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Commit 1efec405 authored by Cyril Guilloud's avatar Cyril Guilloud
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[PI E871] debug and messages

parent f0097bb2
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bliss/controllers/motors/PI_E871.py
View file @ 1efec405
......@@ -43,10 +43,12 @@ class PI_E871(Controller):
self.serial = serial.Serial(self.serial_line, 115200, bytesize=8, parity='N', stopbits=1, timeout=1)
self._status = ""
_ctrl_found = False
try:
self.serial.write("ERR?\n")
_ans = self.serial.readline()
print "err=%r" % _ans
elog.debug("ERR? returns : %r" % _ans)
self.serial.write("*IDN?\n")
_ans = self.serial.readline()
print _ans
......@@ -56,20 +58,23 @@ class PI_E871(Controller):
try:
id_pos = _ans.index("E-871")
elog.info("Found 871 controller")
_ctrl_found = True
except:
elog.info("not a 871")
raise
elog.debug("not a PI E-871 controller.")
try:
id_pos = _ans.index("E-873")
elog.info("Found 873 controller")
_ctrl_found = True
except:
elog.info("not a 873")
raise
elog.debug("not a PI E-873 controller.")
if id_pos > 0 and id_pos < 100:
elog.debug ("controller is responsive ID=%s" % _ans)
elif id_pos == 0:
elog.debug("error : *IDN? -> %r" % _ans)
raise
except:
self._status = "communication error : no PI E871 or E873 found on serial \"%s\"" % self.serial_line
print self._status
......@@ -100,15 +105,15 @@ class PI_E871(Controller):
# Checks referencing.
_ref = self._get_referencing(axis)
if _ref == 0:
print "axis '%s' must be referenced before being movable" % axis.name
print "********** axis '%s' must be referenced before being movable **********" % axis.name
else:
print "axis '%s' is referenced." % axis.name
@object_method(types_info=("float", "None"))
def custom_initialize_axis(self, axis, current_pos):
"""
If axis is not referenced (after power on) Use this command to
avid to do a referencing by moving to the limits.
If axis is not referenced (after power on) Use this command to
avoid to do a referencing by moving to the limits.
* Activates manual referencing mode.
* Sets <current_pos> as current position.
* Synchronizes axis position.
......@@ -161,7 +166,6 @@ class PI_E871(Controller):
def set_velocity(self, axis, new_velocity):
elog.debug("set_velocity new_velocity = %f" % new_velocity)
elog.debug("NO VELOCITY FOR THIS CONTROLLER")
# self.send_no_ans(axis, "%d VEL %s %f" % (axis.address, axis.axis_id, new_velocity))
return self.read_velocity(axis)
""" ACCELERATION """
......@@ -184,9 +188,13 @@ class PI_E871(Controller):
# return AxisState(("UNREFERENCED","axis need to be referenced before a motion to be possible"))
if self._get_on_target_status(axis):
return AxisState("READY")
_state = AxisState("READY")
else:
return AxisState("MOVING")
_state = AxisState("MOVING")
elog.debug("in state(%s) _state=%r" % (axis.name, _state))
return _state
""" MOVEMENTS """
def prepare_move(self, motion):
......@@ -264,11 +272,18 @@ class PI_E871(Controller):
return _pos
def _get_on_target_status(self, axis):
_ans = self.send(axis, "%d ONT?" % axis.address)
elog.debug("in _get_on_target_status(%s)" % axis)
try:
_ans = self.send(axis, "%d ONT?" % axis.address)
except:
print "--++--+-+-+-+-+-+"
# print "_ans on target=", _ans
# "0 1 M1=1"
_ans = _ans.split('=')[1]
elog.debug("in _get_on_target_status(%s) _ans=%s" % (axis, _ans))
if _ans == "1":
return True
else:
......@@ -299,7 +314,7 @@ class PI_E871(Controller):
@object_method(types_info=("None", "None"))
def reference_axis_ref_switch(self, axis):
"""
Launches referencing of axis <axis>.
Launches referencing of axis <axis> and waits for end of referencing.
"""
self.send_no_ans(axis, "%d FRF" % axis.address)
time.sleep(0.5)
......@@ -379,7 +394,6 @@ class PI_E871(Controller):
Raises:
?
"""
elog.debug("cmd=%s" % repr(cmd))
_cmd = cmd + "\n"
self.serial.write(_cmd)
......@@ -399,6 +413,7 @@ class PI_E871(Controller):
_cmd = cmd + "\n"
self.serial.write(_cmd)
@object_method(types_info=("None", "str"))
def _get_all_params(self, axis):
self.serial.write("1 HPA?\n")
......@@ -414,47 +429,47 @@ class PI_E871(Controller):
return _txt
# result of this command:
# 0 1 The following parameters are valid:
# 0xA= 0 1 FLOAT motorcontroller step velocity maximum
# 0xB= 0 1 FLOAT motorcontroller step acceleration
# 0xC= 0 1 FLOAT motorcontroller step deceleration
# 0xE= 0 1 INT motorcontroller numerator
# 0xF= 0 1 INT motorcontroller denominator
# 0x13= 0 1 INT motorcontroller rotary stage (0=no 1=yes)
# 0x14= 0 1 INT motorcontroller has reference
# 0x15= 0 1 FLOAT motorcontroller travel range maximum
# 0x16= 0 1 FLOAT motorcontroller reference position
# 0x17= 0 1 FLOAT motorcontroller distance between reference and negative limit
# 0x18= 0 1 INT motorcontroller limit mode
# 0x1A= 0 1 INT motorcontroller has brake
# 0x2F= 0 1 FLOAT motorcontroller distance between reference and positive limit
# 0x30= 0 1 FLOAT motorcontroller travel range minimum
# 0x31= 0 1 INT motorcontroller invert reference
# 0x32= 0 1 INT motorcontroller has limits (0=limitswitchs 1=no limitswitchs)
# 0x3C= 0 1 CHAR motorcontroller stage name
# 0x40= 0 1 INT motorcontroller holding current
# 0x41= 0 1 INT motorcontroller operating current
# 0x42= 0 1 INT motorcontroller holding current delay
# 0x47= 0 1 INT motorcontroller reference travel direction
# 0x49= 0 1 FLOAT motorcontroller step velocity
# 0x4A= 0 1 FLOAT motorcontroller step acceleration maximum
# 0x4B= 0 1 FLOAT motorcontroller step deceleration maximum
# 0x50= 0 1 FLOAT motorcontroller referencing velocity
# 0x5C= 0 1 INT motorcontroller DIO as REF
# 0x5D= 0 1 INT motorcontroller DIO as NLIM
# 0x5E= 0 1 INT motorcontroller DIO as PLIM
# 0x5F= 0 1 INT motorcontroller invert DIO-NLIM
# 0x60= 0 1 INT motorcontroller invert DIO-PLIM
# 0x61= 0 1 INT motorcontroller invert joystick
# 0x63= 0 1 FLOAT motorcontroller distance between limit and hard stop
# 0x72= 0 1 INT motorcontroller macro ignore error
# 0x9A= 0 1 INT motorcontroller external sensor numerator
# 0x9B= 0 1 INT motorcontroller external sensor denominator
# 0x7000601= 0 1 CHAR motorcontroller axis unit
# 0x7000000= 0 1 FLOAT motorcontroller travel range minimum
# 0x7000001= 0 1 FLOAT motorcontroller travel range maximum
# 0 1 The following parameters are valid:
# 0xA= 0 1 FLOAT motorcontroller step velocity maximum
# 0xB= 0 1 FLOAT motorcontroller step acceleration
# 0xC= 0 1 FLOAT motorcontroller step deceleration
# 0xE= 0 1 INT motorcontroller numerator
# 0xF= 0 1 INT motorcontroller denominator
# 0x13= 0 1 INT motorcontroller rotary stage (0=no 1=yes)
# 0x14= 0 1 INT motorcontroller has reference
# 0x15= 0 1 FLOAT motorcontroller travel range maximum
# 0x16= 0 1 FLOAT motorcontroller reference position
# 0x17= 0 1 FLOAT motorcontroller distance between reference and negative limit
# 0x18= 0 1 INT motorcontroller limit mode
# 0x1A= 0 1 INT motorcontroller has brake
# 0x2F= 0 1 FLOAT motorcontroller distance between reference and positive limit
# 0x30= 0 1 FLOAT motorcontroller travel range minimum
# 0x31= 0 1 INT motorcontroller invert reference
# 0x32= 0 1 INT motorcontroller has limits (0=limitswitchs 1=no limitswitchs)
# 0x3C= 0 1 CHAR motorcontroller stage name
# 0x40= 0 1 INT motorcontroller holding current
# 0x41= 0 1 INT motorcontroller operating current
# 0x42= 0 1 INT motorcontroller holding current delay
# 0x47= 0 1 INT motorcontroller reference travel direction
# 0x49= 0 1 FLOAT motorcontroller step velocity
# 0x4A= 0 1 FLOAT motorcontroller step acceleration maximum
# 0x4B= 0 1 FLOAT motorcontroller step deceleration maximum
# 0x50= 0 1 FLOAT motorcontroller referencing velocity
# 0x5C= 0 1 INT motorcontroller DIO as REF
# 0x5D= 0 1 INT motorcontroller DIO as NLIM
# 0x5E= 0 1 INT motorcontroller DIO as PLIM
# 0x5F= 0 1 INT motorcontroller invert DIO-NLIM
# 0x60= 0 1 INT motorcontroller invert DIO-PLIM
# 0x61= 0 1 INT motorcontroller invert joystick
# 0x63= 0 1 FLOAT motorcontroller distance between limit and hard stop
# 0x72= 0 1 INT motorcontroller macro ignore error
# 0x9A= 0 1 INT motorcontroller external sensor numerator
# 0x9B= 0 1 INT motorcontroller external sensor denominator
# 0x7000601= 0 1 CHAR motorcontroller axis unit
# 0x7000000= 0 1 FLOAT motorcontroller travel range minimum
# 0x7000001= 0 1 FLOAT motorcontroller travel range maximum
# end of help
def get_info(self, axis):
......@@ -535,14 +550,8 @@ class PI_E871(Controller):
return _txt
return _txt
# 873
#
#
# ###############################
# id : (c)2015 Physik Instrumente (PI) GmbH & Co. KG, E-873.1A1, 115072229, 01.09
# Firmware Ver. : 0 1 FW_DSP: V01.09
......@@ -555,7 +564,7 @@ class PI_E871(Controller):
# On Target : 0 1 1=1
# SVO? : 0 1 1=1
# LIM? : 0 1 1=0
# Brake? :
# Brake? :
# ref mode (RON?) 1:FRF or F(N/P)L : 0 1 1=1
# referenced? : 0 1 1=1
# has ref switch : 0 1 1=1
......@@ -586,3 +595,4 @@ class PI_E871(Controller):
# velocity for ref move : 0 1
# axis unit : 0 1 1 0X07000601=MM
# ###############################
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