def initialize_axis(self, axis):
"""Axis initialization"""
self.log_info("initialize_axis() called for axis %r" % axis.name)
# Get axis config from bliss config
# address form is XY : X=rack {0..?} Y=driver {1..8}
axis.address = axis.config.get("address", int)
# Create an IcePAP lib axis object
device = self.libdevice
address = axis.address
name = axis.name
axis.libaxis = libicepap.Axis(device, address, name)
# Add the axis to the default IcePAP lib group
self.libgroup.add_axis(axis.libaxis)
# Initialiaze hardware
# if set_power fails, display exception but let axis
# be created properly
try:
self.libgroup.set_power(libicepap.ON, axis.libaxis)
except:
sys.excepthook(*sys.exc_info())
# Add new axis oject methods
add_axis_method(axis, self.get_identifier, types_info=("None", "str"))
def initialize_axis(self, axis):
orig_initialize_axis(self, axis)
for name, ptype in ctrl_pars.items():
mname = 'set_%s' % name
method = getattr(self, mname)
add_axis_method(axis, method, mname, types_info=(ptype, 'None'))
mname = 'get_%s' % name
method = getattr(self, mname)
add_axis_method(axis, method, mname, types_info=('None', ptype))
def initialize_axis(self, axis):
axis.channel = axis.config.get("channel")
if axis.channel == "X":
self.ctrl_axis = axis
axis.target_radius = axis.config.get("target_radius", int)
axis.target_time = axis.config.get("target_time", int)
axis.min_dead_zone = axis.config.get("min_dead_zone", int)
axis.max_dead_zone = axis.config.get("max_dead_zone", int)
axis.smoothing = axis.config.get("smoothing", int)
axis.deceleration = axis.config.get("deceleration", float)
add_axis_method(axis, self.get_id)
# Enabling servo mode.
self._flexdc_query("%sMO=1" % axis.channel)
# Sets "point to point" motion mode.
# 0 -> point to point
# ( 1 -> jogging ; 2 -> position based gearing )
# ( 5 -> position based ECAM ; 8 -> Step command (no profile) )
self._flexdc_query("%sMM=0" % axis.channel)
# Special motion mode attribute parameter
# 0 -> no special mode
# ( 1 -> repetitive motion )
self._flexdc_query("%sSM=0" % axis.channel)
# Defines smoothing (typically 4).
self._flexdc_query("%sWW=%d" % (axis.channel, axis.smoothing))
# Target Time (settling time?)
self.flexdc_parameter(axis, "TT", axis.target_time)
# Target Radius (target window ?)
self.flexdc_parameter(axis, "TR", axis.target_radius)
# Checks if closed loop parameters have been set.
_ans = self._flexdc_query("%sTT" % axis.channel)
if _ans == "0":
elog.error("Missing closed loop param TT (Target Time)!!")
_ans = self._flexdc_query("%sTR" % axis.channel)
if _ans == "0":
elog.error("Missing closed loop param TR (Target Radius)!!")
# Minimum dead zone
self.flexdc_parameter(axis, "CA[36]", axis.min_dead_zone)
# Maximum dead zone
self.flexdc_parameter(axis, "CA[37]", axis.max_dead_zone)
def initialize_axis(self, axis):
"""Axis initialization"""
tacomaxe_info("initialize_axis() called for axis \"%s\"" % axis.name)
# Get axis config from bliss config
axis.channel = axis.config.get("channel", int)
axis.myvelocity = axis.config.get("velocity", int)
axis.mybacklash = axis.config.get("backlash", int)
axis.myacceleration = axis.config.get("acceleration", int)
axis.steps_per_u = axis.config.get("steps_per_unit", int)
add_axis_method(axis, self.custom_read_firststeprate,types_info=("None","float"))
add_axis_method(axis, self.custom_set_firststeprate,types_info=("float","None"))
def initialize_axis(self, axis):
"""
:type self: object
"""
# To get rid of cache coherency problems.
add_axis_method(axis, self.sync, name="sync", types_info=(None, None))
add_axis_method(axis, self.set_log_level, name="SetLogLevel", types_info=(int, None))
# Reads sensors coefficients (previously calibrated...) for the current piezo axis
# from the PI E712
self.piezo.coeffs = self.piezo.controller.get_sensor_coeffs(self.piezo)
if self.bender_factor < 0 and self.piezo.coeffs[1] > 0 or self.bender_factor > 0 and self.piezo.coeffs[1] < 0:
# Needed, when in the table, when senson works the opposite way
self.piezo.controller.set_sensor_coeffs(self.piezo, 1, -self.piezo.coeffs[1])
print "--PJ-- coefficients", self.bender_factor, self.piezo.coeffs[1], self.piezo.coeffs #HWHWHW
def initialize_axis(self, axis):
"""
- Reads specific config
- Adds specific methods
"""
# can be "X" or "Y"
axis.chan_letter = axis.config.get("chan_letter")
add_axis_method(axis, self.get_id, types_info=(None, str))
axis.config.config_dict.update({"steps_per_unit": {"value": axis.config.get("steps_per_unit")}})
ini_pos = self.read_position(axis)
if ini_pos < 0:
elog.info("reseting VSCANNER negative position to 0 !!")
_cmd = "V%s 0" % (axis.chan_letter)
self.send_no_ans(axis, _cmd)
if ini_pos > 10:
elog.info("reseting VSCANNER >10-position to 10 !!")
_cmd = "V%s 10" % (axis.chan_letter)
self.send_no_ans(axis, _cmd)
def initialize_axis(self, axis):
"""
Args:
- <axis>
Returns:
- None
"""
axis.channel = axis.config.get("channel", int)
# Stores one axis to talk to the controller.
if axis.channel == 1:
self.ctrl_axis = axis
elog.debug("AX CH =%r" % axis.channel)
# Adds new axis oject methods.
add_axis_method(axis, self.park_motor, types_info=("None", "None"))
add_axis_method(axis, self.unpark_motor, types_info=("None", "None"))
add_axis_method(axis, self.raw_write_read_axis, types_info=(str, str))
def initialize_axis(self, axis):
"""Axis initialization"""
self.log_info("initialize_axis() called for axis %r" % axis.name)
# Get the list of IcePAP axes
axes_names = axis.config.get("axislist").split()
if len(axes_names) == 0:
raise ValueError('missing mandatory config parameter "axislist"')
# Check the list of IcePAP axes
dev = None
for axis_name in axes_names:
# Get EMotion axis object
hw_axis = bliss.get_axis(axis_name)
# Check that it's an IcePAP controlled one
if type(hw_axis.controller).__name__ is not 'IcePAP':
raise ValueError('invalid axis "%s", not an IcePAP'%axis_name)
# Get underlying libicepap object
axis_dev = hw_axis.controller.libdevice
if dev is None:
dev = axis_dev
# Let's impone that the trajectories work only on the same system
if axis_dev.hostname() != dev.hostname():
raise ValueError(
'invalid axis "%s", not on the same IcePAP'%axis_name)
# At this point we have configuration
# Create an empty libicepap trajectory object
self.libtraj[axis] = libicepap.Trajectory(axis.name)
# Keep a record of axes
for axis_name in axes_names:
self.axes_names.append(axis_name)
hw_axis = bliss.get_axis(axis_name)
self.axis_list[axis_name] = hw_axis
# Keep a record of the IcePAP system for faster access
self.libdevice = dev
# Add new axis oject methods
add_axis_method(axis, self.set_parameter)
add_axis_method(axis, self.get_parameter)
add_axis_method(axis, self.set_trajectory)
add_axis_method(axis, self.drain)
add_axis_method(axis, self.load)
add_axis_method(axis, self.sync)
def initialize_axis(self, axis):
super(ID31Diffract, self).initialize_axis(axis)
add_axis_method(axis, self.get_lm_2th, types_info=('None', 'float'))
if axis.name in self.has_extra:
self.has_extra[axis.name] = True
def initialize_axis(self, axis):
"""
- Reads specific config
- Adds specific methods
- Switches piezo to ONLINE mode so that axis motion can be caused
by move commands.
Args:
- <axis>
Returns:
- None
"""
axis.channel = axis.config.get("channel", int)
axis.chan_letter = axis.config.get("chan_letter")
add_axis_method(axis, self.get_id, types_info=(None, str))
'''Closed loop'''
add_axis_method(axis, self.open_loop, types_info=(None, None))
add_axis_method(axis, self.close_loop, types_info=(None, None))
'''DCO'''
add_axis_method(axis, self.activate_dco, types_info=(None, None))
add_axis_method(axis, self.desactivate_dco, types_info=(None, None))
'''GATE'''
# to enable automatic gating (ex: zap)
add_axis_method(axis, self.enable_auto_gate, types_info=(bool, None))
# to trig gate from external device (ex: HPZ with setpoint controller)
add_axis_method(axis, self.set_gate, types_info=(bool, None))
if axis.channel == 1:
self.ctrl_axis = axis
# NO automatic gating by default.
self.auto_gate_enabled = False
'''end of move event'''
event.connect(axis, "move_done", self.move_done_event_received)
# Enables the closed-loop.
# self.sock.write("SVO 1 1\n")
self.send_no_ans(axis, "ONL %d 1" % axis.channel)
# VCO for velocity control mode ?
# self.send_no_ans(axis, "VCO %d 1" % axis.channel)
# Updates cached value of closed loop status.
self.closed_loop = self._get_closed_loop_status(axis)
# Reads high/low limits of the piezo to use in set_gate
self.low_limit = self._get_low_limit(axis)
self.high_limit = self._get_high_limit(axis)
def initialize_axis(self, axis):
"""
- Reads specific config
- Adds specific methods
- Switches piezo to ONLINE mode so that axis motion can be caused
by move commands.
Args:
- <axis>
Returns:
- None
"""
elog.info("initialize_axis() called for axis %r" % axis.name)
self._hw_status = AxisState("READY")
""" Documentation uses the word AxisID instead of channel
Note: any function used as axis method must accept axis as an argument! Otherwise
you will see:
TypeError: check_power_cut() takes exactly 1 argument (2 given)
"""
axis.channel = axis.config.get("channel", int)
add_axis_method(axis, self.check_power_cut, name = "CheckPowerCut", types_info = (None, None))
add_axis_method(axis, self._get_tns, name = "Get_TNS", types_info = (None, float))
add_axis_method(axis, self._get_tsp, name = "Get_TSP", types_info = (None, float))
add_axis_method(axis, self._get_sva, name = "Get_SVA", types_info = (None, float))
add_axis_method(axis, self._get_vol, name = "Get_VOL", types_info = (None, float))
add_axis_method(axis, self._get_mov, name = "Get_MOV", types_info = (None, float))
add_axis_method(axis, self._get_offset, name = "Get_Offset", types_info = (None, float))
add_axis_method(axis, self._put_offset, name = "Put_Offset", types_info = (float, None))
add_axis_method(axis, self._get_tad, name = "Get_TAD", types_info = (None, float))
add_axis_method(axis, self._get_closed_loop_status, name = "Get_Closed_Loop_Status", types_info = (None, bool))
add_axis_method(axis, self._set_closed_loop, name = "Set_Closed_Loop", types_info = (bool, None))
#add_axis_method(axis, self._get_on_target_status, name = "Get_On_Target_Status", types_info = (None, bool))
add_axis_method(axis, self._get_pos, name = "Get_Pos", types_info = (None, float))
try:
axis.paranoia_mode = axis.config.get("paranoia_mode") # check error after each command
except KeyError :
axis.paranoia_mode = False
self._gate_enabled = False
# Updates cached value of closed loop status.
axis.closed_loop = self._get_closed_loop_status(axis)
self.check_power_cut(axis)
elog.debug("axis = %r" % axis.name)
def initialize_axis(self, axis):
def set_pos(move_done, axis=axis):
if move_done:
self.set_position(axis, axis.dial()*axis.steps_per_unit)
self._axis_moves[axis] = {
"measured_simul": False,
"measured_noise": 0.0,
"end_t": 0,
"end_pos": 0,
"move_done_cb": set_pos }
event.connect(axis, "move_done", set_pos)
# this is to test axis are initialized only once
axis.settings.set('init_count', axis.settings.get('init_count') + 1)
# Add new axis oject methods as tango commands.
add_axis_method(axis, self.custom_get_twice, types_info=("int", "int"))
add_axis_method(axis, self.custom_get_chapi, types_info=("str", "str"))
add_axis_method(axis, self.custom_send_command, types_info=("str", "None"))
add_axis_method(axis, self.custom_command_no_types, types_info=("None", "None"))
add_axis_method(axis, self.custom_set_measured_noise, types_info=("float", "None"))
add_axis_method(axis, self._set_closed_loop, name = "Set_Closed_Loop", types_info = (bool, None))
add_axis_method(axis, self.put_discrepancy, types_info=("int", "None"))
if axis.encoder:
self.__encoders.setdefault(axis.encoder, {})["axis"] = axis
def initialize_axis(self, axis):
log.debug("initialize_axis() called")
axis.channel = axis.config.get("address")
print self.GetId(axis.channel)
axis.kf = axis.config.get("Kf", int, default=0)
axis.kp = axis.config.get("Kp", int, default=10)
axis.ks = axis.config.get("Ks", int, default=0)
axis.kv = axis.config.get("Kv", int, default=0)
axis.kx = axis.config.get("Kx", int)
axis.slewrate = axis.config.get("velocity", int, default=1000)
axis.accel = axis.config.get("acceleration", int, default=2000)
axis.decel = axis.config.get("deceleration", int, default=3000)
axis.creep_speed = axis.config.get("creep_speed", int, default=800)
axis.creep_steps = axis.config.get("creep_steps", int, default=0)
axis.limit_decel = axis.config.get("limit_decel", int, default=2000000)
axis.settling_time = axis.config.get("settling_time", int, default=100)
# axis.backoff_steps = axis.config.get("backoff_steps", int, default=0)
axis.window = axis.config.get("window", int, default=4)
axis.threshold = axis.config.get("threshold", int, default=50)
axis.tracking = axis.config.get("tracking", int, default=4000)
axis.timeout = axis.config.get("timeout", int, default=8000)
axis.soft_limit_enable = axis.config.get("soft_limit_enable", int, default=1)
axis.low_limit = axis.config.get("low_limit", int, default=-2000000000)
axis.high_limit = axis.config.get("high_limit", int, default=2000000000)
axis.gearbox_ratio_numerator = axis.config.get("gearbox_ratio_numerator", int, default=1)
axis.gearbox_ratio_denominator = axis.config.get("gearbox_ratio_denominator", int, default=1)
axis.encoder_ratio_numerator = axis.config.get("encoder_ratio_numerator", int, default=1)
axis.encoder_ratio_denominator = axis.config.get("encoder_ratio_denominator", int, default=1)
"""
# Set velocity feedforward on axis
self.io_command("KF", axis.channel, axis.kf)
# Set the proportional gain on axis
self.io_command("KP", axis.channel, axis.kp)
# Set the Sum gain on axis
self.io_command("KS", axis.channel, axis.ks)
# Set the Velocity feedback on axis
self.io_command("KV", axis.channel, axis.kv)
# Set the Extra Velocity feedback on axis
self.io_command("KX", axis.channel, axis.kx)
"""
# Set slew rate of axis (steps/sec)
self.io_command("SV", axis.channel, axis.slewrate)
# Set acceleration of axis (steps/sec/sec)
self.io_command("SA", axis.channel, axis.accel)
# Set deceleration of axis (steps/sec/sec)
self.io_command("SD", axis.channel, axis.decel)
# Set creep speed of axis (steps/sec/sec)
self.io_command("SC", axis.channel, axis.creep_speed)
# Set number of creep steps at the end of a move (steps)
self.io_command("CR", axis.channel, axis.creep_steps)
# Set the deceleration rate for stopping when hitting a Hard Limit or a Soft Limit
self.io_command("LD", axis.channel, axis.limit_decel)
# Set settling time (milliseconds)
self.io_command("SE", axis.channel, axis.settling_time)
# Set the Set the Window for axis (steps)
self.io_command("WI", axis.channel, axis.window)
# Set the threshold before motor stalled condition (%)
self.io_command("TH", axis.channel, axis.threshold)
# Set the tracking window of the axis (steps)
self.io_command("TR", axis.channel, axis.tracking)
# Set the axis time out (millisecond)
self.io_command("TO", axis.channel, axis.timeout)
#Sets the soft limits (enable = 1, disable = 0)
self.io_command("SL", axis.channel, axis.soft_limit_enable)
if axis.soft_limit_enable == 1:
# Set the axis upper soft limit position (steps)
self.io_command("UL", axis.channel, axis.high_limit)
# Set the axis lower soft limit position (steps)
self.io_command("LL", axis.channel, axis.low_limit)
# Set encoder ratio
cmd = "ER%d/%d" % (axis.encoder_ratio_numerator, axis.encoder_ratio_denominator)
self.io_command(cmd, axis.channel)
# Set gearbox ratio numerator
self.io_command("GN", axis.channel, axis.gearbox_ratio_numerator)
# Set gearbox ratio denominator
self.io_command("GD", axis.channel, axis.gearbox_ratio_denominator)
add_axis_method(axis, self.GetId, types_info=("int","str"))
add_axis_method(axis, self.Reset, types_info=("int", "None"))
add_axis_method(axis, self.GetDeceleration,types_info=("None","float"))
add_axis_method(axis, self.SetDeceleration,types_info=("float","None"))
