ecmcSlitDemoLib.triggHomeAxis(rightMotor, 3)
print 'Wait for homing sequences to finish:',
done = ecmcSlitDemoLib.waitForAxis(leftMotor, 180)
if not done:
print "%s failed to home." % leftMotor
sys.exit()
done = ecmcSlitDemoLib.waitForAxis(rightMotor, 180)
if not done:
print "%s failed to home." % rightMotor
sys.exit()
ecmcSlitDemoLib.setAxisEnable(masterMotor, 1)
#run master axis motor to 0
print 'Move master axis to position 0.'
done = ecmcSlitDemoLib.moveAxisPosition(masterMotor, 0, 1000)
if not done:
print "%s failed to position." % masterMotor
sys.exit()
ecmcSlitDemoLib.setAxisEnable(masterMotor, 0)
#disable amplifier of left and right motor
print 'Disable amplifiers on all axes.'
ecmcSlitDemoLib.setAxisEnable(leftMotor, 0)
ecmcSlitDemoLib.setAxisEnable(rightMotor, 0)
ecmcSlitDemoLib.setAxisEnable(gapMotor, 0)
ecmcSlitDemoLib.setAxisEnable(centerMotor, 0)
ecmcSlitDemoLib.setAxisEnable(masterMotor, 0)
time.sleep(1) #ensure that enabled goes down
error = ecmcSlitDemoLib.getAxisError(leftMotor, 1)
error = ecmcSlitDemoLib.getAxisError(rightMotor, 1)
ecmcSlitDemoLib.setAxisReset(motorPvName, 0)
print('Enable amplifier')
ecmcSlitDemoLib.setAxisEnable(motorPvName, 1)
time.sleep(0.2) #ensure that enabled goes down
error = ecmcSlitDemoLib.getAxisError(motorPvName, 1)
counter = 0
timeOut = 50
while counter < testLoops:
#run gap and center motorPvName to 0
print('Move axis to position ' + str(fromPos) + ' (cycles = ' +
str(counter) + ').')
done = ecmcSlitDemoLib.moveAxisPosition(motorPvName, fromPos, velo,
timeOut)
if not done:
print(motorPvName + " failed to position.")
sys.exit()
timeOut = 5
print('Move axis to position ' + str(toPos) + ' (cycles = ' +
str(counter) + ').')
done = ecmcSlitDemoLib.moveAxisPosition(motorPvName, toPos, velo, timeOut)
if not done:
print(motorPvName + " failed to position.")
sys.exit()
counter = counter + 1
time.sleep(1)
testPv.put(testNumberBase + counter)
time.sleep(1)
ecmcSlitDemoLib.setAxisReset(motorPvName, 1)
time.sleep(0.2)
ecmcSlitDemoLib.setAxisReset(motorPvName, 0)
print('Enable amplifier')
ecmcSlitDemoLib.setAxisEnable(motorPvName, 1)
time.sleep(.2) #ensure that enabled goes down
error = ecmcSlitDemoLib.getAxisError(motorPvName, 1)
counter = 0
timeOut = 2
while counter < steps:
#run gap and center motorPvName to 0
counter = counter + 1
print('Move axis to position ' + str(startPos + counter * stepSize) +
' (cycles = ' + str(counter) + ').')
done = ecmcSlitDemoLib.moveAxisPosition(motorPvName,
startPos + counter * stepSize,
velo, timeOut)
if not done:
print(motorPvName + " failed to position.")
sys.exit()
time.sleep(1)
testPv.put(testNumberBase + counter)
time.sleep(.2)
testPv.put(testNumberBase)
print("Test done!")
ecmcSlitDemoLib.setAxisReset(Mtr1, 1)
ecmcSlitDemoLib.setAxisReset(Mtr2, 1)
#ecmcSlitDemoLib.setAxisReset(Mtr3, 1)
#ecmcSlitDemoLib.setAxisReset(Mtr4, 1)
#ecmcSlitDemoLib.setAxisReset(Mtr5, 1)
#ecmcSlitDemoLib.setAxisReset(Mtr6, 1)
ecmcSlitDemoLib.setAxisReset(gapMotor, 1)
ecmcSlitDemoLib.setAxisReset(centerMotor, 1)
time.sleep(0.5)
while True:
mov = 10
if mov == 10:
print "Moving gap to %s" % mov
done = ecmcSlitDemoLib.moveAxisPosition(gapMotor, mov)
if not done:
print "%s failed to position." % gapMotor
sys.exit()
done = ecmcSlitDemoLib.waitForAxis(gapMotor, 1800)
if not done:
print "%s failed waiting" % gapMotor
sys.exit()
mov = 60
time.sleep(2)
if mov == 60:
print "Moving gap to %s" % mov
done = ecmcSlitDemoLib.moveAxisPosition(gapMotor, mov)
if not done:
print "%s failed to position" % gapMotor
sys.exit()
if not limitVal:
print('Reached switch')
wait_for_done = 0
else:
wait_for_done -= polltime
if wait_for_done == 0:
print('timeOut! Did not reach switch..')
sys.exit()
print('Now at switch')
startPos = ecmcSlitDemoLib.getActPos(
motorPvName) + stepSize # Now in the limit
print('Move axis to position startposition just before switch: ' +
str(startPos))
done = ecmcSlitDemoLib.moveAxisPosition(motorPvName, startPos, velo, timeOut)
while counter < testLoops:
print('Engage switch')
error = ecmcSlitDemoLib.moveAxisVelocity(motorPvName, -velo)
polltime = 1
counter += 1
wait_for_done = timeOut
while wait_for_done > 0:
time.sleep(polltime)
limitVal = limitPv.get()
if not limitVal:
print('Reached switch')
wait_for_done = 0
else:
wait_for_done -= polltime
if wait_for_done == 0:
ecmcSlitDemoLib.setAxisReset(leftMotor, 1)
ecmcSlitDemoLib.setAxisReset(rightMotor, 1)
time.sleep(0.5)
ecmcSlitDemoLib.setAxisReset(leftMotor, 0)
ecmcSlitDemoLib.setAxisReset(rightMotor, 0)
#ensure of all axis are enable
print 'Enable Axes'
ecmcSlitDemoLib.setAxisEnable(leftMotor, 1)
ecmcSlitDemoLib.setAxisEnable(rightMotor, 1)
time.sleep(0.5) #ensure that axes are enabled
error=ecmcSlitDemoLib.getAxisError(leftMotor,1)
error=ecmcSlitDemoLib.getAxisError(rightMotor,1);
#run right Motor to pos 10
print 'Move right axis to pos 10, turn: %d'%(x)
done=ecmcSlitDemoLib.moveAxisPosition(rightMotor,10,10)
if not done:
print "%s failed to position." % rightMotor
sys.exit()
time.sleep(10)
#run right Motor to pos 0
#Reset error on all axis
print 'Reset error on all axes.'
ecmcSlitDemoLib.setAxisReset(leftMotor, 1)
ecmcSlitDemoLib.setAxisReset(rightMotor, 1)
time.sleep(0.5)
ecmcSlitDemoLib.setAxisReset(leftMotor, 0)
ecmcSlitDemoLib.setAxisReset(rightMotor, 0)
#ensure of all axis are enable
print 'Enable Axes'
