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

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

public class ElmoSolo
extends Elmo

Elmo Solo Motor controller hardware abstraction. Used by SIAM instrument services to access Elmo motor controller

Field Summary

protected static org.apache.log4j.Logger

_log4j Log4j logger

Fields inherited from class org.mbari.siam.foce.devices.elmo.base.Elmo

_doubleBuf, _intBuf, _junk32, _longBuf, _serialMode, _serialPort, _serialRx, _serialTx, _stringBuf, _terminator, _terminatorString, BUF128, BUF32, CMD_ABSOLUTE_POSITION, CMD_ACCELERATION, CMD_ARM_HOMING_PROCESS, CMD_BEGIN_MOTION, CMD_COMMUTATION_ARRAY, CMD_CONT_CURRENT_LIMIT, CMD_CURRENT_I_FILTER, CMD_CURRENT_P_FILTER, CMD_DECELERATION, CMD_DIGITAL_INPUT_FILTER, CMD_DIGITIAL_OUTPUT, CMD_DISARM_HOMING_PROCESS, CMD_DUMP_CPU, CMD_ECHO, CMD_ENABLE_AUX_HOME_SEQUENCE_HI, CMD_ENABLE_AUX_HOME_SEQUENCE_LO, CMD_ENABLE_MAIN_HOME_SEQUENCE_HI, CMD_ENABLE_MAIN_HOME_SEQUENCE_LO, CMD_GENERAL_PURPOSE_HI, CMD_GET_AUX_ENC_VELOCITY, CMD_GET_DESIRED_VELOCITY, CMD_GET_DIGITAL_INPUTS, CMD_GET_MAIN_ENC_VELOCITY, CMD_GET_MOTION_STATUS, CMD_GET_MOTOR_FAULT, CMD_GET_SERIAL_NUMBER, CMD_GET_STATUS_REGISTER, CMD_GET_VELOCITY_ERROR, CMD_GET_VERSION, CMD_HEXMODE, CMD_HOMING_ABSOLUTE_VALUE, CMD_HOMING_ACTIVATION_MODE, CMD_HOMING_BEHAVIOR, CMD_HOMING_EVENT_DEFINITION, CMD_HOMING_EVENT_PX, CMD_HOMING_OUTPUT_VALUE, CMD_INPUT_LOGIC, CMD_JOGGING_VELOCITY, CMD_MAX_CURRENT, CMD_MOTOR_ENABLE, CMD_PEAK_CURRENT_DURATION, CMD_PEAK_CURRENT_LIMIT, CMD_POSITION_COUNTER, CMD_POSITION_ERROR, CMD_POSITION_REF_HI, CMD_POSITION_REF_LO, CMD_PTP_SPEED, CMD_RELATIVE_POSITION, CMD_SET_DIO5_IGNORE_HI, CMD_SET_DIO5_IGNORE_LO, CMD_SET_XMODULUS_HI, CMD_SET_XMODULUS_LO, CMD_SPEED_LIMIT_HI, CMD_SPEED_LIMIT_LO, CMD_SPEED_REF_HI, CMD_SPEED_REF_LO, CMD_STOP_DECELERATION, CMD_STOP_MOTION, CMD_STUCK_SPEED, CMD_TORQUE_LIMIT, CMD_UNIT_MODE, CMD_VELOCITY_I_FILTER, CMD_VELOCITY_P_FILTER, COUNTS_PER_REVOLUTION, DBL_SEC_PER_MIN, DIGITAL_INPUT_BIT0, DIGITAL_INPUT_BIT1, DIGITAL_INPUT_BIT2, DIGITAL_INPUT_BIT3, DIGITAL_INPUT_BIT4, DIGITAL_INPUT_BIT5, ECHO_DISABLED, ECHO_ENABLED, HEX_MODE_DISABLED, HEX_MODE_ENABLED, HOMING_BEHAVIOR_NONE, HOMING_BEHAVIOR_SET_OUTPUT, HOMING_BEHAVIOR_STOP, HOMING_EVENT_ABS, HOMING_EVENT_DIN5, HOMING_EVENT_IMMEDIATE, HOMING_EVENT_MAIN_HOME_SWITCH, HOMING_EVENT_NONE, HOMING_EVENT_REL, IL_MAX_INDEX, IL_MAX_VALUE, IL_MIN_INDEX, IL_MIN_VALUE, INPUT_LOGIC_ABORT_HI, INPUT_LOGIC_ABORT_LO, INPUT_LOGIC_AUXHOME_HI, INPUT_LOGIC_AUXHOME_LO, INPUT_LOGIC_BG_HI, INPUT_LOGIC_BG_LO, INPUT_LOGIC_BOTHSTOP_HI, INPUT_LOGIC_BOTHSTOP_LO, INPUT_LOGIC_FLS_HI, INPUT_LOGIC_FLS_LO, INPUT_LOGIC_FREEWHEEL_HI, INPUT_LOGIC_FREEWHEEL_LO, INPUT_LOGIC_GP_HI, INPUT_LOGIC_GP_LO, INPUT_LOGIC_HARDSTOP_HI, INPUT_LOGIC_HARDSTOP_LO, INPUT_LOGIC_IGNORE_HI, INPUT_LOGIC_IGNORE_LO, INPUT_LOGIC_MAINHOME_HI, INPUT_LOGIC_MAINHOME_LO, INPUT_LOGIC_RLS_HI, INPUT_LOGIC_RLS_LO, INPUT_LOGIC_SOFTSTOP_HI, INPUT_LOGIC_SOFTSTOP_LO, INT_SEC_PER_MIN, LINE_END_BYTES, MASK_DIGITAL_INPUT_ABORT, MASK_DIGITAL_INPUT_ACTIVE, MASK_DIGITAL_INPUT_AUXHOME, MASK_DIGITAL_INPUT_BG, MASK_DIGITAL_INPUT_FLS, MASK_DIGITAL_INPUT_HARDSTOP, MASK_DIGITAL_INPUT_INH, MASK_DIGITAL_INPUT_MAINHOME, MASK_DIGITAL_INPUT_PIN, MASK_DIGITAL_INPUT_PORT, MASK_DIGITAL_INPUT_RLS, MASK_DIGITAL_INPUT_SOFTSTOP, MAX_ACCELERATION, MAX_DECELERATION, MAX_STOP_DECELERATION, MAX_VELOCITY_COUNTS, MAX_VELOCITY_LIMIT, MAX_XMODULUS, MF_ANALOG_FEEBACK, MF_CPU, MF_DATABASE, MF_ECAM, MF_FEEDBACK_LOSS, MF_HEARTBEAT, MF_INHIBIT, MF_MULT_HALL, MF_NO_START, MF_OK, MF_OVER_VOLTAGE, MF_PEAK_CURRENT, MF_POSITION, MF_POSITION_TRACKING, MF_SERVO, MF_SHORT_CIRCUIT, MF_SPEED, MF_SPEED_TRACKING, MF_STACK_OVERFLOW, MF_STUCK, MF_TEMPERATURE, MF_UNDER_VOLTAGE, MF_ZERO_NOT_FOUND, MIN_ACCELERATION, MIN_DECELERATION, MIN_STOP_DECELERATION, MIN_XMODULUS, MODE_DUAL_FEEDBACK_POSITION, MODE_SERIAL_LOCAL, MODE_SERIAL_RFC1722, MODE_SINGLE_FEEDBACK_POSITION, MODE_SPEED, MODE_STEPPER, MODE_TORQUE, MOTOR_DISABLED, MOTOR_ENABLED, MS_POS_STABLIZED, MS_REF_CONTROLLED, MS_REF_STATIONARY, MS_RESERVED, PX_MAX_VALUE, PX_MIN_VALUE, SR_CPU_STATUS, SR_CURRENT_LIMIT_ON, SR_DIGITAL_HALLS, SR_DRIVE_READ, SR_GAIN_SCHEDULING_ON, SR_HOMING_PROCESSING, SR_LIMIT_STOP, SR_MOTION_STATUS, SR_MOTOR_FAILURE_LATCHED, SR_MOTOR_ON, SR_OFFSET_CPU_STATUS, SR_OFFSET_CURRENT_LIMIT_ON, SR_OFFSET_DIGITAL_HALLS, SR_OFFSET_DRIVE_READ, SR_OFFSET_GAIN_SCHEDULING_ON, SR_OFFSET_HOMING_PROCESSING, SR_OFFSET_LIMIT_STOP, SR_OFFSET_MOTION_STATUS, SR_OFFSET_MOTOR_FAILURE_LATCHED, SR_OFFSET_MOTOR_ON, SR_OFFSET_PROGRAM_RUNNING, SR_OFFSET_RECORDER_STATUS, SR_OFFSET_REFERENCE_MODE, SR_OFFSET_STATUS, SR_OFFSET_UNIT_MODE, SR_OFFSET_USER_PROGRAM_ERROR, SR_PROGRAM_RUNNING, SR_RECORDER_STATUS, SR_REFERENCE_MODE, SR_STATUS, SR_UNIT_MODE, SR_USER_PROGRAM_ERROR, TM_CMD_MSEC, TM_EMPTY_INPUT_MSEC, TM_MOTION_WAIT_MSEC, TM_POLL_DELAY_MSEC, TM_START_MSEC, TM_STOP_MSEC

Constructor Summary

ElmoSolo(gnu.io.SerialPort port)
Constructor

Method Summary

void	initializeController(int serialMode, int unitMode) Initialize motor controller.

Methods inherited from class org.mbari.siam.foce.devices.elmo.base.Elmo

beginMotion, cmdWriteRead, cmdWriteReadDouble, cmdWriteReadInt, cmdWriteReadLong, cmdWriteReadString, cmdWriteReadX, counts2rpm, delay, emptyInput, emptyInput, getAcceleration, getContinuousCurrent, getDeceleration, getDesiredVelocity, getEchoMode, getEncoderVelocity, getHexMode, getInputLogic, getInputPort, getInputStream, getJoggingVelocity, getMaxCurrent, getMotionStatus, getMotorFault, getOutputStream, getPeakCurrent, getPeakCurrentDuration, getPositionCounter, getPositionError, getPTPSpeed, getReferenceLimitHi, getReferenceLimitLo, getReferenceSpeedHi, getReferenceSpeedLo, getSerialMode, getSerialPort, getStatusRegister, getStopDeceleration, getStuckSpeed, getTorqueLimit, getUnitMode, getVersion, getXModulusHi, getXModulusLo, isEnabled, jog, jog, mkCmd, mkCmd, mkCmd, mkIndex, mkIndexCmd, mkIndexCmd, mkIndexCmd, motionWait, ptpAbsolute, ptpAbsolute, ptpRelative, ptpRelative, readRegister, rpm2counts, setAcceleration, setContinuousCurrent, setDeceleration, setEchoMode, setEnable, setHexMode, setInputLogic, setJoggingVelocity, setJoggingVelocity, setPeakCurrent, setPeakCurrentDuration, setPositionAbsolute, setPositionCounter, setPositionRelative, setPTPSpeed, setReferenceLimit, setReferenceSpeed, setSerialMode, setSerialPort, setStopDeceleration, setStuckSpeed, setTorqueLimit, setUnitMode, setXModulus, stopMotor, writeCommand

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

Constructor Detail

ElmoSolo

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

Constructor

Throws:

java.io.IOException

Method Detail

initializeController

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

Initialize motor controller. - set serial mode - disables echo - disable hex mode - stops motor - sets unit mode=MODE_SPEED - uses reference speed limits set in flash (for FOCE: VL[2]=-340 VH[2]=340 LL[2]=-1080 HL[2]=1080) - flushes the serial port input buffer

Specified by:

initializeController in class Elmo

Parameters:

serialMode - serial comms mode (rs232 or RFC1722)

unitMode - elmo unit mode

Throws:

TimeoutException

java.io.IOException

java.lang.Exception