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 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 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 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 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 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 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 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 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 amplitude(self, axis, amp):
'''
set the amplitude setpoint in V
'''
ANC.positionerAmplitude(self.handle, axis, ANC.Int32(int(1000 * amp)))
def moveSingleStep(self, axis, direction):
'''
starts a one-step positioning.
Previous movement will be stopped. direction can be 0 (forward) or 1 (backward)
'''
ANC.positionerMoveSingleStep(self.handle, axis, ANC.Int32(direction))
def frequency(self, axis, freq):
'''
sets the frequency of selected axis. frequency in Hz
'''
ANC.positionerFrequency(self.handle, axis, ANC.Int32(int(freq)))
def dcLevel(self, axis, dclev):
'''
sets the dc level of selected axis. dclevel in V
'''
ANC.positionerDCLevel(self.handle, axis, ANC.Int32(int(1000 * dclev)))