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 = ANC350lib.Int32(0)
ANC350lib.positionerGetSpeed(self.handle, axis, ctypes.byref(self.spd))
return self.spd.value
def capMeasure(self, axis):
'''
determines the capacitance of the piezo addressed by axis
'''
self.status = ANC350lib.Int32(0)
ANC350lib.positionerCapMeasure(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
'''
self.stepwdth = ANC350lib.Int32(0)
ANC350lib.positionerGetStepwidth(self.handle, axis,
ctypes.byref(self.stepwdth))
return self.stepwdth.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 = ANC350lib.Int32(0)
ANC350lib.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 = ANC350lib.Int32(0)
ANC350lib.positionerGetRotCount(self.handle, axis,
ctypes.byref(self.rotcount))
return self.rotcount.value
def getPosition(self, axis):
'''
determines actual position of addressed axis
'''
self.pos = ANC350lib.Int32(0)
ANC350lib.positionerGetPosition(self.handle, axis,
ctypes.byref(self.pos))
return self.pos.value
def getReferenceRotCount(self, axis):
'''
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 getFrequency(self, axis):
'''
determines the frequency in Hz
'''
self.freq = ANC350lib.Int32(0)
ANC350lib.positionerGetFrequency(self.handle, axis,
ctypes.byref(self.freq))
return self.freq.value
def getDcLevel(self, axis):
'''
determines the status actual DC level in mV
'''
self.dclev = ANC350lib.Int32(0)
ANC350lib.positionerGetDcLevel(self.handle, axis,
ctypes.byref(self.dclev))
return self.dclev.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.
'''
self.status = ANC350lib.Int32(0)
ANC350lib.positionerGetAmplitude(self.handle, axis,
ctypes.byref(self.status))
return self.status.value
def getReference(self, axis):
'''
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 connect(self):
'''
Establishes connection to first device found
'''
self.handle = ANC350lib.Int32(0)
try:
ANC350lib.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