def triggerPolarity(self, triggerno, polarity):
'''
sets the polarity of the external trigger,
triggerno: 0-5,
polarity: 0 low active, 1 high active
'''
ANC.positionerTriggerPolarity(self.handle, triggerno, polarity)
def quadratureOutputPeriod(self, quadratureno, period):
'''
selects the position difference which causes a step on the output AB-signal.
quadratureno: number of addressed quadrature unit (0-2).
period: period in unit of actor * 1000
'''
ANC.positionerQuadratureOutputPeriod(self.handle, quadratureno, period)
def capMeasure(self, axis):
'''
determines the capacitance of the piezo addressed by axis
'''
self.status = ANC.Int32(0)
ANC.positionerCapMeasure(self.handle, axis, ctypes.byref(self.status))
return self.status.value
def moveRelative(self, axis, position, rotcount=0):
'''
starts approach to relative target position.
previous movement will be stopped. rotcount optional argument.
position units are in 'unit of actor multiplied by 1000' (generally nanometres)
'''
ANC.positionerMoveRelative(self.handle, axis, position, rotcount)
def bandwidthLimitEnable(self, axis, state):
'''
activates/deactivates the bandwidth limiter of the addressed axis.
only applicable for scanner axes
'''
ANC.positionerBandwidthLimitEnable(self.handle, axis,
ctypes.c_bool(state))
def getSpeed(self, axis):
'''
determines the actual speed. In case of standstill of this actor this is the calculated speed resulting from amplitude setpoint, frequency, and motor parameters. In case of movement this is measured speed.
'''
self.spd = ANC.Int32(0)
ANC.positionerGetSpeed(self.handle, axis, ctypes.byref(self.spd))
return self.spd.value
def getPosition(self, axis):
'''
determines actual position of addressed axis
'''
self.pos = ANC.Int32(0)
ANC.positionerGetPosition(self.handle, axis, ctypes.byref(self.pos))
return self.pos.value
def getFrequency(self, axis):
'''
determines the frequency in Hz
'''
self.freq = ANC.Int32(0)
ANC.positionerGetFrequency(self.handle, axis, ctypes.byref(self.freq))
return self.freq.value
def getDcLevel(self, axis):
'''
determines the status actual DC level in V
'''
self.dclev = ANC.Int32(0)
ANC.positionerGetDcLevel(self.handle, axis, ctypes.byref(self.dclev))
return self.dclev.value / 1000
def singleCircleMode(self, axis, state):
'''
switches single circle mode. In case of activated single circle mode
the number of rotations are ignored and the shortest way to target
position is used. Only relevant for rotary actors.
'''
ANC.positionerSingleCircleMode(self.handle, axis, ctypes.c_bool(state))
def quadratureInputPeriod(self, quadratureno, period):
'''
selects the stepsize the controller executes when detecting a step on
its input AB-signal.
quadratureno: number of addressed quadrature unit (0-2).
period: stepsize in unit of actor * 1000
'''
ANC.positionerQuadratureInputPeriod(self.handle, quadratureno, period)
def getDcInEnable(self, axis):
'''
determines status of dc input of addressed axis. only applicable for scanner/dither axes
'''
self.status = ctypes.c_bool(None)
ANC.positionerGetDcInEnable(self.handle, axis,
ctypes.byref(self.status))
return self.status.value
def updateAbsolute(self, axis, position):
'''
updates target position for a *running* approach.
function has lower performance impact on running approach compared to
.moveAbsolute(). position units are in 'unit of actor multiplied by 1000'
(generally nanometres)
'''
ANC.positionerUpdateAbsolute(self.handle, axis, position)
def getRotCount(self, axis):
'''
determines actual number of rotations in case of rotary actuator
'''
self.rotcount = ANC.Int32(0)
ANC.positionerGetRotCount(self.handle, axis,
ctypes.byref(self.rotcount))
return self.rotcount.value
def getReferenceRotCount(self, axis):
'''
determines actual position of addressed axis
'''
self.rotcount = ANC.Int32(0)
ANC.positionerGetReferenceRotCount(self.handle, axis,
ctypes.byref(self.rotcount))
return self.rotcount.value
def getStatus(self, axis):
'''
determines the status of the selected axis.
result: bit0 (moving), bit1 (stop detected), bit2 (sensor error), bit3 (sensor disconnected)
'''
self.status = ANC.Int32(0)
ANC.positionerGetStatus(self.handle, axis, ctypes.byref(self.status))
return self.status.value
def getBandwidthLimitEnable(self, axis):
'''
determines status of bandwidth limiter of addressed axis. only applicable for scanner axes
'''
self.status = ctypes.c_bool(None)
ANC.positionerGetBandwidthLimitEnable(self.handle, axis,
ctypes.byref(self.status))
return self.status.value
def amplitudeControl(self, axis, mode):
'''
selects the type of amplitude control.
The amplitude is controlled by the positioner to hold the value constant
determined by the selected type of amplitude control.
mode takes values 0: speed, 1: amplitude, 2: step size
'''
ANC.positionerAmplitudeControl(self.handle, axis, mode)
def getReference(self, axis):
'''
determines distance of reference mark to origin
'''
self.pos = ANC.Int32(0)
self.validity = ctypes.c_bool(None)
ANC.positionerGetReference(self.handle, axis, ctypes.byref(self.pos),
ctypes.byref(self.validity))
return self.pos.value, self.validity.value
def triggerModeIn(self, mode):
'''
selects the mode of the input trigger signalsself.
state:
0 disabled - inputs trigger nothing,
1 quadrature - three pairs of trigger in signals are used to accept
AB-signals for relative positioning,
2 coarse - trigger in signals are used to generate coarse steps
'''
ANC.positionerTriggerModeIn(self.handle, mode)
def getAmplitude(self, axis):
'''
determines the actual amplitude in V. In case of standstill of the actor this
is the amplitude setpoint. In case of movement the amplitude set by
amplitude control is determined.
'''
self.status = ANC.Int32(0)
ANC.positionerGetAmplitude(self.handle, axis,
ctypes.byref(self.status))
return self.status.value / 1000
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
'''
self.stepwdth = ANC.Int32(0)
ANC.positionerGetStepwidth(self.handle, axis,
ctypes.byref(self.stepwdth))
return self.stepwdth.value
def check(self):
'''
Determines number of connected positioners and their respective hardware IDs
'''
self.posinf = ANC.PositionerInfo() #create PositionerInfo Struct
self.numconnected = ANC.positionerCheck(ctypes.byref(
self.posinf)) #look for positioners!
if self.numconnected > 0:
print(self.numconnected, 'ANC350 connected')
print('ANC350 with id:', self.posinf.id, 'has locked state:',
self.posinf.locked)
def connect(self):
'''
Establishes connection to first device found
'''
self.handle = ANC.Int32(0)
try:
ANC.positionerConnect(0, ctypes.byref(
self.handle)) #0 means "first device"
print('connected to first positioner')
except Exception as e:
print('unable to connect!')
raise e
def triggerModeOut(self, mode):
'''
selects the mode of the output trigger signals.
state:
0 disabled - inputs trigger nothing,
1 position - the trigger outputs reacts to the defined position
ranges with the selected polarity,
2 quadrature - three pairs of trigger out signals are used to
signal relative movement as AB-signals,
3 IcHaus - the trigger out signals are used to output the internal
position signal of num-sensors
'''
ANC.positionerTriggerModeOut(self.handle, mode)
def close(self):
'''
closes connection to ANC350 device
'''
ANC.positionerClose(self.handle)
def clearStopDetection(self, axis):
'''
when .setStopDetectionSticky() is enabled, this clears the stop detection status
'''
ANC.positionerClearStopDetection(self.handle, axis)
def triggerAxis(self, triggerno, axis):
'''
selects the corresponding axis for the addressed trigger. triggerno is 0-5
'''
ANC.positionerTriggerAxis(self.handle, triggerno, axis)
def triggerEpsilon(self, triggerno, epsilon):
'''
sets the hysteresis of the external trigger. epsilon in units of actor * 1000
'''
ANC.positionerTriggerEpsilon(self.handle, triggerno, epsilon)
def amplitude(self, axis, amp):
'''
set the amplitude setpoint in V
'''
ANC.positionerAmplitude(self.handle, axis, ANC.Int32(int(1000 * amp)))