def on_go_baf(self):
"""Do a back-and-forth move."""
p1 = self.ui.posSpinBox_baf1.value()
v1 = self.ui.velSpinBox_baf1.value()
v2 = self.ui.velSpinBox_baf2.value()
a1 = self.ui.accSpinBox_baf1.value()
a2 = self.ui.accSpinBox_baf2.value()
if self.ui.rbRelative_baf.isChecked():
relflag = "r"
p2 = -p1
else:
relflag = ""
p2 = self.ui.posSpinBox_baf2.value()
txt = "GLOBAL INT move\n"
txt += "JERK({}) = 1\n".format(self.axis)
txt += "move = 1\n"
txt += "WHILE move\n"
txt += " ACC({}) = {}\n".format(self.axis, a1)
txt += " DEC({}) = {}\n".format(self.axis, a1)
txt += " VEL({}) = {}\n".format(self.axis, v1)
txt += " ptp/e{} {}, {}\n".format(relflag, self.axis, p1)
txt += " ACC({}) = {}\n".format(self.axis, a2)
txt += " DEC({}) = {}\n".format(self.axis, a2)
txt += " VEL({}) = {}\n".format(self.axis, v2)
txt += " ptp/e{} {}, {}\n".format(relflag, self.axis, p2)
if not self.ui.checkBox_loop.isChecked():
txt += " move = 0\n"
txt += "END\n"
txt += "STOP\n"
acsc.loadBuffer(self.hcomm, 19, txt, 512)
acsc.runBuffer(self.hcomm, 19)
def on_JogPendant(self):
if self.jogmode == False:
self.jogmode = True
acsc.runBuffer(self.hcomm, 5, None)
elif self.jogmode == True:
acsc.stopBuffer(self.hcomm, 5)
self.jogmode = False
def on_runHoming(self):
if self.simulator:
self.homecounter += 1
else:
acsc.runBuffer(self.hcomm, 2, None)
self.ui.rbAbsolute.setChecked(True)
self.ui.rbAbsolute_baf.setChecked(True)
self.on_abs()
self.ui.actionOverride.setEnabled(False)
self.override = False
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
self.daqthread.clear()
self.runfinished.emit()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
self.daqthread.clear()
self.runfinished.emit()
def test_upload_prg():
"""Test that a program can be uploaded and run in the simulator."""
hc = acsc.openCommDirect()
txt = "enable 0\nVEL(0) = 1333\nptp 0, 1.33\nSTOP"
acsc.loadBuffer(hc, 19, txt, 64)
acsc.runBuffer(hc, 19)
time.sleep(0.2)
vel = acsc.getVelocity(hc, 0)
pos = acsc.getRPosition(hc, 0)
print("Position:", pos)
print("Velocity:", vel)
assert vel == 1333.0
assert pos == 1.33
acsc.closeComm(hc)
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def run(self):
if self.makeprg:
self.makedaqprg()
acsc.loadBuffer(self.hc, 19, self.prg, 1024)
acsc.runBuffer(self.hc, 19)
collect = acsc.readInteger(self.hc, acsc.NONE, "collect_data")
while collect == 0:
time.sleep(0.01)
collect = acsc.readInteger(self.hc, acsc.NONE, "collect_data")
while self.collectdata:
time.sleep(self.sleeptime)
t0 = acsc.readReal(self.hc, acsc.NONE, "start_time")
newdata = acsc.readReal(self.hc, acsc.NONE, "data", 0, 2, 0, self.dblen//2-1)
t = (newdata[0] - t0)/1000.0
self.data["time"] = np.append(self.data["time"], t)
self.data["carriage_vel"] = np.append(self.data["carriage_vel"], newdata[1])
self.data["turbine_rpm"] = np.append(self.data["turbine_rpm"], newdata[2])
time.sleep(self.sleeptime)
newdata = acsc.readReal(self.hc, acsc.NONE, "data", 0, 2, self.dblen//2, self.dblen-1)
t = (newdata[0] - t0)/1000.0
self.data["time"] = np.append(self.data["time"], t)
self.data["time"] = self.data["time"] - self.data["time"][0]
self.data["carriage_vel"] = np.append(self.data["carriage_vel"], newdata[1])
self.data["turbine_rpm"] = np.append(self.data["turbine_rpm"], newdata[2])
prg = prgs.ACSPLplusPrg()
prg.declare_2darray("global", "real", "data", 2, dblen)
prg.addline("global real foo")
prg.addline("foo = 6.5")
prg.addline("ENABLE 0")
prg.add_dc("data", dblen, sr, "TIME, FVEL(0)", "/c")
for n in xrange(3):
prg.addptp(0, 10000, "/e")
prg.addptp(0, 0, "/e")
prg.addline("WAIT 10000")
prg.addline("STOPDC")
prg.addstopline()
acsc.setAcceleration(hc, 0, 10000)
acsc.loadBuffer(hc, 0, prg, 1024)
acsc.runBuffer(hc, 0)
astate = acsc.getAxisState(hc, 0)
#print astate
for n in xrange(3):
time.sleep(sleeptime)
newdata = acsc.readReal(hc, acsc.NONE, "data", 0, 1, 0, dblen/2-1)
print acsc.readInteger(hc, acsc.NONE, "S_DCN")
t = np.append(t, newdata[0])
data = np.append(data, newdata[1])
time.sleep(sleeptime)
newdata = acsc.readReal(hc, acsc.NONE, "data", 0, 1, dblen/2, dblen-1)
t = np.append(t, newdata[0])
data = np.append(data, newdata[1])
then uploading it to the controller and running it.
"""
from __future__ import division, print_function
from acspy import acsc
import time
#file = open("test/test.prg", "w+")
acs_prg = """
ENABLE 1""" + \
"""
VEL(1) = 1000
PTP/r 1, -900
STOP
"""
#file.write(acs_prg)
#file.close()
print(acs_prg)
hc = acsc.openCommDirect()
acsc.loadBuffer(hc, 0, acs_prg, 512)
acsc.enable(hc, 0)
#acsc.LoadBuffersFromFile(hc, "test/test.prg")
acsc.runBuffer(hc, 0)
time.sleep(1)
print(acsc.getRPosition(hc, 1))
print(acsc.getMotorState(hc, 1))
acsc.closeComm(hc)
def initialization(self):
print "Waiting for Motorized Stage (ACS) Initialization"
self.hc = acsc.openCommEthernetTCP(address="10.0.0.100",
port=701) ## craete comminucation
acsc.runBuffer(self.hc, 0)
acsc.runBuffer(self.hc, 1)
acsc.runBuffer(self.hc, 2)
acsc.runBuffer(self.hc, 4)
acsc.runBuffer(self.hc, 5)
acsc.runBuffer(self.hc, 6)
time.sleep(30)
## Homing process
## Axis 6
acsc.waitMotionEnd(self.hc, axis=6) ## stop at left limit
if acsc.setFPosition(self.hc, axis=6, fposition=0) != 0:
print 'Axis 6 (Receiver Z): Homing completed'
else:
print 'Axis 6 (Receiver Z): Homing failed'
## Axis 0
acsc.waitMotionEnd(self.hc, axis=0)
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=0, target=47.5)
acsc.waitMotionEnd(self.hc, axis=0)
if acsc.setFPosition(self.hc, axis=0, fposition=0) == 1:
print 'Axis 0 (Sample X): Homing completed'
else:
print 'Axis 0 (Sample X): Homing failed'
## Axis 1
acsc.waitMotionEnd(self.hc, axis=1)
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=1, target=19.51)
acsc.waitMotionEnd(self.hc, axis=1)
if acsc.setFPosition(self.hc, axis=1, fposition=0) == 1:
print 'Axis 1 (Sample Y): Homing completed'
else:
print 'Axis 1 (Sample Y): Homing failed'
## Axis 2
acsc.waitMotionEnd(self.hc, axis=2) ## stop at left limit
acsc.toPoint(self.hc, flags=0, axis=2, target=2.8915)
print 'Axis 2 (Lens array): Homing completed'
## Axis 4
acsc.waitMotionEnd(self.hc, axis=4) ## stop at left limit
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=4, target=4.42)
acsc.waitMotionEnd(self.hc, axis=4)
if acsc.setFPosition(self.hc, axis=4, fposition=0) == 1:
print 'Axis 4 (Receiver X): Homing completed'
else:
print 'Axis 4 (Receiver X): Homing failed'
## Axis5
acsc.waitMotionEnd(self.hc, axis=5) ## stop at left limit
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=5, target=23.8)
acsc.waitMotionEnd(self.hc, axis=5)
if acsc.setFPosition(self.hc, axis=5, fposition=0) == 1:
print 'Axis 5 (Receiver Y): Homing completed'
else:
print 'Axis 5 (Receiver Y): Homing failed'
## parameter setting
acsc.setVelocity(self.hc, 0, 30) ## axis 0 (linear X)
acsc.setAcceleration(self.hc, 0, 100)
acsc.setDeceleration(self.hc, 0, 100)
acsc.setJerk(self.hc, 0, 1000)
acsc.setVelocity(self.hc, 1, 30) ## axis1 (linear Y)
acsc.setAcceleration(self.hc, 1, 100)
acsc.setDeceleration(self.hc, 1, 100)
acsc.setJerk(self.hc, 1, 1000)
acsc.setVelocity(self.hc, 2, 30) ## axis 2 (revolver)
acsc.setAcceleration(self.hc, 2, 100)
acsc.setDeceleration(self.hc, 2, 100)
acsc.setJerk(self.hc, 2, 1000)
acsc.setVelocity(self.hc, 4, 30) ## axis4 (step X)
acsc.setAcceleration(self.hc, 4, 100)
acsc.setDeceleration(self.hc, 4, 100)
acsc.setJerk(self.hc, 4, 1000)
acsc.setVelocity(self.hc, 5, 30) ## axis 5 (step Y)
acsc.setAcceleration(self.hc, 5, 100)
acsc.setDeceleration(self.hc, 5, 100)
acsc.setJerk(self.hc, 5, 1000)
acsc.setVelocity(self.hc, 6, 5) ## axis 6 (step Z)
acsc.setAcceleration(self.hc, 6, 50)
acsc.setDeceleration(self.hc, 6, 50)
acsc.setJerk(self.hc, 1, 100)