Uncommitted modifications from October 2019.

SampleChangerDS/TomoSampleChanger.py

@@ -138,7 +138,7 @@ class TomoSampleChanger(Device):
                 self.is_error  = True
                 self.is_moving = False
                 
-                self.is_loaded = False
+                #self.is_loaded = False
                 self.write_properties()
                 
     #
@@ -372,10 +372,21 @@ class TomoSampleChanger(Device):
         
         try:
             # initialise the robot access
-            self.robot = id19Controller.ID19Controller(controllerAssociated='id19robot', logOnController=False)
+            self.robot = id19Controller.ID19Controller(controllerAssociated='id19robot', logOnController=False)  # Normal
             self.robot.cs8LibraryName = 'id19tomo'
             self.robot.autoFirmwareUpdate()
             
+            self.robot._prog_display.threadOnController()
+            self.robot._prog_key_handler.threadOnController()
+            
+            self.robot.allLightOn()
+            time.sleep(1)
+            self.robot.allLightOff()
+
+            self.robot.torqueMaxAllowed = {'j1': 9990, 'j2': 9990, 'j3': 9990, 'j4': 9990, 'j5': 9990, 'j6': 9990}
+            
+            self.robot.torqueMonitor.threadOnController()  # If emmergency function used, torque monitor must be reactivated.
+            
             # set the robot movements to full speed
             self.robot.speed = 100
             print ("Controller initialized!!!!!!!")
@@ -498,7 +509,11 @@ class TomoSampleChanger(Device):
                     _state = PyTango.DevState.DISABLE
                 else:
                     if  self.is_moving == True:
-                        _state = PyTango.DevState.MOVING
+                        # pause mode activated
+                        if self.robot.power() == 0:
+                            _state = PyTango.DevState.PAUSE
+                        else:
+                            _state = PyTango.DevState.MOVING
                     else:
                         if self.attr_ParkingPosition_read == False:
                             _state = PyTango.DevState.FAULT
@@ -527,14 +542,17 @@ class TomoSampleChanger(Device):
             if state == PyTango.DevState.DISABLE:
                 self._status += "DISABLED"
             else:
-                if state == PyTango.DevState.MOVING:
-                    self._status += "MOVING"
-                    self._status += "\n\n" + self.last_task
+                if state == PyTango.DevState.PAUSE:
+                    self._status += "PAUSE"
                 else:
-                    if state == PyTango.DevState.ON:
-                        self._status += "ON"
+                    if state == PyTango.DevState.MOVING:
+                        self._status += "MOVING"
+                        self._status += "\n\n" + self.last_task
                     else:
-                        self._status += "UNKNOWN"
+                        if state == PyTango.DevState.ON:
+                            self._status += "ON"
+                        else:
+                            self._status += "UNKNOWN"
         self._status += "\n"
 
         if state == PyTango.DevState.FAULT:
@@ -569,7 +587,10 @@ class TomoSampleChanger(Device):
                     self._status += "\nReading of the robot status failed\n"
                     self._status += "\n"
                     self._status += str(self.state_error)
-
+                else:
+                    if state == PyTango.DevState.PAUSE:
+                        self._status += "\nGo to the robot teach pendant and follows instructions\n"
+                        
         self.set_status(self._status)
         return self._status
         

SampleChangerDS/TomoSampleChanger.xmi

@@ -211,10 +211,13 @@
     <states name="MOVING" description="Moving to load, unload or align">
       <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
     </states>
+    <states name="PAUSE" description="Waiting for restart">
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </states>
     <states name="FAULT" description="Requested movement failed.">
       <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
     </states>
-    <states name="DISABLE" description="annot move due to active interlock condition.">
+    <states name="DISABLE" description="Cannot move due to active interlock condition.">
       <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
     </states>
     <preferences docHome="./doc_html" makefileHome="/segfs/tango/cppserver/env"/>