class CCRSwitch(Moveable):
"""Class for FRM II sample environment CCR box switches (gas/vacuum).
"""
attached_devices = {
'write': Attach('TACO digital output device', DigitalOutput),
'feedback': Attach('TACO digital input device (feedback)',
DigitalInput),
}
parameter_overrides = {
'fmtstr': Override(default='%d'),
'unit': Override(default='', mandatory=False),
}
valuetype = oneofdict({'on': 1, 'off': 0})
def doStart(self, target):
if self.read(0) != target:
self._attached_write.start(1)
def doStatus(self, maxage=0):
return status.OK, ''
def doRead(self, maxage=0):
return self._attached_feedback.read(maxage)
class LVPower(Moveable):
"""Toni TOFTOF-type low-voltage power supplies."""
attached_devices = {
'bus': Attach('Toni communication bus', ToniBus),
}
parameters = {
'addr':
Param('Bus address of the supply controller',
type=intrange(0xF0, 0xFF),
mandatory=True),
}
parameter_overrides = {
'unit': Override(mandatory=False, default=''),
}
valuetype = oneofdict({1: 'on', 0: 'off'})
def doRead(self, maxage=0):
sval = self._attached_bus.communicate('S?', self.addr, expect_hex=2)
return 'on' if sval >> 7 else 'off'
def doStatus(self, maxage=0):
sval = self._attached_bus.communicate('S?', self.addr, expect_hex=2)
tval = self._attached_bus.communicate('T?', self.addr, expect_hex=2)
return status.OK, 'status=%d, temperature=%d' % (sval, tval)
@requires(level=ADMIN)
def doStart(self, target):
self._attached_bus.communicate('P%d' % (target == 'on'),
self.addr,
expect_ok=True)
class LVPower(Moveable):
"""Toni TOFTOF-type low-voltage power supplies."""
attached_devices = {
'bus': Attach('Toni communication bus', ToniBus),
}
parameters = {
'addr':
Param('Bus address of the supply controller',
type=intrange(0xF0, 0xFF),
mandatory=True),
'temperature':
Param('Temperature of the module',
type=int,
settable=False,
volatile=True,
unit='degC',
fmtstr='%d'),
}
parameter_overrides = {
'unit': Override(mandatory=False, default=''),
}
valuetype = oneofdict({1: 'on', 0: 'off'})
def doRead(self, maxage=0):
sval = self._attached_bus.communicate('S?', self.addr, expect_hex=2)
return 'on' if sval >> 7 else 'off'
def doReadTemperature(self):
return self._attached_bus.communicate('T?', self.addr, expect_hex=2)
def doStatus(self, maxage=0):
sval = self._attached_bus.communicate('S?', self.addr, expect_hex=2)
if sval in (0x0, 0x80):
return status.OK, ''
msg = []
if sval & 0x1:
msg.append('undervoltage +5V')
if sval & 0x2:
msg.append('overvoltage +5V')
if sval & 0x4:
msg.append('undervoltage -5V')
if sval & 0x8:
msg.append('overvoltage -5V')
if sval & 0x10:
msg.append('undervoltage +12V')
if sval & 0x20:
msg.append('overvoltage +12V')
return status.ERROR, ', '.join(msg)
@requires(level=ADMIN)
def doStart(self, target):
self._attached_bus.communicate('P%d' % (target == 'on'),
self.addr,
expect_ok=True)
def doInit(self, mode):
if self.mapping:
self._reverse = {v: k for (k, v) in self.mapping.items()}
# oneofdict: allows both types of values (string/int), but
# normalizes them into the string form
self.valuetype = oneofdict(self._reverse)
self._forward = self.mapping
return
try:
self._reverse, self._forward = \
parse_mapping(self._getProperty('mapping'))
# we don't build the valuetype from self._reverse since it should
# only contain the write-able values
self.valuetype = oneofdict(
{v: k
for (k, v) in self._forward.items()})
except Exception:
self.log.warning('could not parse value mapping from Tango', exc=1)
self._reverse = self._forward = {}
class FRMChannel(BaseChannel, ActiveChannel):
"""Base class for one channel of the FRM II counter card.
Use one of the concrete classes `FRMTimerChannel` or `FRMCounterChannel`.
"""
parameters = {
'mode':
Param('Channel mode: normal, ratemeter, or preselection',
type=oneofdict({
IOCommon.MODE_NORMAL: 'normal',
IOCommon.MODE_RATEMETER: 'ratemeter',
IOCommon.MODE_PRESELECTION: 'preselection'
}),
default='preselection',
settable=True),
}
def doReadMode(self):
modes = {
IOCommon.MODE_NORMAL: 'normal',
IOCommon.MODE_RATEMETER: 'ratemeter',
IOCommon.MODE_PRESELECTION: 'preselection'
}
mode = self._taco_guard(self._dev.mode)
if mode not in modes:
self.log.warning('Unknown mode %r encountered!', mode)
mode = IOCommon.MODE_NORMAL
return modes[mode]
def doWriteMode(self, value):
modes = {
'normal': IOCommon.MODE_NORMAL,
'ratemeter': IOCommon.MODE_RATEMETER,
'preselection': IOCommon.MODE_PRESELECTION
}
self._taco_guard(self._dev.setMode, modes[value])
def doWriteIsmaster(self, value):
if self.mode == 'ratemeter':
if value:
raise UsageError(self, 'ratemeter channel cannot be master')
return
self.doStop()
self.mode = 'preselection' if value else 'normal'
self._taco_guard(self._dev.enableMaster, value)
class AnaBlocks(AnalogOutput):
parameters = {
'actionmode':
Param('Block behavior',
type=oneofdict(ACTIONMODES),
default='default',
settable=True,
volatile=True),
'powertime':
Param('How long to power pushing down blocks',
type=int,
settable=True,
volatile=True),
'windowsize':
Param('Window size', volatile=True, unit='deg'),
'blockwidth':
Param('Block width', volatile=True, unit='deg'),
'blockoffset':
Param('Block offset', volatile=True, unit='deg'),
}
def doReadActionmode(self):
return ACTIONMODES[self._dev.GetParam('Param200')]
def doWriteActionmode(self, value):
mode = R_ACTIONMODES[value]
self._dev.SetParam([[mode], ['Param200']])
def doReadPowertime(self):
return self._dev.GetParam('Param204')
def doWritePowertime(self, value):
self._dev.SetParam([[value], ['Param204']])
def doReadWindowsize(self):
return self._dev.GetParam('Param201')
def doReadBlockwidth(self):
return self._dev.GetParam('Param202')
def doReadBlockoffset(self):
return self._dev.GetParam('Param203')
class Shutter(Moveable):
"""TOFTOF Shutter Control."""
attached_devices = {
'open': Attach('Shutter open button device', DigitalOutput),
'close': Attach('Shutter close button device', DigitalOutput),
'status': Attach('Shutter status device', DigitalOutput),
}
parameter_overrides = {
'unit': Override(mandatory=False),
'fmtstr': Override(default='%s'),
}
valuetype = oneofdict({0: 'closed', 1: 'open'})
def doStart(self, target):
if target == 'open':
self._attached_open.start(1)
session.delay(0.01)
self._attached_open.start(0)
else:
self._attached_close.start(1)
session.delay(0.01)
self._attached_close.start(0)
def doStop(self):
self.log.info(
'note: shutter collimator does not use stop() anymore, '
'use move(%s, "closed")', self)
def doRead(self, maxage=0):
ret = self._attached_status.read(maxage)
if ret == 1:
return 'closed'
else:
return 'open'
def doStatus(self, maxage=0):
return status.OK, ''
class IPCRelay(Moveable):
"""Makes the relay of an IPC single stepper card available as switch."""
parameter_overrides = {
'unit': Override(mandatory=False),
}
attached_devices = {
'stepper': Attach('The stepper card whose relay is controlled', Motor),
}
valuetype = oneofdict({0: 'off', 1: 'on'})
hardware_access = False
def doStart(self, target):
self._attached_stepper.relay = target
def doRead(self, maxage=0):
return self._attached_stepper.relay
def doStatus(self, maxage=0):
return status.OK, 'relay is %s' % self._attached_stepper.relay
class Sans1ColliMotorAllParams(Sans1ColliMotor):
"""
Device object for a digital output device via a Beckhoff modbus interface.
Maximum Parameter Implementation.
All Relevant Parameters are accessible and can be configured.
"""
_paridx = dict(
refpos=2,
vmax=3,
v_max=3,
vmin=4,
v_min=4,
vref=5,
v_ref=5,
acc=6,
a_acc=6,
ae=7,
a_e=7,
microsteps=8,
backlash=9,
fullsteps_u=10,
fullsteps=10,
imax=11,
i_max=11,
iv=12,
i_v=12,
iv0=12,
i_v0=12,
imin=12,
i_min=12,
encodersteps_u=20,
features=30,
t=40,
temp=40,
temperature=40,
type=250,
hw=251,
fw=252,
reset=255,
)
parameters = {
# provided by parent class: speed, unit, fmtstr, warnlimits, userlimits,
# abslimits, precision and others
'power':
Param(
'Power on/off for the motordriver and '
'enable/disable for the logic',
type=oneof('off', 'on'),
default='off',
settable=True),
'backlash':
Param('Backlash correction in physical units',
type=float,
default=0.0,
settable=True,
mandatory=False,
volatile=True),
'maxcurrent':
Param('Max Motor current in A',
type=floatrange(0.05, 5),
settable=True,
volatile=True),
'idlecurrent':
Param('Idle Motor current in A',
type=floatrange(0.05, 5),
settable=True,
volatile=True),
'temperature':
Param('Temperature of the motor driver',
type=float,
settable=False,
volatile=True),
'minspeed':
Param('The minimum motor speed',
unit='main/s',
settable=True,
volatile=True),
'refspeed':
Param('The referencing speed',
unit='main/s',
settable=True,
volatile=True),
'accel':
Param('Acceleration/Decceleration',
unit='main/s**2',
settable=True,
volatile=True),
'stopaccel':
Param('Emergency Decceleration',
unit='main/s**2',
settable=True,
volatile=True),
# needed ? Ask the Sans1 people...
'hw_vmax':
Param('Maximum Velocity in HW-units',
type=intrange(1, 2047),
settable=True,
volatile=True),
'hw_vmin':
Param('Minimum Velocity in HW-units',
type=intrange(1, 2047),
settable=True,
volatile=True),
'hw_vref':
Param('Referencing Velocity in HW-units',
type=intrange(1, 2047),
settable=True,
volatile=True),
'hw_accel':
Param('Acceleration in HW-units',
type=intrange(16, 2047),
settable=True,
volatile=True),
'hw_accel_e':
Param('Acceleration when hitting a limit switch in '
'HW-units',
type=intrange(16, 2047),
settable=True,
volatile=True),
'hw_backlash':
Param(
'Backlash in HW-units', # don't use
type=intrange(-32768, 32767),
settable=True,
volatile=True),
'hw_fullsteps':
Param('Motor steps per turn in HW-units',
type=intrange(1, 65535),
settable=True,
volatile=True),
'hw_enc_steps':
Param('Encoder steps per turn in HW-units',
type=intrange(1, 65535),
settable=True,
volatile=True),
'hw_features':
Param('Value of features register (16 Bit, see docu)',
type=intrange(0, 65535),
settable=True,
volatile=True),
'hw_type':
Param('Value of features register (16 Bit, see docu)',
type=int,
settable=True,
volatile=True),
'hw_revision':
Param('Value of HW-revision register '
'(16 Bit, see docu)',
type=int,
settable=True,
volatile=True),
'hw_firmware':
Param('Value of HW-Firmware register '
'(16 Bit, see docu)',
type=int,
settable=True,
volatile=True),
'hw_coderflt':
Param('Input filter for Encoder signals',
type=oneofdict({
1: 'disabled',
0: 'enabled'
}),
default='enabled',
settable=True,
volatile=True),
'hw_feedback':
Param('Feedback signal for positioning',
type=oneofdict({
0: 'encoder',
1: 'motor'
}),
default='motor',
settable=True,
volatile=True),
'hw_invposfb':
Param('Turning direction of encoder',
type=oneofdict({
1: 'opposite',
0: 'concordant'
}),
default='concordant',
settable=True,
volatile=True),
'hw_ramptype':
Param('Shape of accel/deccel ramp',
type=oneofdict({
1: 'exponential',
0: 'linear'
}),
default='linear',
settable=True,
volatile=True),
'hw_revin1':
Param('Type of input 1',
type=oneofdict({
1: 'nc',
0: 'no'
}),
default='no',
settable=True,
volatile=True),
'hw_revin2':
Param('Type of input 2',
type=oneofdict({
1: 'nc',
0: 'no'
}),
default='no',
settable=True,
volatile=True),
'hw_disin1rev':
Param('Use Input 1 as reference input',
type=oneofdict({
1: 'off',
0: 'on'
}),
default='on',
settable=True,
volatile=True),
'hw_disin2rev':
Param('Use Input 2 as reference input',
type=oneofdict({
1: 'off',
0: 'on'
}),
default='on',
settable=True,
volatile=True),
'hw_invrev':
Param('Direction of reference drive',
type=oneofdict({
1: 'pos',
0: 'neg'
}),
default='neg',
settable=True,
volatile=True),
}
parameter_overrides = {
'microsteps': Override(mandatory=False, settable=True, volatile=True),
'refpos': Override(settable=True),
}
# more advanced stuff: setting/getting parameters
# only to be used manually at the moment
@usermethod
@requires(level='user')
def readParameter(self, index):
self.log.debug('readParameter %d', index)
try:
index = int(self._paridx.get(index, index))
except ValueError:
raise UsageError(
self, 'Unknown parameter %r, try one of %s' %
(index, ', '.join(self._paridx))) from None
if self._readStatusWord() & (1 << 7):
raise UsageError(
self, 'Can not access Parameters while Motor is '
'moving, please stop it first!')
if self.power == 'on':
self.power = 'off'
# wait for inactive ACK/NACK
self.log.debug('Wait for idle ACK/NACK bits')
for _ in range(1000):
if self._readStatusWord() & (3 << 14) == 0:
break
else:
raise CommunicationError(
self, 'HW still busy, can not read '
'Parameter, please retry later.')
self._writeUpperControlWord((index << 8) | 4)
self.log.debug('Wait for ACK/NACK bits')
for _ in range(1000):
if self._readStatusWord() & (3 << 14) != 0:
break
else:
raise CommunicationError(
self, 'ReadPar command not recognized by '
'HW, please retry later.')
if self._readStatusWord() & (1 << 14):
raise CommunicationError(
self, 'Reading of Parameter %r failed, '
'got a NACK' % index)
return self._readReturn()
@usermethod
@requires(level='admin')
def writeParameter(self, index, value, store2eeprom=False):
self.log.debug('writeParameter %d:0x%04x', index, value)
if store2eeprom:
self.log.warning('writeParameter stores to eeprom !')
try:
index = int(self._paridx.get(index, index))
except ValueError:
UsageError(self, 'Unknown parameter %r' % index)
if self._readStatusWord() & (1 << 7):
raise UsageError(
self, 'Can not access Parameters while Motor is '
'moving, please stop it first!')
if self.power == 'on':
self.power = 'off'
# wait for inactive ACK/NACK
self.log.debug('Wait for idle ACK/NACK bits')
for _ in range(1000):
if self._readStatusWord() & (3 << 14) == 0:
break
else:
raise CommunicationError(
self, 'HW still busy, can not write '
'Parameter, please retry later.')
self._writeDestination(value)
if store2eeprom:
# store to eeprom
self._writeUpperControlWord((index << 8) | 3)
else:
# store to volatile memory
self._writeUpperControlWord((index << 8) | 1)
self.log.debug('Wait for ACK/NACK bits')
for _ in range(1000):
if self._readStatusWord() & (3 << 14) != 0:
break
else:
raise CommunicationError(
self, 'WritePar command not recognized '
'by HW, please retry later.')
if self._readStatusWord() & (1 << 14):
raise CommunicationError(
self, 'Writing of Parameter %r failed, '
'got a NACK' % index)
return self._readReturn()
#
# Parameter access methods
#
def doWritePower(self, value):
if self._readStatusWord() & (1 << 7):
raise UsageError(
self, 'Never switch off Power while Motor is '
'moving !')
value = ['off', 'on'].index(value)
# docu: bit0 = enable/disable
self._writeControlBit(0, value)
def doReadPower(self):
# docu: bit0 = enable/disable
return ['off', 'on'][self._readControlBit(0)]
# Parameter 1 : CurrentPosition
def doSetPosition(self, value):
self.writeParameter(1, self._phys2steps(value))
# Parameter 2 : Refpos
def doReadRefpos(self):
return self._steps2phys(self.readParameter(2))
def doWriteRefpos(self, value):
self.writeParameter(2, self._phys2steps(value), store2eeprom=True)
# Parameter 3 : hw_vmax -> speed
def doReadHw_Vmax(self):
return self.readParameter(3)
def doReadSpeed(self):
return self._speed2phys(self.hw_vmax) # units per second
def doWriteHw_Vmax(self, value):
self.writeParameter(3, value)
def doWriteSpeed(self, speed):
self.hw_vmax = self._phys2speed(speed)
# Parameter 4 : hw_vmin -> minspeed
def doReadHw_Vmin(self):
return self.readParameter(4)
def doReadMinspeed(self):
return self._speed2phys(self.hw_vmin) # units per second
def doWriteHw_Vmin(self, value):
self.writeParameter(4, value)
def doWriteMinspeed(self, speed):
self.hw_vmin = self._phys2speed(speed)
# Parameter 5 : hw_vref -> refspeed
def doReadHw_Vref(self):
return self.readParameter(5) # µSteps per second
def doReadRefspeed(self):
return self._speed2phys(self.hw_vref) # units per second
def doWriteHw_Vref(self, value):
self.writeParameter(5, value)
def doWriteRefspeed(self, speed):
self.hw_vref = self._phys2speed(speed)
# Parameter 6 : hw_accel -> accel
def doReadHw_Accel(self):
return self.readParameter(6) # µSteps per second
def doReadAccel(self):
return self._speed2phys(self.hw_accel) # units per second
def doWriteHw_Accel(self, value):
self.writeParameter(6, value)
def doWriteAccel(self, accel):
self.hw_accel = self._phys2speed(accel)
# Parameter 7 : hw_accel_e -> stopaccel
def doReadHw_Accel_E(self):
return self.readParameter(7) # µSteps per second
def doReadStopaccel(self):
return self._speed2phys(self.hw_accel_e) # units per second
def doWriteHw_Accel_E(self, value):
self.writeParameter(7, value)
def doWriteStopaccel(self, accel):
self.hw_accel_e = self._phys2speed(accel)
# Parameter 8 : microsteps
def doWriteMicrosteps(self, value):
for i in range(7):
if value == 2**i:
self.writeParameter(8, i)
break
else:
raise InvalidValueError(
self, 'This should never happen! value should be one of: '
'1, 2, 4, 8, 16, 32, 64 !')
def doReadMicrosteps(self):
return 2**self.readParameter(8)
# Parameter 9 : hw_backlash -> backlash
def doReadHw_Backlash(self):
return self.readParameter(9) # µSteps per second
def doReadBacklash(self):
return self._steps2phys(self.hw_backlash)
def doWriteHw_Backlash(self, value):
self.writeParameter(9, value)
def doWriteBacklash(self, value):
self.hw_backlash = self._phys2steps(value)
# Parameter 10 : Fullsteps per turn
def doReadHw_Fullsteps(self):
return self.readParameter(10)
def doWriteHw_Fullsteps(self, value):
self.writeParameter(10, value)
# Parameter 11 : MaxCurrent
def doReadMaxcurrent(self):
return self.readParameter(11) * 0.05
def doWriteMaxcurrent(self, value):
self.writeParameter(11, int(0.5 + value / 0.05))
# Parameter 12 : IdleCurrent
def doReadIdlecurrent(self):
return self.readParameter(12) * 0.05
def doWriteIdlecurrent(self, value):
self.writeParameter(12, int(0.5 + value / 0.05))
# Parameter 20 : Encodersteps per turn
def doReadHw_Enc_Steps(self):
return self.readParameter(20)
def doWriteHw_Enc_Steps(self, value):
self.writeParameter(20, value)
# Parameter 30 : Features
def doReadHw_Features(self):
value = self.readParameter(30)
self.log.debug('Feature0: Inputfilter for encodersignals: %d',
value & 1)
self.log.debug(
'Feature1: Positionsrueckfuehrung (0=Encoder, '
'1=Zaehler): %d', (value >> 1) & 1)
self.log.debug(
'Feature2: Zaehlrichtung encoder (0=mitlaufend, '
'1=gegenlaufend): %d', (value >> 2) & 1)
self.log.debug('Feature3: Bremsrampe (0=linear, 1=exponentiell): %d',
(value >> 3) & 1)
self.log.debug('Feature4: Eingang1 (0=Schliesser, 1=oeffner): %d',
(value >> 4) & 1)
self.log.debug('Feature5: Eingang2 (0=Schliesser, 1=oeffner): %d',
(value >> 5) & 1)
self.log.debug('Feature6: Eingang1 (0=referenz, 1=normal): %d',
(value >> 6) & 1)
self.log.debug('Feature7: Eingang2 (0=referenz, 1=normal): %d',
(value >> 7) & 1)
self.log.debug(
'Feature8: Richtung der Referenzfahrt (0=negativ, '
'1=positiv): %d', (value >> 8) & 1)
return value
def doWriteHw_Features(self, value):
self.writeParameter(30, value)
# bitwise access
def doReadHw_Coderflt(self):
return (self.hw_features >> 0) & 1
def doWriteHw_Coderflt(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 0)) | (value << 0)
else:
raise InvalidValueError(self, 'hw_disencfltr can only be 0 or 1')
def doReadHw_Feedback(self):
return (self.hw_features >> 1) & 1
def doWriteHw_Feedback(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 1)) | (value << 1)
else:
raise InvalidValueError(self, 'hw_feedback can only be 0 or 1')
def doReadHw_Invposfb(self):
return (self.hw_features >> 2) & 1
def doWriteHw_Invposfb(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 2)) | (value << 2)
else:
raise InvalidValueError(self, 'hw_invposfb can only be 0 or 1')
def doReadHw_Ramptype(self):
return (self.hw_features >> 3) & 1
def doWriteHw_Ramptype(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 3)) | (value << 3)
else:
raise InvalidValueError(self, 'hw_ramptype can only be 0 or 1')
def doReadHw_Revin1(self):
return (self.hw_features >> 4) & 1
def doWriteHw_Revin1(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 4)) | (value << 4)
else:
raise InvalidValueError(self, 'hw_revin1 can only be 0 or 1')
def doReadHw_Revin2(self):
return (self.hw_features >> 5) & 1
def doWriteHw_Revin2(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 5)) | (value << 5)
else:
raise InvalidValueError(self, 'hw_revin2 can only be 0 or 1')
def doReadHw_Disin1Rev(self):
return (self.hw_features >> 6) & 1
def doWriteHw_Disin1Rev(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 6)) | (value << 6)
else:
raise InvalidValueError(self, 'hw_disin1rev can only be 0 or 1')
def doReadHw_Disin2Rev(self):
return (self.hw_features >> 7) & 1
def doWriteHw_Disin2Rev(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 7)) | (value << 7)
else:
raise InvalidValueError(self, 'hw_disin2rev can only be 0 or 1')
def doReadHw_Invrev(self):
return (self.hw_features >> 8) & 1
def doWriteHw_Invrev(self, value):
if value in [0, 1]:
self.hw_features = (self.hw_features & ~(1 << 8)) | (value << 8)
else:
raise InvalidValueError(self, 'hw_invrev can only be 0 or 1')
# Parameter 40 : Temperature
def doReadTemperature(self):
return self.readParameter(40)
# Parameter 250 : Klemmentyp
def doReadHw_Type(self):
return self.readParameter(250)
# Parameter 251 : Hardwarestand
def doReadHw_Revision(self):
return self.readParameter(251)
# Parameter 252 : Firmwarestand
def doReadHw_Firmware(self):
return self.readParameter(252)
# Parameter 255 : Factory Reset
@usermethod
def FactoryReset(self, password):
"""resets the motorcontroller to factory default values
for the right password see docu"""
# 0x544B4531
self.writeParameter(255, password)
class Sans1ColliMotor(Sans1ColliBase, CanReference, SequencerMixin, HasTimeout,
Motor):
"""
Device object for a digital output device via a Beckhoff modbus interface.
Minimum Parameter Implementation.
Relevant Parameters need to be configured in the setupfile or in the
Beckhoff PLC.
"""
relax_mapping = True
parameters = {
# provided by parent class: speed, unit, fmtstr, warnlimits, abslimits,
# userlimits, precision and others
'address':
Param('Starting offset of Motor control Block in words',
type=MOTOR_VALIDATOR,
mandatory=True,
settable=False,
userparam=False),
'slope':
Param('Slope of the Motor in FULL steps per physical '
'unit',
type=float,
default=1.,
unit='steps/main',
userparam=False,
settable=True),
'microsteps':
Param('Microstepping for the motor',
type=oneof(1, 2, 4, 8, 16, 32, 64),
default=1,
userparam=False,
settable=False),
'autozero':
Param(
'Maximum distance from referencepoint for forced '
'referencing before moving, or None',
type=none_or(float),
default=10,
unit='main',
settable=False),
'autopower':
Param('Automatically disable Drivers if motor is idle',
type=oneofdict({
0: 'off',
1: 'on'
}),
default='on',
settable=False),
'refpos':
Param('Position of reference switch',
unit='main',
type=float,
mandatory=True,
settable=False,
prefercache=False),
}
parameter_overrides = {
'timeout': Override(mandatory=False, default=300),
}
_busy_until = 0
def doInit(self, mode):
Sans1ColliBase.doInit(self, mode)
if mode != SIMULATION:
if self.autopower == 'on':
self._HW_disable()
#
# access-helpers for accessing the fields inside the MotorControlBlock
#
def _readControlBit(self, bit):
self.log.debug('_readControlBit %d', bit)
value = uint16(self._dev.ReadOutputWord(self.address))
return (value & (1 << int(bit))) >> int(bit)
def _writeControlBit(self, bit, value):
self._busy_until = time.time() + 3
self.log.debug('_writeControlBit %r, %r', bit, value)
tmpval = uint16(self._dev.ReadOutputWord(self.address))
tmpval &= ~(1 << int(bit))
tmpval |= (int(value) << int(bit))
self._dev.WriteOutputWord((self.address, uint16(tmpval)))
session.delay(0.5) # work around race conditions inside plc....
def _writeDestination(self, value):
self.log.debug('_writeDestination %r', value)
self._dev.WriteOutputDword((self.address + 2, uint32(value)))
def _readStatusWord(self):
value = uint16(self._dev.ReadOutputWord(self.address + 4))
self.log.debug('_readStatusWord %04x', value)
return value
def _readErrorWord(self):
value = uint16(self._dev.ReadOutputWord(self.address + 5))
self.log.debug('_readErrorWord %04x', value)
return value
def _readPosition(self):
value = int32(self._dev.ReadOutputDword(self.address + 6))
self.log.debug('_readPosition: -> %d steps', value)
return value
def _readUpperControlWord(self):
self.log.error('_readUpperControlWord')
return uint16(self._dev.ReadOutputWord(self.address + 1))
def _writeUpperControlWord(self, value):
self.log.debug('_writeUpperControlWord 0x%04x', value)
value = uint16(value)
self._dev.WriteOutputWord((self.address + 1, value))
def _readDestination(self):
value = int32(self._dev.ReadOutputDword(self.address + 2))
self.log.debug('_readDestination: -> %d steps', value)
return value
def _readReturn(self):
value = int32(self._dev.ReadOutputDword(self.address + 8))
self.log.debug('_readReturn: -> %d (0x%08x)', value, value)
return value
#
# math: transformation of position and speed:
# µsteps(/s) <-> phys. unit(/s)
#
def _steps2phys(self, steps):
value = steps / float(self.microsteps * self.slope)
self.log.debug('_steps2phys: %r steps -> %s', steps,
self.format(value, unit=True))
return value
def _phys2steps(self, value):
steps = int(value * float(self.microsteps * self.slope))
self.log.debug('_phys2steps: %s -> %r steps',
self.format(value, unit=True), steps)
return steps
def _speed2phys(self, speed):
# see manual
return speed / float(self.microsteps * self.slope * 1.6384e-2)
def _phys2speed(self, value):
# see manual
return int(value * self.slope * self.microsteps * 1.6384e-2)
#
# Hardware abstraction: which actions do we want to do...
#
def _HW_enable(self):
self._writeControlBit(0, 1) # docu: bit0 = 1: enable
def _HW_disable(self):
self._writeControlBit(0, 0) # docu: bit0 = 1: enable
def _HW_start(self, target):
self._writeDestination(self._phys2steps(target))
# docu: bit2 = go to absolute position, autoresets
self._writeControlBit(2, 1)
def _HW_reference(self):
"""Do the referencing and update position to refpos"""
self._writeControlBit(4, 1) # docu: bit4 = reference, autoresets
# according to docu, the refpos is (also) a parameter of the KL....
def doSetPosition(self, value):
for _ in range(100):
if self._readStatusWord() & (1 << 7):
continue
break
else:
raise UsageError(
self, 'Can not set position while motor is '
'moving, please stop it first!')
was_on = self._readControlBit(0)
if was_on:
self._HW_disable()
# wait for inactive ACK/NACK
for _ in range(1000):
if self._readStatusWord() & (3 << 14) == 0:
break
else:
raise CommunicationError(
self, 'HW still busy, can not set '
'position, please retry later.')
loops = 10
for loop in range(loops):
self.log.debug('setPosition: loop %d of %d', loop, loops)
self._writeDestination(self._phys2steps(value))
# index=1: update current position
self._writeUpperControlWord((1 << 8) | 1)
# Wait for ACK/NACK bits
for _ in range(100):
last_sw = self._readStatusWord()
if last_sw & (3 << 14) != 0:
break
else:
self.log.warning(
'SetPosition command not recognized, retrying')
if last_sw & (2 << 14) != 0:
self.log.debug('setPosition: got ACK')
break
elif last_sw & (1 << 14):
self.log.debug('setPosition: got NACK')
raise CommunicationError(
self, 'Setting position failed, '
'got a NACK!')
else:
raise CommunicationError(
self, 'setPosition command not '
'recognized by HW, please retry later.')
if was_on:
self._HW_enable()
def _HW_stop(self):
self._writeControlBit(6, 1) # docu: bit6 = stop, autoresets
def _HW_wait_while_BUSY(self):
# XXX timeout?
while not self._seq_stopflag:
session.delay(0.1)
statval = self._readStatusWord()
# if motor moving==0 and target reached==1 -> break
if (statval & (1 << 7) == 0) and (statval & (1 << 6)):
break
if statval & (7 << 10): # limit switch triggered or stop issued
session.delay(0.1)
break
def _HW_status(self):
""" used Status bits:
0-2 : Load-angle (0 good, 7 bad)
3 : limit switch -
4 : limit switch +
5 : moving in pos. direction
6 : target reached
7 : motor moving
8 : driver on and ready
9 : Overtemperature
10 : Target NOT reached, but a limit switch triggered
11 : Target NOT reached due PowerOff or Stop
12 : Can not move towards requested position, command ignored
14 : N_ACK (last set/get command was unsuccessful),
auto clears after 1s
15 : ACK (last get/set command was successful,
value in RETURN is valid), auto clears after 1s
"""
statval = self._readStatusWord()
errval = self._readErrorWord()
code, msg = status.ERROR, ['Unknown Status value 0x%04x!' % statval]
# work around buggy SPS code:
# sometimes we get 0x0105..7, which should never happen
# as the lowest 3 bits are not relevant,
# check only the others and return BUSY
# also ignore the limit switch bits
# if statval & (0xfff8) == 0x0100:
if statval & (0x7fe0) == 0x0100:
return status.BUSY, '0x010x!'
# status Stuff
if statval & (1 << 7):
code, msg = status.BUSY, ['busy']
elif statval & (1 << 6):
code, msg = status.OK, ['Target reached']
elif ~statval & (1 << 8):
code, msg = status.OK, ['Disabled']
elif statval & (1 << 9):
code, msg = status.ERROR, ['Overtemperature!']
# check any of bit 10, 11, 12 at the same time!
elif statval & (7 << 10):
code, msg = status.OK, ['Can not reach Target!']
if errval:
code, msg = status.ERROR, ['Error']
if errval & (1 << 0):
msg.append('Control voltage too low')
if errval & (1 << 1):
msg.append('Motor driving voltage too low')
if errval & (1 << 2):
msg.append('Overcurrent or short in winding A')
if errval & (1 << 3):
msg.append('Overcurrent or short in winding B')
if errval & (1 << 4):
msg.append('Open load or broken wire in winding A')
if errval & (1 << 5):
msg.append('Open load or broken wire in winding B')
if errval & (1 << 7):
msg.append('Overtemperature (T>125 degC)')
if errval & 0b1111111101000000:
msg.append('Unknown Error 0x%04x' % errval)
# informational stuff
if statval & (1 << 4):
msg.append('limit switch +')
if statval & (1 << 3):
msg.append('limit switch -')
if statval & (1 << 8):
msg.append('driver on and ready')
if statval & (1 << 7):
msg.append('load=%d' % (statval & 0x0007))
msg = ', '.join(msg)
self.log.debug('_HW_Status returns %r', (code, msg))
if self._busy_until > time.time():
code = max(code, status.BUSY)
msg = 'timed busy, %s' % msg
return code, msg
#
# Sequencing stuff
#
def _gen_move_sequence(self, target):
# now generate a sequence of commands to execute in order
seq = []
# always enable before doing anything
seq.append(SeqMethod(self, '_HW_enable'))
# check autoreferencing feature
if self.autozero is not None:
currentpos = self.read(0)
mindist = min(abs(currentpos - self.refpos),
abs(target - self.refpos))
if mindist < self.autozero:
seq.extend(self._gen_ref_sequence())
# now just go where commanded....
seq.append(SeqMethod(self, '_HW_start', target))
seq.append(SeqMethod(self, '_HW_wait_while_BUSY'))
if self.autopower == 'on':
# disable if requested.
seq.append(SeqMethod(self, '_HW_disable'))
return seq
def _gen_ref_sequence(self):
seq = []
# try to mimic anatel: go to 5mm before refpos and then to the negative limit switch
seq.append(SeqMethod(self, '_HW_enable'))
seq.append(SeqMethod(self, '_HW_start', self.refpos + 5.))
seq.append(SeqMethod(self, '_HW_wait_while_BUSY'))
seq.append(
SeqMethod(
self, '_HW_start',
self.absmin if self.absmin < self.refpos else self.refpos -
100))
seq.append(SeqMethod(self, '_HW_wait_while_BUSY'))
seq.append(SeqMethod(self, '_HW_reference'))
seq.append(SeqMethod(self, '_HW_wait_while_BUSY'))
seq.append(SeqMethod(self, 'doSetPosition', self.refpos))
return seq
#
# nicos methods
#
def doRead(self, maxage=0):
return self._steps2phys(self._readPosition())
def doStart(self, target):
if self._seq_is_running():
raise MoveError(self, 'Cannot start device, it is still moving!')
self._startSequence(self._gen_move_sequence(target))
def doStop(self):
if self._honor_stop:
self._seq_stopflag = True
self._HW_stop()
def doReset(self):
self._writeControlBit(7, 1) # docu: bit7 = ERROR-ACK, autoresets
self._set_seq_status(status.OK, 'idle')
def doStatus(self, maxage=0):
"""returns highest statusvalue"""
if self._mode == SIMULATION:
stati = [(status.OK, 'simulation'), self._seq_status]
else:
stati = [self._HW_status(), self._seq_status]
# sort inplace by first element, i.e. status code
stati.sort(key=lambda st: st[0])
# select highest (worst) status
# if no status is 'worse' then _seq_status, this is _seq_status
_status = stati[-1]
if self._seq_is_running():
return max(status.BUSY, _status[0]), _status[1]
return _status
@requires(level='admin')
def doReference(self):
if self._seq_is_running():
raise MoveError(self, 'Cannot reference a moving device!')
seq = self._gen_ref_sequence()
if self.autopower == 'on':
# disable if requested.
seq.append(SeqMethod(self, '_HW_disable'))
self._startSequence(seq)
class Motor(HasTimeout, NicosMotor):
"""This class supports IPC 6-fold, 3-fold and single motor cards.
It can be used with the `nicos.devices.generic.Axis` class.
"""
parameters = {
'addr':
Param(
'Bus address of the motor',
# 0 for the profibus card adaptor
type=oneof(*([0] + list(range(32, 256)))),
mandatory=True),
'unit':
Param('Motor unit', type=str, default='steps'),
'zerosteps':
Param('Motor steps for physical zero',
type=float,
unit='steps',
settable=True),
'slope':
Param('Motor slope',
type=float,
settable=True,
unit='steps/main',
default=1.0),
# those parameters come from the card
'firmware':
Param('Firmware version', type=int),
'steps':
Param('Last position in steps',
settable=True,
type=intrange(0, 999999),
prefercache=False),
'speed':
Param('Motor speed (0..255)', settable=True, type=intrange(0, 255)),
'accel':
Param('Motor acceleration (0..255)',
settable=True,
type=intrange(0, 255)),
'confbyte':
Param('Configuration byte', type=intrange(-1, 255), settable=True),
'ramptype':
Param('Ramp type', settable=True, type=intrange(1, 4)),
'microstep':
Param('Microstepping mode',
unit='steps',
settable=True,
type=oneof(1, 2, 4, 8, 16)),
'min':
Param('Lower motorlimit',
settable=True,
type=intrange(0, 999999),
unit='steps'),
'max':
Param('Upper motorlimit',
settable=True,
type=intrange(0, 999999),
unit='steps'),
'startdelay':
Param('Start delay',
type=floatrange(0, 25),
unit='s',
settable=True,
volatile=True),
'stopdelay':
Param('Stop delay',
type=floatrange(0, 25),
unit='s',
settable=True,
volatile=True),
'divider':
Param('Speed divider', settable=True, type=intrange(-1, 7)),
# volatile parameters to read/switch card features
'inhibit':
Param('Inhibit input',
default='off',
volatile=True,
type=oneofdict({
0: 'off',
1: 'on'
})),
'relay':
Param('Relay switch',
type=oneofdict({
0: 'off',
1: 'on'
}),
settable=True,
default='off',
volatile=True),
'power':
Param('Internal power stage switch',
default='on',
type=oneofdict({
0: 'off',
1: 'on'
}),
settable=True,
volatile=True),
}
parameter_overrides = {
'timeout': Override(mandatory=False, default=360),
}
attached_devices = {
'bus': Attach('The communication bus', IPCModBus),
}
errorstates = ()
def doInit(self, mode):
if mode != SIMULATION:
self._attached_bus.ping(self.addr)
if self._hwtype == 'single':
if self.confbyte != self.doReadConfbyte():
self.doWriteConfbyte(self.confbyte)
self.log.warning(
'Confbyte mismatch between setup and '
'card, overriding card value to 0x%02x', self.confbyte)
# make sure that the card has the right "last steps"
if self.steps != self.doReadSteps():
self.doWriteSteps(self.steps)
self.log.warning(
'Resetting stepper position to last known '
'good value %d', self.steps)
self._type = 'stepper motor, ' + self._hwtype
else:
self._type = 'simulated stepper'
def doVersion(self):
try:
version = self._attached_bus.get(self.addr, 137)
except InvalidCommandError:
return []
else:
return [('IPC motor card', str(version))]
def _tosteps(self, value):
return int(float(value) * self.slope + self.zerosteps + 0.5)
def _fromsteps(self, value):
return float(value - self.zerosteps) / self.slope
@lazy_property
def _hwtype(self):
"""Returns 'single', 'triple', or 'sixfold', used for features that
only one of the card types supports.
"""
if self._mode == SIMULATION:
return 'single' # can't determine value in simulation mode!
if self.doReadDivider() == -1:
try:
self._attached_bus.get(self.addr, 142)
return 'sixfold'
except InvalidCommandError:
return 'single'
return 'triple'
def doReadUserlimits(self):
if self.slope < 0:
return (self._fromsteps(self.max), self._fromsteps(self.min))
else:
return (self._fromsteps(self.min), self._fromsteps(self.max))
def doWriteUserlimits(self, limits):
NicosMotor.doWriteUserlimits(self, limits)
if self.slope < 0:
self.min = self._tosteps(limits[1])
self.max = self._tosteps(limits[0])
else:
self.min = self._tosteps(limits[0])
self.max = self._tosteps(limits[1])
def doReadSpeed(self):
return self._attached_bus.get(self.addr, 128)
def doWriteSpeed(self, value):
self._attached_bus.send(self.addr, 41, value, 3)
def doReadAccel(self):
return self._attached_bus.get(self.addr, 129)
def doWriteAccel(self, value):
if self._hwtype != 'single' and value > 31:
raise ValueError(
self, 'acceleration value %d too big for '
'non-single cards' % value)
self._attached_bus.send(self.addr, 42, value, 3)
self.log.info('parameter change not permanent, use _store() '
'method to write to EEPROM')
def doReadRamptype(self):
try:
return self._attached_bus.get(self.addr, 136)
except InvalidCommandError:
return 1
def doWriteRamptype(self, value):
try:
self._attached_bus.send(self.addr, 50, value, 3)
except InvalidCommandError as err:
raise InvalidValueError(self,
'ramp type not supported by card') from err
self.log.info('parameter change not permanent, use _store() '
'method to write to EEPROM')
def doReadDivider(self):
if self._mode == SIMULATION:
return -1 # can't determine value in simulation mode!
try:
return self._attached_bus.get(self.addr, 144)
except InvalidCommandError:
return -1
def doWriteDivider(self, value):
try:
self._attached_bus.send(self.addr, 60, value, 3)
except InvalidCommandError as err:
raise InvalidValueError(self,
'divider not supported by card') from err
self.log.info('parameter change not permanent, use _store() '
'method to write to EEPROM')
def doReadMicrostep(self):
try:
# microstepping cards
return [1, 2, 4, 8, 16][self._attached_bus.get(self.addr, 141)]
except InvalidCommandError:
# simple cards only support full or half steps
return [1, 2][(self._attached_bus.get(self.addr, 134) & 4) >> 2]
def doWriteMicrostep(self, value):
if self._hwtype == 'single':
if value == 1:
self._attached_bus.send(self.addr, 36)
elif value == 2:
self._attached_bus.send(self.addr, 37)
else:
raise InvalidValueError(
self, 'microsteps > 2 not supported by card')
else:
self._attached_bus.send(self.addr, 57, [1, 2, 4, 8,
16].index(value), 3)
self.log.info('parameter change not permanent, use _store() '
'method to write to EEPROM')
def doReadMax(self):
return self._attached_bus.get(self.addr, 131)
def doWriteMax(self, value):
self._attached_bus.send(self.addr, 44, value, 6)
def doReadMin(self):
return self._attached_bus.get(self.addr, 132)
def doWriteMin(self, value):
self._attached_bus.send(self.addr, 45, value, 6)
def doReadStepsize(self):
return bool(self._attached_bus.get(self.addr, 134) & 4)
def doReadConfbyte(self):
try:
return self._attached_bus.get(self.addr, 135)
except InvalidCommandError:
return -1
def doWriteConfbyte(self, value):
if self._hwtype == 'single':
self._attached_bus.send(self.addr, 49, value, 3)
else:
raise InvalidValueError(self, 'confbyte not supported by card')
self.log.info('parameter change not permanent, use _store() '
'method to write to EEPROM')
def doReadStartdelay(self):
if self.firmware > 40:
try:
return self._attached_bus.get(self.addr, 139) / 10.0
except InvalidCommandError:
return 0.0
else:
return 0.0
def doWriteStartdelay(self, value):
if self._hwtype == 'single':
self._attached_bus.send(self.addr, 55, int(value * 10), 3)
else:
raise InvalidValueError(self, 'startdelay not supported by card')
self.log.info('parameter change not permanent, use _store() '
'method to write to EEPROM')
def doReadStopdelay(self):
if self.firmware > 44:
try:
return self._attached_bus.get(self.addr, 143) / 10.0
except InvalidCommandError:
return 0.0
else:
return 0.0
def doWriteStopdelay(self, value):
if self._hwtype == 'single':
self._attached_bus.send(self.addr, 58, int(value * 10), 3)
else:
raise InvalidValueError(self, 'stopdelay not supported by card')
self.log.info('parameter change not permanent, use _store() '
'method to write to EEPROM')
def doReadFirmware(self):
return self._attached_bus.get(self.addr, 137)
def doReadSteps(self):
return self._attached_bus.get(self.addr, 130)
def doWriteSteps(self, value):
self.log.debug('setting new steps value: %s', value)
self._attached_bus.send(self.addr, 43, value, 6)
def doWritePrecision(self, precision):
minprec = abs(2. / self.slope)
if precision < minprec:
self.log.warning('Precision needs to be at least %.3f, adjusting.',
minprec)
return minprec
def doStart(self, target):
bus = self._attached_bus
target = self._tosteps(target)
self.log.debug('target is %d steps', target)
self._hw_wait()
pos = self._tosteps(self.read(0))
self.log.debug('pos is %d steps', pos)
diff = target - pos
if diff == 0:
return
elif diff < 0:
bus.send(self.addr, 35)
else:
bus.send(self.addr, 34)
bus.send(self.addr, 46, abs(diff), 6)
session.delay(0.1) # moved here from doWait.
def doReset(self):
bus = self._attached_bus
if self.status(0)[0] != status.OK: # busy or error
bus.send(self.addr, 33) # stop
try:
# this might take a while, ignore errors
self._hw_wait()
except Exception:
pass
# remember current state
actpos = bus.get(self.addr, 130)
speed = bus.get(self.addr, 128)
accel = bus.get(self.addr, 129)
minstep = bus.get(self.addr, 132)
maxstep = bus.get(self.addr, 131)
bus.send(self.addr, 31) # reset card
session.delay(0.2)
if self._hwtype != 'single':
# triple and sixfold cards need a LONG time for resetting
session.delay(2)
# update state
bus.send(self.addr, 41, speed, 3)
bus.send(self.addr, 42, accel, 3)
bus.send(self.addr, 45, minstep, 6)
bus.send(self.addr, 44, maxstep, 6)
bus.send(self.addr, 43, actpos, 6)
def doStop(self):
if self._hwtype == 'single':
self._attached_bus.send(self.addr, 52)
else:
self._attached_bus.send(self.addr, 33)
session.delay(0.2)
def doRead(self, maxage=0):
value = self._attached_bus.get(self.addr, 130)
self._params['steps'] = value # save last valid position in cache
if self._cache:
self._cache.put(self, 'steps', value)
self.log.debug('value is %d', value)
return self._fromsteps(value)
def doReadRelay(self):
return 'on' if self._attached_bus.get(self.addr, 134) & 8 else 'off'
def doWriteRelay(self, value):
if value in [0, 'off']:
self._attached_bus.send(self.addr, 39)
elif value in [1, 'on']:
self._attached_bus.send(self.addr, 38)
def doReadInhibit(self):
return (self._attached_bus.get(self.addr, 134) & 16) == 16
def doReadPower(self):
return 'on' if self._attached_bus.get(self.addr,
134) & 16384 else 'off'
def doWritePower(self, value):
if value in [0, 'off']:
self._attached_bus.send(self.addr, 53)
elif value in [1, 'on']:
self._attached_bus.send(self.addr, 54)
def doReadPrecision(self):
# precision: 1 step
return 2. / abs(self.slope)
def doStatus(self, maxage=0):
state = self._attached_bus.get(self.addr, 134)
st = status.OK
msg = ''
# msg += (state & 0x2) and ', backward' or ', forward'
# msg += (state & 0x4) and ', halfsteps' or ', fullsteps'
if state & 0x10:
msg += ', inhibit active'
if state & 0x80:
msg += ', reference switch active'
if state & 0x100:
msg += ', software limit - reached'
if state & 0x200:
msg += ', software limit + reached'
if state & 0x4000 == 0:
msg += ', external power stage enabled'
if state & 0x20:
if self._hwtype == 'sixfold' and self.firmware < 63:
msg += ', limit switch + active'
else:
msg += ', limit switch - active'
if state & 0x40:
if self._hwtype == 'sixfold' and self.firmware < 63:
msg += ', limit switch - active'
else:
msg += ', limit switch + active'
if self._hwtype == 'single':
msg += (state & 0x8) and ', relais on' or ', relais off'
if state & 0x8:
# on single cards, if relay is ON, card is supposedly BUSY
st = status.BUSY
if state & 0x8000:
st = status.BUSY
msg += ', waiting for start/stopdelay'
# check error states last
if state & (0x20 | 0x40) == 0x60:
st = status.ERROR
msg = msg.replace(
'limit switch - active, limit switch + active',
'EMERGENCY STOP pressed or both limit switches '
'broken')
if state & 0x400:
st = status.ERROR
msg += ', device overheated'
if state & 0x800:
st = status.ERROR
msg += ', motor undervoltage'
if state & 0x1000:
st = status.ERROR
msg += ', motor not connected or leads broken'
if state & 0x2000:
st = status.ERROR
msg += ', hardware failure or device not reset after power-on'
# if it's moving, it's not in error state! (except if the emergency
# stop is active)
if state & 0x1 and (state & (0x20 | 0x40) != 0x60):
st = status.BUSY
msg = ', moving' + msg
self.log.debug('status is %d:%s', st, msg[2:])
return st, msg[2:]
def doSetPosition(self, target):
"""Adjust the current stepper position of the IPC-stepper card to match
the given position.
This is in contrast to the normal behaviour which just adjusts the
zerosteps, but IPC cards have a limited range, so it is crucial to stay
within that. So we 'set' the position of the card instead of adjusting
our zerosteps.
"""
self.log.debug('setPosition: %s', target)
value = self._tosteps(target)
self.doWriteSteps(value)
self._params['steps'] = value # save last valid position in cache
if self._cache:
self._cache.put(self, 'steps', value)
@usermethod
def _store(self):
self._attached_bus.send(self.addr, 40)
self.log.info('parameters stored to EEPROM')
@usermethod
def _printconfig(self):
byte = self.confbyte
c = ''
if byte & 1:
c += 'limit switch 1: high = active\n'
else:
c += 'limit switch 1: low = active\n'
if byte & 2:
c += 'limit switch 2: high = active\n'
else:
c += 'limit switch 2: low = active\n'
if byte & 4:
c += 'inhibit entry: high = active\n'
else:
c += 'inhibit entry: low = active\n'
if byte & 8:
c += 'reference switch: high = active\n'
else:
c += 'reference switch: low = active\n'
if byte & 16:
c += 'use external powerstage\n'
else:
c += 'use internal powerstage\n'
if byte & 32:
c += 'leads testing disabled\n'
else:
c += 'leads testing enabled\n'
if byte & 64:
c += 'reversed limit switches\n'
else:
c += 'normal limit switch order\n'
if byte & 128:
c += 'freq-range: 8-300Hz\n'
else:
c += 'freq-range: 90-3000Hz\n'
self.log.info(c)
def doInit(self, mode):
self._reverse = {v: k for (k, v) in self.mapping.items()}
# oneofdict: allows both types of values (string/int), but normalizes
# them into the string form
self.valuetype = oneofdict(self._reverse)
class MCC2Motor(MCC2core, NicosMotor):
"""Class for the control of the MCC2-Stepper"""
movementTypes = ('rotational', 'linear')
parameters = {
'mccmovement':
Param('Type of movement, change behaviour of limit '
'switches',
type=oneof(*movementTypes),
default='linear',
settable=True,
prefercache=False),
'slope':
Param('Full motor steps per physical unit',
type=float,
default=1,
unit='1/main',
prefercache=False),
'power':
Param('Internal power stage switch',
default='on',
type=oneofdict({
0: 'off',
1: 'on'
}),
settable=True,
volatile=True),
'steps':
Param('Last position in steps',
settable=True,
type=int,
prefercache=False),
'accel':
Param('Motor acceleration in physical units',
prefercache=False,
type=float,
settable=True,
unit='1/main**2'),
'microstep':
Param('Microstepping mode',
unit='microsteps/fullstep',
type=intrange(1, 255),
settable=True,
prefercache=False),
'idlecurrent':
Param('Current whenever motor is Idle',
unit='A',
type=floatrange(0, 2.5),
settable=True,
prefercache=False),
'rampcurrent':
Param('Current whenever motor is Ramping',
unit='A',
type=floatrange(0, 2.5),
settable=True,
prefercache=False),
'movecurrent':
Param('Current whenever motor is moving at speed',
type=floatrange(0, 2.5),
unit='A',
prefercache=False,
settable=True),
'linear':
Param('Linear stage (as opposed to choppered stage)',
type=bool,
settable=False,
volatile=True),
}
def doReset(self):
self.comm('XC') # Reset Axis (handbook is vague...)
self.comm('XP02S1') # unit = steps
self.comm('XP03S1') # unity slope
self.comm('XP04S20') # lowest frequency which is Ok whithout ramp
self.comm('XP17S2') # ramping uses boostcurrent
# no backlash correction, this is done in the axis code
self.comm('XP25S0')
# Limit switches are openers (normally closed=n.c.)
self.comm('XP27S0')
@usermethod
def printcurrents(self):
"""Print the settings of the currents.
The MCC-2 motor controller has different settings for the:
- idle current
- moving current
- ramp current
These settings will be displayed.
"""
if self.linear:
const = 0.05 # SHOULD BE 0.04!
else:
const = 0.1
xi = const * float(self.comm('XP40R'))
xm = const * float(self.comm('XP41R'))
xr = const * float(self.comm('XP42R'))
self.log.info('MCC-2 currents of this axes are:')
self.log.info('idle: %f', xi)
self.log.info('move: %f', xm)
self.log.info('ramp: %f', xr)
def doReadMccmovement(self):
return self.movementTypes[int(self.comm('XP01R'))]
def doWriteMccmovement(self, value):
return self.comm('XP01S%d' % (self.movementTypes.index(value)))
def doReadLinear(self):
return int(self.comm('XP48R')) == 1
def doReadIdlecurrent(self):
if self.linear:
return 0.05 * float(self.comm('XP40R')) # SHOULD BE 0.04
else:
return 0.1 * float(self.comm('XP40R'))
def doWriteIdlecurrent(self, value):
if self.linear:
self.comm('XP40S%d' %
max(0, min(25, round(value / 0.05)))) # SHOULD BE 0.04
else:
self.comm('XP40S%d' % max(0, min(25, round(value / 0.1))))
return self.doReadIdlecurrent()
def doReadMovecurrent(self):
if self.linear:
return 0.05 * float(self.comm('XP41R')) # SHOULD BE 0.04
else:
return 0.1 * float(self.comm('XP41R'))
def doWriteMovecurrent(self, value):
if self.linear:
self.comm('XP41S%d' %
max(0, min(25, round(value / 0.05)))) # SHOULD BE 0.04
else:
self.comm('XP41S%d' % max(0, min(25, round(value / 0.1))))
return self.doReadMovecurrent()
def doReadRampcurrent(self):
if self.linear:
return 0.05 * float(self.comm('XP42R')) # SHOULD BE 0.04
else:
return 0.1 * float(self.comm('XP42R'))
def doWriteRampcurrent(self, value):
if self.linear:
self.comm('XP42S%d' %
max(0, min(25, round(value / 0.05)))) # SHOULD BE 0.04
else:
self.comm('XP42S%d' % max(0, min(25, round(value / 0.1))))
return self.doReadRampcurrent()
def doRead(self, maxage=0):
return float(self.comm('XP21R')) / (self.slope * self.microstep)
def _readSE(self):
temp = self.comm('SE')
i = ['X', 'Y', 'Z', 'W'].index(self.channel)
temp = temp[4 * i:4 * i + 4]
return int(temp, 16)
def doReadPower(self):
if self._readSE() & (1 << 3):
return 'on'
else:
return 'off'
def doWritePower(self, value):
if value in ['on', 1, True]:
self.comm('XMA')
else:
self.comm('XMD')
return self.doReadPower()
def doReadMicrostep(self):
return int(self.comm('XP45R'))
def doWriteMicrostep(self, value):
self.comm('XP45S%d' % int(value))
return self.doReadMicrostep()
def doReadSpeed(self):
return float(self.comm('XP14R')) / float(
self.microstep * abs(self.slope))
def doWriteSpeed(self, value):
f = max(0, min(40000, value * abs(self.slope) * self.microstep))
self.comm('XP14S%d' % int(f))
return self.doReadSpeed()
def doReadAccel(self):
return (float(self.comm('XP15R')) /
float(self.microstep * abs(self.slope)))
def doWriteAccel(self, value):
f = max(
4000,
min(
500000, 4000 * round(
(value * (abs(self.slope) * self.microstep)) / 4000)))
self.comm('XP15S%d' % int(f))
return self.doReadAccel()
def doStart(self, pos):
"""go to a absolute postition"""
if self.doStatus(0)[0] != status.OK:
raise MoveError('Can not start, please check status!')
pos = int(pos * self.slope * self.microstep)
self.comm('XE%d' % pos)
def doStop(self):
''' send the stop command '''
for _i in range(5):
if not self.comm('XS'):
return
self.log.error('Stopping failed! no ACK!')
def doSetPosition(self, newpos):
''' set current position to given value'''
d = int(newpos * self.slope * self.microstep)
self.comm('XP20S%d XP21S%d XP19S%d' % (d, d, d)) # set all counters
def doStatus(self, maxage=0):
sui = self.comm('SUI')[['X', 'Y', 'Z', 'W'].index(self.channel)]
st = int(self.comm('ST')) # for reading enable switch
t = self._readSE()
sl = [
'Overcurrent', 'Undervoltage', 'Overtemperature', 'Driver enabled',
'Limit switch - active', 'Limit switch + active', 'stepping error',
'Encoder error', 'Motor halted', 'referenced'
]
s = ''
sc = status.OK
if sui in ['+', '2']:
s = s + 'Limit switch + active, '
if sui in ['-', '2']:
s = s + 'Limit switch - active, '
for i in range(len(sl)):
if t & (1 << i):
s = s + sl[i] + ', '
# motor moving -> busy
if (t & 0x100) == 0:
s = s + 'Motor moving, '
sc = status.BUSY
# Overcurrent, Undervoltage, Overtemp or stepping error -> error
if (t & 0b1000111) != 0:
sc = status.ERROR
if st & (1 << 5):
s = s + 'Driver enabled externally, '
else:
# driver disabled -> error
s = s + 'Driver disabled externally, '
sc = status.ERROR
if s:
s = s[:-2]
if sui == '2':
# ?both? limit switches touched
sc = status.ERROR
return sc, s