TANGO
Device Server


Abstract Stepper Motor
Device Attributes Description

Motor Class

Revision: V1-1 - Author: jmchaize

Scalar Attributes
Attribute name
Data Type
R/W Type
Expert
Steps_per_unit
DEV_DOUBLE
READ_WRITE
Yes
Steps: number of steps in the step counter
DEV_LONG
READ_WRITE
No
Position: The actual motor position.
DEV_DOUBLE
READ_WRITE
No
Acceleration: The acceleration of the motor.
DEV_LONG
READ_WRITE
Yes
Velocity: The constant velocity of the motor.
DEV_LONG
READ_WRITE
Yes
Backlash: Backlash to be applied to each motor movement
DEV_DOUBLE
READ_WRITE
Yes
Home_position: Position of the home switch
DEV_DOUBLE
READ_WRITE
Yes
HardLimitLow
DEV_BOOLEAN
READ
No
HardLimitHigh
DEV_BOOLEAN
READ
No
PresetPosition: preset the position in the step counter
DEV_DOUBLE
WRITE
Yes
FirstVelocity: number of step/s for the first step and for the move reference
DEV_LONG
READ_WRITE
Yes
Home_side: indicates if the axis is below or above the position of the home switch
DEV_BOOLEAN
READ
No
StepSize: Size of the relative step performed by the StepUp and StepDown commands. The StepSize is expressed in physical unit.
DEV_DOUBLE
READ_WRITE
No







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