Tango Attribute Motor Controller.

This controller provides a way to interface a Tango Motor device server in Bliss.

Note

Better use this controller than TangoEMot:

• Attribute to use can be customized
• Tango events are supported

A motor moves by modifying an attribute in a Tango server.

An (optional) state attribute can be used to report the state.

An (optional) stop() cmd can also be used to stop the motor if necessary.

If not specified, default attributes are used:

default attributes are:

• pos_attr: Position
• state_attr:State

If velocity_attr and acceleration_attr are not declared, a default hardcoded values will be reported. no access to those attributes would be done.

To setup Velocity and/or Acceleration use declarations as follow:

• velocity_attr: Velocity
• acceleration_attr: Acceleration

Default stop command is:

• stop_cmd: Abort

Beware that, even if not configured, if the state attribute and/or the stop command exists for that device, they may be used by this controller. That is the default behaviour. You can still inhibit their use by manually positioning them to a non-existant attribute name/command name.

For example state_attr: dummy or stop_cmd: not-used.

configuration

Configuration example:

- class: tango_attr_as_motor
  axes:

   # first example 'chi' uses defaults for all attributes:
   - name: chi
     uri: id42/slitbox/1

   # in this example 'phi' uses "diffpos" as attribute to change
   # when moving
   - name: phi
     uri: id42/slitbox/1
     pos_attr: diffpos

   # in the last example 'omega' both attributes and stop command
   # are different from defaults
   - name: omega
     uri: id42/slitbox/3
     pos_attr: OmegaPosition
     state_attr: OmegaState
     stop_cmd: OmegaStop

   # A tango icepap exposes an acceleration time instead of an acceleration.
   # This can be setup the following way:
   - name: icepap_roby
     uri: id42/icepap/roby
     pos_attr: Position
     velocity_attr: Velocity
     acceleration_time_attr: Acceleration