Service: XY Table

This service is used to control the positioning of the Sivers 60 GHz antenna arrays mounted on the XY-tables in COSMOS Sandbox 1. The XY tables allow for independent movement of each antenna array in the horizontal plane within a 1.3m x 1.3m area, as well as rotating the arrays ±45° about their vertical axis.

XY Tables:

Name	Location	Mounted Device
xytable1.sb1.cosmos-lab.org	COSMOS Sandbox 1	rfdev3-in1 (Sivers 60 GHz), rfdev4-in1 (IBM PAAM 28 GHz)
xytable2.sb1.cosmos-lab.org	COSMOS Sandbox 1	rfdev3-in2 (Sivers 60 GHz), rfdev4-in2 (IBM PAAM 28 GHz)

Overhead View (not to scale):

Useful usage notes:

• X,Y movement is limited within a 1.3m x 1.3m area.
• The antenna arrays may be rotated ±45° about their vertical axis.
• The centers of the tables are approximately 20m apart.
• The coordinate systems of the tables are 180° rotated from each other (xytable1 has 0,0 in the "lower-right", while xytable2 has 0,0 in the "upper-left").
• For the arrays to be aligned "head on", the x-coordinate must follow this pattern:
  • When xytable1 at x=0, then xytable2 at x=1300
  • When xytable1 at x=650, then xytable2 at x=650
  • When xytable1 at x=1300, then xytable2 at x=0
• Angles are defined relative to each array.
  • Angles toward the "positive direction" are clockwise when viewed from overhead.
  • Angles toward the "negative direction" are counter-clockwise when viewed from overhead.
• If the antennas are aligned on the x-axis, then an angle of 0° will ensure the antennas are facing each other.

Usage

All the available methods are accessible from the a testbed console via an HTTP API located at am1.cosmos-lab.org:5054/xy_table. This API can be interacted with via a command line tool such as "curl" or any script using a "REST client" library.

Get the Current Status & Positions

This API call is used to get the current status of the XY-table(s). The response will specify the current movement state of the XY platform and angular rotation systems as well as their current and target positions.

HTTP API Path: am1.cosmos-lab.org:5054/xy_table/status

Parameters:

Name	Decription	Required	Acceptable Input
name	Comma separated list of XY-table FQDNs	Y	(list of XY table FQDNs)

Selected response values and their meaning:

• xy_status:

Value	Decription
Idle	Platform is stopped in the X and Y plane.
Run	Platform is moving in the X and/or Y directions.
other values	Indicate possible error, may require staff intervention if persistent.

• rotator_status:

Value	Decription
Limp	Rotator is stopped but the motor is not trying to hold the position fixed.
Holding	Rotator is stopped and the motor is trying to hold the position fixed.
Accelerating Travelling Decelerating	Rotator is moving.
other values	Indicate possible error, may require staff intervention if persistent.

• current_position: The position information at the time the request was issued. Note that this is not real-time and may have up to a 1 second delay.

• target_position: The last requested X, Y, and angle positions.

Example 1

Get status of xytable1.

HTTP Request:

am1.cosmos-lab.org:5054/xy_table/status?name=xytable1.sb1.cosmos-lab.org

Response:

<response status="OK">
  <action service="xy_table" name="status">
    <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org">
      <current_position x="650.998" y="0.997" angle="-0.4"/>
      <target_position x="650" y="0" angle="0.0"/>
    </xy_table>
  </action>
</response>

Example 2

Get status of xytable1 and xytable2.

HTTP Request:

am1.cosmos-lab.org:5054/xy_table/status?name=xytable1.sb1.cosmos-lab.org,xytable2.sb1.cosmos-lab.org

Response:

<response status="OK">
  <action service="xy_table" name="status">
    <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org">
      <current_position x="650.998" y="0.997" angle="-0.4"/>
      <target_position x="650" y="0" angle="0.0"/>
    </xy_table>
    <xy_table xy_status="Run" rotator_status="Holding" name="xytable2.sb1.cosmos-lab.org">
      <current_position x="641.916" y="0.997" angle="0.4"/>
      <target_position x="650" y="0" angle="0.0"/>
    </xy_table>
  </action>
</response>

Move XY Table Platform

Moves the platform(s) to the desired X, Y coordinates and rotates it to the desired angle. The response will be a "status" style response immediately following the execution of the command.

HTTP API Path: am1.cosmos-lab.org:5054/xy_table/move_to

Parameters:

Name	Decription	Required	Acceptable Input
name	Comma separated list of XY table FQDNs	Y	(list of XY table FQDNs)
x	X-axis target coordinate (mm)	Y	0 to 1300
y	Y-axis target coordinate (mm)	Y	0 to 1300
angle	Target angle (deg)	Y	-45 to 45

Example 1

Move the platform of xytable1 to X=500 and Y=30, and rotate to 15 degrees.

HTTP Request:

am1.cosmos-lab.org:5054/xy_table/move_to?name=xytable1.sb1.cosmos-lab.org&x=500&y=30&angle=15

Response:

<response status="OK">
  <action service="xy_table" name="move_to">
    <xy_table xy_status="Run" rotator_status="Traveling" name="xytable1.sb1.cosmos-lab.org">
      <current_position x="650.998" y="0.997" angle="-0.4"/>
      <target_position x="500" y="30" angle="15.0"/>
    </xy_table>
  </action>
</response>

Stop the Current Movement

Immediately cancels the last requested movement and bring the platform(s) to a stop.

HTTP API Path: am1.cosmos-lab.org:5054/xy_table/stop

Parameters:

Name	Decription	Required	Acceptable Input
name	Comma separated list of XY table FQDNs	Y	(list of XY table FQDNs)

Example 1

Stop the current movement of xytable1.

HTTP Request:

am1.cosmos-lab.org:5054/xy_table/stop?name=xytable1.sb1.cosmos-lab.org

Response:

<response status="OK">
  <action service="xy_table" name="stop">
    <xy_table xy_status="Idle" rotator_status="Holding" name="xytable1.sb1.cosmos-lab.org">
      <current_position x="650.998" y="0.997" angle="-0.4"/>
    </xy_table>
  </action>
</response>