def homing():
ip_address = device_ip.galil_ip
# make an instance of the gclib python class
g = gclib.py()
# print('gclib version:', self.g.GVersion())
#Connection of galil card through ip address
try:
g.GOpen(ip_address + ' --direct -s ALL')
# self.g.GOpen('COM1 --direct')
print(g.GInfo())
except:
print("\033[1;31;45m[WARN] Galil connection failed\033[0m")
print("\033[1;31;45m[WARN] Stopping Galil script\033[0m")
sys.exit()
g.GCommand('ST') #stop motion
g.GCommand('MO') #motor
g.GCommand('DP 0,0,0,0,0,0') #set main encoder position as 0
g.GCommand(
'DE 0,0,0,0,0,0'
) #set dual encoder position as 0, for stepper motor mode, need set DE as 0 for homing
g.GClose()
def zero_rotary_motor():
g = gclib.py()
c = g.GCommand
g.GOpen('172.25.100.168 --direct')
print(' Attempting to zero the rotary motor now, sudden error or break in code expected')
print(' Rerun motor_movement.py to continue')
# zero = rotary_set_zero()
# while (zero > 10) and (zero < 16374):
# zero = rotary_set_zero()
b = False
move = 25000
c('AB')
c('MO')
c('SHD')
c('SPD=50000')
c('ACD=300000')
c('BCD=300000')
print(' Starting move...')
try:
while True:
c('PRD={}'.format(move))
c('BGD') #begin motion
g.GMotionComplete('D')
enc_pos = rotary_read_pos()
print(f"encoder position: {enc_pos}")
if b == False:
if (enc_pos > 8092) and (enc_pos < 8292):
print(' encoder position good, continuing')
theta = enc_pos * 360 / 2**14
print(theta, ' compared with 180')
else:
print(' WARNING: Motor did not move designated counts, aborting move')
g.GClose()
exit()
if b == True:
if (enc_pos < 100) or (enc_pos > 16284):
print(' encoder position good, continuing')
theta = enc_pos * 360 / 2**14
print(theta, ' compared with 0 or 360')
else:
print(' WARNING1: Motor did not move designated counts, aborting move')
g.GClose()
exit()
b = not b
except gclib.GclibError:
print('Rotary stage is zeroed')
g.GClose()
def run_motion(mip, axis, mspd, n_steps):
# must be global for multiprocessing to work.
# connect to controller
gp = gclib.py()
gc = gp.GCommand
try:
gp.GOpen(f"{mip} --direct")
except:
print("ERROR: couldn't connect to Newmark controller!")
# initial motor setup commands
gc('AB')
gc('MO')
gc(f'SH{axis}')
gc(f'SP{axis}={mspd}')
gc(f'DP{axis}=0')
gc(f'AC{axis}={mspd}')
gc(f'BC{axis}={mspd}')
# begin motion
gc(f'PR{axis}={n_steps}')
gc(f'BG{axis}')
gp.GMotionComplete(axis)
time.sleep(.1)
print('i did a thing')
def __init__(self):
self.config = load(open(
os.path.join(os.path.dirname(os.path.realpath(__file__)),
'local_config.yaml'), 'rb'),
Loader=Loader)
self.g = gclib.py()
self.open()
self.x = 0
self.x_counts = 0
x_config = self.config['servos']['x']
self.x_motor = x_config['motor_name']
self.x_mm_per_count = x_config['pitch'] / x_config[
'steps_per_revolution'] / x_config['step_down']
self.y = 0
self.y_counts = 0
y_config = self.config['servos']['y']
self.y_motor = y_config['motor_name']
self.y_mm_per_count = y_config['pitch'] / y_config[
'steps_per_revolution'] / y_config['step_down']
self.z = 0
self.z_counts = 0
z_config = self.config['servos']['z']
self.z_motor = z_config['motor_name']
self.z_mm_per_count = z_config['pitch'] / z_config[
'steps_per_revolution'] / z_config['step_down']
# the end effector is a voice coil not an stepper motor
self.ef_motor = self.config['ef']['motor_name']
self.ef_up_voltage = self.config['ef']['up']
self.ef_down_voltage = self.config['ef']['down']
def position_publisher():
################### Establish the connection to controller through Ethernet ############
g = gclib.py()
g.GOpen('169.254.93.220 --direct')
print(g.GInfo())
c = g.GCommand # alias the command callable
########## publisher ###########
pub = rospy.Publisher('stage_pos', Float32MultiArray, queue_size=10)
rospy.init_node('stage_position_node', anonymous=True)
rate = rospy.Rate(100) # 100hz
# data_msg = Int32MultiArray()
data_msg = Float32MultiArray()
# data_msg.layout.dim[0].size = 1
# data_msg.layout.dim[0].stride = 3
# data_msg.layout.dim[0].label = 'x,y,z'
data_msg.data = []
while not rospy.is_shutdown():
pos_all = c('TP')
pos = pos_all.split(',')
# pos_x = c('TPA')
# pos_y = c('TPB')
# pos_z = c('TPC')
data_msg.data = [
int(pos[0]) * ScaleLinearStage,
int(pos[1]) * ScaleLinearStage,
int(pos[2]) * ScaleRotaryStageEncoder
]
pub.publish(data_msg)
rate.sleep()
def emergency_stop(motor_name, mconf, ipconf):
"""
called by move_motor. must be global for multiprocessing to work,
and requires we set up a whole separate communication session (because
this is called in an independent Python thread.)
"""
print('\nGot Emergency Stop signal! Attempting to stop motion ...')
mip = ipconf['newmark']
axis = mconf[motor_name]['axis']
# connect to controller
gp = gclib.py()
gc = gp.GCommand
try:
gp.GOpen(f"{mip} --direct")
except:
print("ERROR: couldn't connect to Newmark controller!")
# -- emergency stop signal --
res = gc(f'ST{axis}')
success = res is not None
print('Did we succeed at stopping the motion?', success)
gp.GMotionComplete(axis)
time.sleep(.1)
print("WARNING: You've just used Emergency Stop. The motor may still be\n",
" 'humming', i.e. powered but not moving. Sometimes this is\n",
" audible, but not always. You can either try \n",
" another (safe) motion to reset it, or reset the Newmark\n",
" motor controller.")
def runMoveLoop(GC: gclib.py()):
loopCount = int(input("How many loops would you like to run? "))
distance = float(
input(
"What distance would you like to index [mm]?\n(Max stroke is 18mm)\n"
))
if ((distance > 18) or (distance < 0)):
print('Invalid Distance. Exiting IKO Linear Motor Loop')
return
encoderDist = distance / 0.0001 # 0.1um accuracy encoder
i = 0
try:
print(
'\nStarting Move Loop. Press Ctrl+C to exit loop after next move completes.\n'
)
while (i < loopCount):
GC.GCommand('PAD=%i' % encoderDist)
GC.GCommand('BG D')
GC.GMotionComplete('D')
GC.GCommand('PAD=0')
GC.GCommand('BG D')
GC.GMotionComplete('D')
print('Loop %i' % i)
i += 1
except KeyboardInterrupt:
print('Exiting loop - Keyboard interrupt\n')
return
print()
return
def test_readout():
g = gclib.py()
c = g.GCommand
g.GOpen('172.25.100.168 --direct')
print(type(g.GInfo()))
print(g.GAddresses())
motor_name = "DMC2142sH2a"
def __init__(self):
# if this is the main instance let us make a galil connection
self.g = gclib.py()
print('gclib version:', self.g.GVersion())
self.g.GOpen('%s --direct -s ALL' % (setupd['galil_ip_str']))
print(self.g.GInfo())
self.c = self.g.GCommand # alias the command callable
self.cycle_lights = False
def __init__(self):
self.software_version: str = ''
self.software_title: str = ''
self.ip_address: str = ''
self.mer_ip_address: str = ''
self.speed: str = ''
self.speed_out: str = ''
self._debug: bool = False
self.connected: bool = False
self.g = gclib.py()
def __init__(self, address=None, baud=None):
'''Initializes a Galil Controller.'''
self._g = gclib.py() # instance of gclib class
self._g.lock = Lock() # insert a lock for thread safe interactions
self.connected = False # connection flag
if address is not None:
self.open(address, baud) # open connection
self.disable() # turn off motors
def __init__(self, ip_address=None, frequency=100, duration=2):
QtCore.QThread.__init__(self)
self.frequency = frequency
self.duration = duration
# Caller is responsible to make sure that ip address is ok
self.galil_handle = gclib.py();
try:
self.galil_handle.GOpen('%s --direct -s ALL' % ip_address)
except gclib.GclibError:
print("ERROR: recording thread uanble to connect to controller")
def main():
g = gclib.py() #make an instance of the gclib python class
try:
print('gclib version:', g.GVersion())
###########################################################################
# Network Utilities
###########################################################################
'''
#Get Ethernet controllers requesting IP addresses
print('Listening for controllers requesting IP addresses...')
ip_requests = g.GIpRequests()
for id in ip_requests.keys():
print(id, 'at mac', ip_requests[id])
#define a mapping of my hardware to ip addresses
ips = {}
ips['DMC4000-783'] = '192.168.0.42'
ips['DMC4103-9998'] = '192.168.0.43'
for id in ips.keys():
if id in ip_requests: #if our controller needs an IP
print("\nAssigning", ips[id], "to", ip_requests[id])
g.GAssign(ips[id], ip_requests[id]) #send the mapping
g.GOpen(ips[id] + ' --direct') #connect to it
print(g.GInfo())
g.GCommand('BN') #burn the IP
g.GClose() #disconnect
print('\nAvailable addresses:') #print ready connections
available = g.GAddresses()
for a in sorted(available.keys()):
print(a, available[a])
print('\n')
'''
###########################################################################
# Connect
###########################################################################
g.GOpen('192.168.42.100 --direct -s ALL')
#g.GOpen('COM1 --direct')
print(g.GInfo())
g.GCommand('AB')
g.GCommand('MO')
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
finally:
g.GClose() #don't forget to close connections!
return
def _execute(self, command):
try:
g = gclib.py()
g.GOpen(ADDRESS)
g.timeout = 5000
val = g.GCommand(command)
g.timeout = 5000
return val
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
finally:
g.GClose()
def source_limit_check():
"""
source motor only has one limit switch
"""
g = gclib.py()
g.GOpen('172.25.100.168 --direct')
# send the command (can check against GalilTools)
status = int(float(g.GCommand('MG _LF A')))
# status = int(g.GCommand('MG _LR A')) # reverse isn't used
label = "OFF" if status == 1 else "ON"
print(f"Source motor limit switch: {label}")
def __init__(self, name: str, address: str, **kwargs: Any) -> None:
"""
Initializes and opens the connection to the Galil Motion Controller
Args:
name: name for the instrument
address: address of the controller
"""
super().__init__(name=name, **kwargs)
self.g = gclib.py()
self._address = address
self.open()
self.connect_message()
def linear_limit_check():
"""
linear motor has two limit switches
"""
g = gclib.py()
c = g.GCommand
g.GOpen('172.25.100.168 --direct')
lf_status = float(c('MG _LF B'))
label = "OFF" if lf_status == 1 else "ON"
print(f"Linear motor forward limit switch: {label}")
lr_status = float(c('MG _LR B'))
label = "OFF" if lr_status == 1 else "ON"
print(f"Linear motor reverse limit switch: {label}")
def create_connection(mock=False, log=None):
"""
Creates a connection to the galil.
:param mock: Whether to create a mock connection (used for testing)
:param log: The log to print any mock messages.
:return: An instance of the galil connection object
"""
g = MockGalil(log) if mock else gclib.py()
if not open_connection(g):
raise IOError("Error, cannot communicate with galil")
g.GCommand(CONFIGURE)
return g
def stop_motion(mip, axis):
# connect to controller
gp = gclib.py()
gc = gp.GCommand
try:
gp.GOpen(f"{mip} --direct")
except:
print("ERROR: couldn't connect to Newmark controller!")
# -- emergency stop signal --
res = gc(f'ST{axis}')
success = res is not None
print('Did we succeed at stopping the motion?', success)
gp.GMotionComplete(axis)
time.sleep(.1)
def source_limit_check():
g = gclib.py()
c = g.GCommand
g.GOpen('172.25.100.168 --direct')
lf_status = float(c('MG _LF C'))
lr_status = float(c('MG _LR C'))
if lf_status == 1:
print('Forward switch, source motor: off')
else:
print('Forward switch, source motor: ON')
if lr_status == 1:
print('Reverse switch, source motor off')
else:
print('Reverse switch, source motor: ON')
def linear_limit_check():
g = gclib.py()
c = g.GCommand
g.GOpen('172.25.100.168 --direct')
lf_status = float(c('MG _LF B'))
lr_status = float(c('MG _LR B'))
if lf_status == 1:
print('Forward switch, linear stage: off')
else:
print('Forward switch, linear stage: ON')
if lr_status == 1:
print('Reverse switch, linear stage: off')
else:
print('Reverse switch, linear stage: ON')
def updateIP(GC: gclib.py(), newIPAddr: string, currentIPAddr: string):
GC.GOpen(currentIPAddr + ' --direct')
sendstring = 'IA %s' % newIPAddr
sendstring = sendstring.replace('.', ',')
try:
GC.GCommand(sendstring)
except gclib.GclibError as e:
GC.GClose()
print(
'exception caught, waiting for IP to update and attempting reconnect'
)
time.sleep(5000)
GC.GOpen(newIPAddr + ' --direct')
GC.GCommand('BN') #burn the IP
disconnectController(GC) #disconnect
return newIPAddr
def __init__(self):
super().__init__()
self.handle = gclib.py() # Initialize the library object
self.axes = ['x', 'y', 'z']
self.jogging = False
self.jogSpeed = {}
self.jogSpeed['x'] = 16785 # default speed 15 mm/s
self.jogSpeed['y'] = 16785
self.jogSpeed['z'] = 16785
self.speed = {}
self.speed['x'] = 20000 # YAML FILE
self.speed['y'] = 20000
self.speed['z'] = 20000
self.xCal = 10 # YAML FILE
def main():
g = gclib.py()
try:
print('gclib version:', g.GVersion())
g.GOpen('192.168.0.155 --direct -s ALL')
print(g.GInfo())
g.timeout = 300000
with open('dmc/merlin.dmc') as prog:
lines = prog.read()
#program = lines.replace("\n", ";")
out = []
for l in lines.split('\n'):
l = l.rstrip()
#if not l:
# l += '\''
if l:
out.append(l + ';\r')
#out.append('\\\r')
print out
# exit()
g.GProgramDownload(''.join(out), '')
print(' Uploaded program:\n%s' % g.GProgramUpload())
g.GCommand('XQ')
g.GCommand('BP')
g.GSleep(20)
print g.GMessage()
#g.GCommand('BP') #burn program
#g.GSleep(10)
#print g.GMessage()
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
finally:
g.GClose()
return
def Declare_Variable():
global Device
Device = "FE-DI-XBPM-051"
#Declare Variable for Motor Control
global g
g = gclib.py()
global Galil_IP
Galil_IP = "172.18.171.5"
global SP,PR
SP = 20000
PR = 12500
global DelayTime
DelayTime=0.8
global Hori_flag, Vert_flag
Hori_flag = 1
Vert_flag = 0 #down
#Declare Array Size
global ArraySize_Y,ArraySize_X
ArraySize_X = 40
ArraySize_Y = 40
#Declare Scan Status Variable and Array
global count_X, count_Y
global Signal_Status
count_X = 0
count_Y = 0
Signal_Status = np.zeros((ArraySize_Y,ArraySize_X))
#Declare EPICS Data Array
global Signal_A, Signal_B, Signal_C, Signal_D
global Signal_X, Signal_Y
Signal_A = np.zeros((ArraySize_Y,ArraySize_X))
Signal_B = np.zeros((ArraySize_Y,ArraySize_X))
Signal_C = np.zeros((ArraySize_Y,ArraySize_X))
Signal_D = np.zeros((ArraySize_Y,ArraySize_X))
Signal_X = np.zeros((0))
Signal_Y = np.zeros((0))
def configureIKOLinear(GC: gclib.py()):
GC.GCommand('STD')
GC.GMotionComplete('D')
GC.GCommand('MOD')
GC.GCommand('BAD')
GC.GCommand('AGD=0')
GC.GCommand('AUD=8')
GC.GCommand('BZD=2')
GC.GCommand('TM=1000.0')
GC.GCommand('KDD=60.0')
GC.GCommand('KPD=5.0')
GC.GCommand('KID=0.05')
GC.GCommand('TLD=5.0')
# GC.GCommand('ERD=20000.0') # Set position error limit
GC.GCommand('OED=0') # Disable "MO on Position Error Exceeded"
GC.GCommand('SPD=100000.0')
GC.GCommand('ACD=150000.0')
GC.GCommand('DCD=150000.0')
def __init__(self, ip='10.10.1.12'):
self.Galil = gclib.py()
self.Galil.GOpen(ip + ' --direct -s ALL')
self.CurrentPosition = {}
self.AxisKeys = {'X': 'A', 'Y': 'B', 'Z': 'C', 'Rotation': 'D'}
for k in list(self.AxisKeys.keys()):
self.ZeroEncoder(k)
self.StepsPerMeasure = {
'X': 1000.,
'Y': 801.721016,
'Z': 1000.,
'Rotation': 160. * 1000. / 360.
}
def test_program():
g = gclib.py()
c = g.GCommand
g.GOpen('172.25.100.168 --direct')
zero = set_zero()
while (zero > 10) and (zero < 16374):
zero = set_zero()
angle = float(
input(
' How many degrees would you like to rotate source motor?\n -->'))
cts = angle / 360 * 50000
ratio1 = cts / 50000
c('AB')
c('MO')
c('SHC')
c('SPC=5000')
c('DPC=0')
c('PRC={}'.format(cts))
c('ACC=5000')
c('BCC=5000')
print(' Starting move...')
c('BGC') #begin motion
g.GMotionComplete('C')
print(' done.')
print(' Checking position...')
enc_pos = read_pos()
ratio2 = enc_pos / (2**14)
print(ratio1, '\n', ratio2)
if (ratio2 < .95 * ratio1) or (ratio2 > 1.05 * ratio1):
print(' WARNING: Motor did not move designated counts')
else:
print('Motor moved designated counts')
del c #delete the alias
g.GClose()
def __init__(self,servostatus='OFF'): #set default ip address here
ip_address = device_ip.galil_ip
# make an instance of the gclib python class
self.g = gclib.py()
print('gclib version:', self.g.GVersion())
#Connection of galil card through ip address
try:
self.g.GOpen(ip_address + ' --direct -s ALL')
# self.g.GOpen('COM1 --direct')
print(self.g.GInfo())
except:
print("\033[1;31;45m[WARN] Galil connection failed\033[0m")
print("\033[1;31;45m[WARN] Stopping Galil script\033[0m")
sys.exit()
if(servostatus == 'ON'):
#load motors configuration
galil_config.galil_config(self.g)
self.g.GCommand('SH') #servo on
print("Motor servos are on!")
def center_source_motor():
zero = source_set_zero()
while (zero > 10) and (zero < 16374):
zero = source_set_zero()
print(' Centering source beam, normal to the detector surface.')
g = gclib.py()
c = g.GCommand
g.GOpen('172.25.100.168 --direct')
b = False
move = 25000
c('AB')
c('MO')
c('SHC')
c('SPC=5000')
c('ACC=5000')
c('BCC=5000')
print(' Starting move...')
c('PRC={}'.format(move))
c('BGC') #begin motion
g.GMotionComplete('C')
print(' encoder check')
enc_pos = source_read_pos()
if (enc_pos > 8092) and (enc_pos < 8292):
print(' encoder position good, beam centered')
theta = enc_pos * 360 / 2**14
print(theta, ' compared with 180')
else:
print(' WARNING: Motor did not move designated counts, aborting move')
del c #delete the alias
g.GClose()
exit()
del c #delete the alias
