def getRotCount(self, axis):
"""*UNUSED*
determines actual number of rotations in case of rotary actuator.
"""
self.rotcount = ANC350lib.Int32(0)
ANC350lib.positionerGetRotCount(self.handle, axis,
ctypes.byref(self.rotcount))
return self.rotcount.value
def getReferenceRotCount(self, axis):
"""*UNUSED*
determines actual position of addressed axis.
"""
self.rotcount = ANC350lib.Int32(0)
ANC350lib.positionerGetReferenceRotCount(self.handle, axis,
ctypes.byref(self.rotcount))
return self.rotcount.value
def getReference(self, axis):
"""*UNUSED*
determines distance of reference mark to origin.
"""
self.pos = ANC350lib.Int32(0)
self.validity = ctypes.c_bool(None)
ANC350lib.positionerGetReference(self.handle, axis,
ctypes.byref(self.pos),
ctypes.byref(self.validity))
return self.pos.value, self.validity.value
def getFrequency(self, axis):
"""Determines the frequency on the stepper.
:param axis: axis number from 0 to 2 for steppers
:type axis: integer
:return: measured frequency in Hz
"""
self.freq = ANC350lib.Int32(0)
ANC350lib.positionerGetFrequency(self.handle, axis,
ctypes.byref(self.freq))
return self.freq.value
def connect(self):
"""| Establishes connection to the first attocube device found.
| **Pay attention: the 0 that you give to the ANC350lib.Int32 is the first attocube device; not the first of the 6 positioners.**
"""
self.handle = ANC350lib.Int32(0)
try:
ANC350lib.positionerConnect(0, ctypes.byref(
self.handle)) #0 means "first device"
self.logger.info('connected to first (and only) attocube device')
except Exception as e:
self.logger.error('unable to connect!')
raise e
def getDcLevel(self, axis):
"""| Determines the status actual DC level on the scanner (or stepper).
| **Again: the 0 is for the number of controller units, not the 6 positioners.**
:param axis: axis number from 3 to 5 for scanners
:type axis: integer
:return: measured DC level in mV
"""
self.dclev = ANC350lib.Int32(0)
ANC350lib.positionerGetDcLevel(self.handle, axis,
ctypes.byref(self.dclev))
return self.dclev.value
def getSpeed(self, axis):
"""| Determines the actual speed.
| In case of standstill of this actor this is the calculated speed resultingfrom amplitude setpoint, frequency, and motor parameters.
| In case of movement this is measured speed.
:param axis: axis number from 0 to 2 for steppers
:type axis: integer
:return: speed in nm/s
"""
self.spd = ANC350lib.Int32(0)
ANC350lib.positionerGetSpeed(self.handle, axis, ctypes.byref(self.spd))
return self.spd.value
def getPosition(self, axis):
"""| Determines actual position of addressed stepper axis.
| **Pay attention: the sensor resolution is specified for 200nm.**
:param axis: axis number from 0 to 2 for steppers
:type axis: integer
:return: position in nm
"""
self.pos = ANC350lib.Int32(0)
ANC350lib.positionerGetPosition(self.handle, axis,
ctypes.byref(self.pos))
return self.pos.value
def capMeasure(self, axis):
"""| Determines the capacitance of the piezo addressed by axis.
| **Pay attention: the 0 that you give to the ANC350lib.Int32 is the first Attocube device; not the first of the 6 positioners.**
:param axis: axis number from 0 to 2 for steppers and 3 to 5 for scanners
:type axis: integer
:return: capacitance value in mF
"""
self.status = ANC350lib.Int32(0)
ANC350lib.positionerCapMeasure(self.handle, axis,
ctypes.byref(self.status))
return self.status.value
def getAmplitude(self, axis):
"""| Determines the actual amplitude.
| In case of standstill of the actor this is the amplitude setpoint.
| In case of movement the amplitude set by amplitude control is determined.
:param axis: axis number from 0 to 2 for steppers
:type axis: integer
:return: measured amplitude in mV
"""
self.status = ANC350lib.Int32(0)
ANC350lib.positionerGetAmplitude(self.handle, axis,
ctypes.byref(self.status))
return self.status.value
def getStepwidth(self, axis):
"""| Determines the step width.
| In case of standstill of the motor this is the calculated step width resulting from amplitude setpoint, frequency, and motor parameters.
| In case of movement this is measured step width.
:param axis: axis number from 0 to 2 for steppers
:type axis: integer
:return: stepwidth in nm
"""
self.stepwdth = ANC350lib.Int32(0)
ANC350lib.positionerGetStepwidth(self.handle, axis,
ctypes.byref(self.stepwdth))
self.logger.debug('stepwidth is here ' + str(self.stepwdth.value))
return self.stepwdth.value
def getStatus(self, axis):
"""| Determines the status of the selected axis.
| *It is not clear whether it also works for the scanner, or only for the stepper.*
| result: bit0 (moving) (+1), bit1 (stop detected) (+2), bit2 (sensor error) (+4), bit3 (sensor disconnected) (+8).
:param axis: axis number from 0 to 2 for steppers and 3 to 5 for scanners
:type axis: integer
:return: 1: moving, 2: stop detected, 4: sensor error, 8: sensor disconnected
"""
self.status = ANC350lib.Int32(0)
ANC350lib.positionerGetStatus(self.handle, axis,
ctypes.byref(self.status))
status = self.status.value
out = {}
out['moving'] = (status & 1) == 1
out['stop'] = (status & 2) == 2
out['error'] = (status & 4) == 4
out['disconnected'] = (status & 8) == 8
return out