Device: Motor

Class Name:  <<Device>>lsfMOTOR

Description:  Control of the motorized axes used by a sub-system.

Inheritance:  LCU Server Framework <<Device>>lsfDEVICE

Use Case diagram: 

Class diagram: 

Architecture: 

The <<Device>> class Motor is a wrapper to the MCM; besides the standard methods associated to the standard commands, it provides a limited number of methods for the control of motors. This class is designed for multi-dimensional axis system; it allows therefore to handle many motors in parallel (e.g. an X-Y translation stage device).

The public methods are:

• lsfMotorMove(): perform a motion in Position mode to the given target in user unit. The motion speed is defaulted to the value configured in the database. The target position is defined by the signature of the method:
  • lsfMotorMoveAbs(vltDOUBLE target[]): an absolute position
  • lsfMotorMoveRel(vltDOUBLE target[]): a relative position
  • lsfMotorMoveToName(const char *name[], vltDOUBLE offset[]): a named position + offset
  • lsfMotorMoveToIndex(vltINT32 index[], vltDOUBLE offset[]): an indexed named position + offset
  This method waits for the motion to complete.
• getPosition(): return the actual position of the motor in user unit.

These methods assume that the motors are perfectly configured and tuned for the foreseen motions (default speed, named positions ...).

The protected methods are:

• lsfMotorConstructor(): this method allocates all the resources needed by the device. Especially it checks for the availability of the Motor Control API (mcm), and installs the motor (register in mcm).
• lsfMotorDestructor(): this method releases all the allocated resources, especially it de-installs the motor (de-register from mcm).
• lsfMotorInit(): performs the SW and HW initialization of the motor.
• lsfMotorStandby():
• lsfMotorOnline():
• lsfMotorStop():
• lsfMotorOff():
• lsfMotorExit():
• lsfMotorSimulat():
• lsfMotorStopsim():
• lsfMotorSelftest():
• lsfMotorTest(): these methods implement the minimum behaviour associated to the Standard Commands for the motors; especially the motors are stopped at any state transition.

In addition the following protected methods realize the interface to mcm:

• lsfMotorMove: initiate the motion in the required mode.
• lsfMotorWaitMove: wait for the motion completion
• lsfMotorSetState /  lsfMotorGetState: set/get the state of the motor(s)
• lsfMotorSetSubState /  lsfMotorGetSubState: set/get the sub-state of the motor(s)

The public attributes are:

• motorStatus: motor status

Activity diagram: 

The following diagram depicts the activities performed by the method lsfMotorMove():

Related Packages: 

• lcc: The LCU Common Software
• mcm: The Motor Control Module comprising all necessary modules
• and the associated drivers (tim,  acro,  mcon,  ampl).

Issues to be Determined or Resolved: None

Last modified: Mon Sep 18 16:50:08 METDST 2000