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started commissioning of sample transfer. shuttle align, open and close

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This commit is contained in:
Holler Mirko
2024-11-05 15:06:35 +01:00
committed by wakonig_k
parent 29a8e1b281
commit 5f90b32210
2 changed files with 40 additions and 31 deletions
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csaxs_bec/bec_ipython_client/plugins/omny/omny_sample_transfer_mixin.py
+40 -30
View File
@@ -50,6 +50,7 @@ class OMNYSampleTransferMixin:
searchwrongendswitch=0
while searchwrongendswitch<100 and not dev.oshuttlealign.get_motor_limit_switch()[0]:
dev.oshuttlealign.socket_put_confirmed("PRH=200")
time.sleep(0.01)
dev.oshuttlealign.socket_put_confirmed(1,"BGH")
while(self._otransfer_wait_aligner_movement()==1):
time.sleep(0.2)
@@ -106,7 +107,7 @@ class OMNYSampleTransferMixin:
#ensure aligner is in down position
#if (!_ogalil_high_limit_set(1,7))
#{
#print("Strange, the aligner is not in the down position. Moving down.\n")
#print("Strange, the aligner is not in the down position. Moving down.")
#_ogalil_drive_to_limit(1,7,1)
#}
#sleep(0.1)
@@ -125,11 +126,11 @@ class OMNYSampleTransferMixin:
if not dev.oshuttlealign.get_motor_limit_switch()[0]:
print("Not in correct start position for alignment.")
dev.oshuttlealign.controller.socket_put_confirmed("MO")
user_input = input("Shall I try to move it to the correct start position? Do this only once! [y/n]")
if user_input == "y":
if self.OMNYTools.yesno("Shall I try to move it to the correct start position? Do this only once!"):
print("starting...")
dev.oshuttlealign.controller.socket_put_confirmed("SHH")
dev.oshuttlealign.controller.socket_put_confirmed("PRH=200")
time.sleep(0.01)
dev.oshuttlealign.controller.socket_put_confirmed("LDH=1")
dev.oshuttlealign.controller.socket_put_confirmed("BGH")
time.sleep(1)
@@ -150,6 +151,7 @@ class OMNYSampleTransferMixin:
dev.oshuttlealign.controller.socket_put_confirmed("DCH=60000")
dev.oshuttlealign.controller.socket_put_confirmed("PRH=-5000")
time.sleep(0.01)
dev.oshuttlealign.controller.socket_put_confirmed("BGH")
while(self._otransfer_wait_aligner_movement()==True):
time.sleep(0.2)
@@ -164,22 +166,28 @@ class OMNYSampleTransferMixin:
# movements for alignment and down again
dev.oshuttlealign.controller.socket_put_confirmed("PRH=-19500")
time.sleep(0.01)
dev.oshuttlealign.controller.socket_put_confirmed("BGH")
while(self._otransfer_wait_aligner_movement()==True):
time.sleep(0.2)
time.sleep(0.5)
dev.oshuttlealign.controller.socket_put_confirmed("PRH=3000")
time.sleep(0.01)
dev.oshuttlealign.controller.socket_put_confirmed("BGH")
while(self._otransfer_wait_aligner_movement()==True):
time.sleep(0.2)
time.sleep(0.5)
dev.oshuttlealign.controller.socket_put_confirmed("PRH=-3000")
time.sleep(0.01)
dev.oshuttlealign.controller.socket_put_confirmed("BGH")
time.sleep(0.01)
while(self._otransfer_wait_aligner_movement()==True):
time.sleep(0.2)
time.sleep(0.5)
dev.oshuttlealign.controller.socket_put_confirmed("PRH=23500")
time.sleep(0.01)
dev.oshuttlealign.controller.socket_put_confirmed("BGH")
time.sleep(0.01)
while(self._otransfer_wait_aligner_movement()==True):
time.sleep(0.2)
#_ogalil_put_confirmed( 1,"MOH")
@@ -189,20 +197,22 @@ class OMNYSampleTransferMixin:
searchwrongendswitch=0
#_ogalil_put_confirmed( 1,"SHH")
while searchwrongendswitch<10 and dev.oshuttlealign.get_motor_limit_switch()[0] == False:
while searchwrongendswitch<22 and dev.oshuttlealign.get_motor_limit_switch()[0] == False:
dev.oshuttlealign.controller.socket_put_confirmed("PRH=200")
time.sleep(0.01)
dev.oshuttlealign.controller.socket_put_confirmed("BGH")
time.sleep(0.01)
while(self._otransfer_wait_aligner_movement()==True):
time.sleep(0.2)
searchwrongendswitch+=1
if dev.oshuttlealign.get_motor_limit_switch()[0]:
print("Aligner is back down.\n")
print("Aligner is back down.")
dev.oshuttlealign.controller.socket_put_confirmed("MOH")
#todo
#_otransfer_shuttle_was_aligned=1
if not dev.oshuttlealign.get_motor_limit_switch()[1]:
if not dev.oshuttlealign.get_motor_limit_switch()[0]:
raise OMNYTransferError("The shuttle aligner did not move back.")
def _otransfer_shield_open(self, pin_position):
@@ -339,17 +349,17 @@ class OMNYSampleTransferMixin:
def _otransfer_gripper_to_park_z(self):
if not self._otransfer_gripper_querry_status_closed():
user_input = input("The gripper appears to be open, while it was expected to be closed.May it be closed now? (y/n)")
if user_input == "y":
if self.OMNYTools.yesno("The gripper appears to be open, while it was expected to be closed.May it be closed now?","y"):
dev.otransy.controller.socket_put_confirmed("XQ#GRCLOS")
time.sleep(0.5)
if not dev.otransx.controller.all_axes_referenced():
raise OMNYTransferError("Not all axes are referenced.")
if np.fabs(dev.otransx.get().readback-20<0.1) and dev.otransy.get().readback>-2 and np.fabs(dev.otransz.get().readback+50)<0.1:
if np.fabs(dev.otransx.get().readback-20)<0.1 and dev.otransy.get().readback>-2 and np.fabs(dev.otransz.get().readback+50)<0.1:
print("Gripper is in parking position")
else:
print("Gripper is not yet in parking position. Moving...")
self._otransfer_gripper_up()
#if coming from a position beyond a shuttle in parking station
@@ -379,11 +389,11 @@ class OMNYSampleTransferMixin:
_omny_oeye_xray_iny = self._get_user_param_safe("oeyey", "xray_in")
self._oeyey_mv(_omny_oeye_xray_iny)
umv(dev.otransx, -100, dev.oeyex, _omny_oeye_xray_inx, dev.oeyez, -2)
else:
umv(dev.otransx, -100)
else:
self._oshield_ST_close()
umv(dev.otransx, -100)
else:
self._oshield_ST_close()
umv(dev.otransx, -100)
#if process was aborted while moving to ST
if dev.otransx.get().readback < -105:
@@ -667,7 +677,7 @@ class OMNYSampleTransferMixin:
input("Ready. Press Enter to start the mount process now...")
dev.otransy.controller.socket_put_confirmed("XQ#GRPUT")
print("The mount process started.\n")
print("The mount process started.")
self._otransfer_confirm()
self._otransfer_controller_disable_mount_mode()
@@ -751,7 +761,7 @@ class OMNYSampleTransferMixin:
dev.otransy.controller.socket_put_confirmed("XQ#GRGET")
print("The Unmount process started.\n")
print("The Unmount process started.")
self._otransfer_confirm()
self._otransfer_controller_disable_mount_mode()
@@ -842,7 +852,7 @@ class OMNYSampleTransferMixin:
def _otransfer_stage_to_FZP(self):
raise OMNYTransferError("This routine needs commissioning after park pos of gripper and new transfer stages changed.\n")
raise OMNYTransferError("This routine needs commissioning after park pos of gripper and new transfer stages changed.")
# print("Please confirm that the npoint piezo controller is off. y/n.")
# if(!yesno(1))
@@ -882,10 +892,10 @@ class OMNYSampleTransferMixin:
def _otransfer_stage_to_OSA(self):
raise OMNYTransferError("This routine needs commissioning after park pos of gripper and new transfer stages changed.\n")
raise OMNYTransferError("This routine needs commissioning after park pos of gripper and new transfer stages changed.")
# if(A[ofzpz]>40) {
# print("The FZP stage is too close in z direction. Please move it to at least 60 mm or less upstream.\n")
# print("The FZP stage is too close in z direction. Please move it to at least 60 mm or less upstream.")
# exit
# }
@@ -907,7 +917,7 @@ class OMNYSampleTransferMixin:
# umv otransz -55.6013
# if(fabs(A[ofzpz]-77.7)>0.1)
# {
# print("FZP did not reach target position. Potentially the motor is too hot.\n")
# print("FZP did not reach target position. Potentially the motor is too hot.")
# exit
# }
@@ -1019,13 +1029,13 @@ class OMNYSampleTransferMixin:
# }
# else
# {
# print("There is no FZP available.\n")
# print("There is no FZP available.")
# return(0)
# }
# }
# else
# {
# print("There is no FZP shuttle installed at the current parkz position.\n")
# print("There is no FZP shuttle installed at the current parkz position.")
# return(0)
# }
# }
@@ -1054,13 +1064,13 @@ class OMNYSampleTransferMixin:
# }
# else
# {
# print("There is no OSA available.\n")
# print("There is no OSA available.")
# return(0)
# }
# }
# else
# {
# print("There is no OSA shuttle installed at the current parkz position.\n")
# print("There is no OSA shuttle installed at the current parkz position.")
# return(0)
# }
# }
@@ -1131,7 +1141,7 @@ class OMNYSampleTransferMixin:
# { }
# else
# {
# print("There is a sample pin in the gripper, which is not compatible with position %d\n", _osampleposition)
# print("There is a sample pin in the gripper, which is not compatible with position %d", _osampleposition)
# exit
# }
# #FZP holder
@@ -1140,7 +1150,7 @@ class OMNYSampleTransferMixin:
# { }
# else
# {
# print("There is a FZP holder in the gripper, which is not compatible with position %d\n", _osampleposition)
# print("There is a FZP holder in the gripper, which is not compatible with position %d", _osampleposition)
# exit
# }
# #OSA holder
@@ -1149,7 +1159,7 @@ class OMNYSampleTransferMixin:
# { }
# else
# {
# print("There is an OSA holder in the gripper, which is not compatible with position %d\n", _osampleposition)
# print("There is an OSA holder in the gripper, which is not compatible with position %d", _osampleposition)
# exit
# }
@@ -1199,13 +1209,13 @@ class OMNYSampleTransferMixin:
# }
# else
# {
# print("There is no free FZP position available.\n")
# print("There is no free FZP position available.")
# return(0)
# }
# }
# else
# {
# print("There is no FZP shuttle installed at the current parkz position.\n")
# print("There is no FZP shuttle installed at the current parkz position.")
# return(0)
# }
# }
@@ -1234,13 +1244,13 @@ class OMNYSampleTransferMixin:
# }
# else
# {
# print("There is no free OSA position available.\n")
# print("There is no free OSA position available.")
# return(0)
# }
# }
# else
# {
# print("There is no OSA shuttle installed at the current parkz position.\n")
# print("There is no OSA shuttle installed at the current parkz position.")
# return(0)
# }
# }
@@ -1255,7 +1265,7 @@ class OMNYSampleTransferMixin:
dev.omny_samples.unset_sample_in_gripper()
return True
else:
print("There is no free space at this position.\n")
print("There is no free space at this position.")
return False
#sample stage
csaxs_bec/bec_ipython_client/startup/post_startup.py
-1
View File
@@ -62,7 +62,6 @@ bec._beamline_mixin._bl_info_register(OperatorInfo)
bec._ip.prompts.username = _session_name
bec._ip.prompts.status = 1
# REGISTER BEAMLINE CHECKS
from bec_lib.bl_conditions import (
FastOrbitFeedbackCondition,