginMotion

public void beginMotion()
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Begin motion. Enables motor and starts new motion (according to jogging velocity and acceleration settings).

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpAbsolute

public void ptpAbsolute(long position,
                        int velocity,
                        int acceleration,
                        int deceleration,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Command new absolute position w/ new acceleration parameters. Sets jogging velocity, acceleration and initiates new motion.

Parameters:

position - - counts

velocity - - motor speed (counts/sec)

acceleration - - new accleration value counts/sec^2

deceleration - - new decleration value counts/sec^2

wait - - delay when setting ptp absolute speed

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpAbsolute

public void ptpAbsolute(long position,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Command new absolute position; changes velocity during motion based on current AC, DC and specified JV parameters Enables motor and initiates new motion.

Parameters:

position - - motor position (counts)

wait - - enable delay when setting ptp absolute speed

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpRelative

public void ptpRelative(long position,
                        int velocity,
                        int acceleration,
                        int deceleration,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Command new relative position w/ new acceleration parameters. Sets jogging velocity, acceleration and initiates new motion.

Parameters:

position - - counts

velocity - - motor speed (counts/sec)

acceleration - - new accleration value counts/sec^2

deceleration - - new decleration value counts/sec^2

wait - - enable delay when setting ptp absolute speed

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpRelative

public void ptpRelative(long position,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Command new relative position; changes velocity during motion based on current AC, DC and specified JV parameters Enables motor and initiates new motion.

Parameters:

position - - motor position (relative counts)

wait - - enable delay when setting ptp absolute speed

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

jog

public void jog(int velocity,
                int acceleration,
                int deceleration)
         throws TimeoutException,
                java.io.IOException,
                java.lang.NullPointerException,
                java.lang.IllegalArgumentException,
                java.lang.Exception

Command new velocity w/ new acceleration parameters. Sets jogging velocity, acceleration and initiates new motion. If acceleration or deceleration <=0, they are not set. Equivalent to commandVelocity if acceleration and deceleration both <=0

Parameters:

velocity - - motor speed (counts/sec)

acceleration - - new accleration value counts/sec^2

deceleration - - new decleration value counts/sec^2

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

jog

public void jog(int velocity)
         throws TimeoutException,
                java.io.IOException,
                java.lang.NullPointerException,
                java.lang.IllegalArgumentException,
                java.lang.Exception

Command new velocity; changes velocity during motion based on current AC, DC and specified JV parameters Sets jogging velocity and initiates new motion.

Parameters:

velocity - - motor speed (counts/sec)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception