return module.make_iface(ids[0],param)
# otherwise
print('Available IDs:')
n = 0
for i in ids:
n+=1
print('[{0}] {1}'.format(n, i))
n = input('Select iface (1-{0}):'.format(len(ids)))
return module.make_iface(ids[n-1],param)
#------------------------------------------------------------------------------
# MAIN
#------------------------------------------------------------------------------
if __name__ == '__main__':
iface = get_iface('ixxat')
io_service = canio2.IOService(iface)
NODE_ID = 1
node = CANopenNode(NODE_ID, io_service)
waiter = canio2.TriggersWaiter(io_service)
print 'Resetting node...'
if node.reset(5000) == False:
print 'Boot Timeout'
sys.exit(1)
print 'Node state after reset: ' + str(node.state)
node.state = CANopenNode.STATES.OPERATIONAL
print 'Node state : ' + str(node.state)
print('* Drive Initialization.')
print('\tClear Faults.')
def main():
parser = OptionParser()
parser.add_option('-m', '--mode', action='store', dest='mode', type='choice',
choices=['homing', 'test', 'srv'], default='homing',
help='Modes: homing = do homing, test = do test; service = move one axis' )
parser.add_option('-d', action='store', type='int', dest='distance', default = 0,
help='This is a relative distance in mm for service mode and amplitude for test mode.' )
parser.add_option('-a', action='store', type='int', dest='service_axis', default=-1,
help='This is a target axis [0-3] for service mode. Both table axes will be used if this option is not supplied.' )
parser.add_option('-n', action='store', type='int', dest='test_cycles', default=1,
help='This is a number of test iterations for test mode.' )
#parser.add_option('-l', action='store', type='string', dest='log', default=LogFile,
# help='Log file.' )
(options, args) = parser.parse_args()
#LogFile = options.log
iface = get_iface('ixxat')
io_service = canio2.IOService(iface)
pmd = canio2.PMD(NODE_ID, io_service)
waiter = canio2.TriggersWaiter(io_service)
axes = []
print '*** Axes Initialization ***'
if options.mode == 'srv' and options.service_axis >=0 and options.service_axis<=3:
axes = [pmd.axis(options.service_axis),]
else:
for n in AXES_IDS:
ax = pmd.axis(n)
axes.append(ax)
init_axes('nic',axes)
global PMDCycleTime
PMDCycleTime = pmd.sample_time
print 'PMDCycleTime', PMDCycleTime
print '*** Axes Initialization Done ***'
try:
if options.mode == 'homing' or options.mode == 'test':
print '*** HOMING ***'
stop_axes(pmd,axes)
unlock_axes(axes)
print '\tHoming. Step1. Moving Up...'
for ax in axes:
waiter.add(ax.event_trigger)
move_rel(pmd, axes, SAFE_SPEED_RPM, HOMING_INIT_UP_MOVE_MM)
wait(waiter, 4) #TODO wait time calc
for ax in axes:
st = ax.event_status
print '\tAxis', ax.number, 'status reg:', bin(st)
if (st & PMD.STATUS_BITS.MOTION_ERR) > 0:
raise MotionErr()
print '\tHoming. Step1. Completed.'
time.sleep(1)
print '\tHoming. Step2. Moving Down to Negative Limit...'
for ax in axes:
waiter.add(ax.event_trigger)
move_rel(pmd, axes, SAFE_SPEED_RPM, -1000) # -1000 mm
wait(waiter, 2)
for ax in axes:
st = ax.event_status
print '\tAxis', ax.number, 'status reg:', bin(st)
if (st & PMD.STATUS_BITS.MOTION_ERR) > 0:
raise MotionErr()
if (st & PMD.STATUS_BITS.NEGATIVE_LIMIT) == 0:
raise NoLimitErr()
ax.actual_position = 0
print '\tHoming. Step2. Completed.'
elif options.mode == 'srv':
print '*** SERVICE ***'
print '\tMoving', options.distance, 'mm from current position'
stop_axes(pmd,axes)
unlock_axes(axes)
for ax in axes:
waiter.add(ax.event_trigger)
v = SAFE_SPEED_RPM
move_rel(pmd, axes, v, options.distance)
wait(waiter, 1+abs(options.distance)/rpm_to_mms(v))
# show status reg at the end
for ax in axes:
st = ax.event_status
print '\tAxis', ax.number, 'status reg:', bin(st)
if (st & PMD.STATUS_BITS.MOTION_ERR) > 0:
raise MotionErr()
print '\tMoving done.'
if options.mode =='test':
time.sleep(1) # do delay after homing
print '*** TABLE TEST (', options.test_cycles, 'times ) ***'
v = TEST_V
down = 20
up = options.distance + 20
waiter.reset();
t0 = time.clock()
for i in range(options.test_cycles):
print '\tITERATION', i+1
print '\tMoving UP...'
for ax in axes:
waiter.add(ax.event_trigger)
move_abs(pmd, axes, v, up)
wait_ex(waiter, 10+abs(options.distance)/rpm_to_mms(v),axes) #TODO wait time
# show status reg at the end
for ax in axes:
st = ax.event_status
print '\tAxis', ax.number, 'status reg:', bin(st)
if (st & PMD.STATUS_BITS.MOTION_ERR) > 0:
raise MotionErr()
print '\tMoving UP Done.'
print '\tMoving DOWN...'
for ax in axes:
waiter.add(ax.event_trigger)
move_abs(pmd, axes, v, down)
wait_ex(waiter, 10+abs(options.distance)/rpm_to_mms(v), axes) #TODO wait time
# show status reg at the end
for ax in axes:
st = ax.event_status
print '\tAxis', ax.number, 'status reg:', bin(st)
if (st & PMD.STATUS_BITS.MOTION_ERR) > 0:
raise MotionErr()
print '\tMoving DOWN Done.'
t1 = time.clock()
print 'Test duration', t1-t0
except TimeoutEx:
print 'Error: Timeout'
except MotionErr:
print 'Error: Motion Error'
except NoLimitErr:
print 'Error: Can\'t find limit'
except KeyboardInterrupt:
print 'Keyboard Interrupt'
finally:
print '\tFinally...'
stop_axes(pmd, axes)
time.sleep(1)
lock_axes(axes)
disable_axes(pmd, axes)
time.sleep(0.1) #to handle unreceived CAN messages, cause there is a problem...