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sample transfer put and get at shuttle positions commissioned

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This commit is contained in:
Holler Mirko
2024-11-05 15:06:35 +01:00
committed by wakonig_k
parent 45dfc1305e
commit b1f4207738
3 changed files with 27 additions and 22 deletions
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csaxs_bec/bec_ipython_client/plugins/omny/omny_sample_transfer_mixin.py
+25 -20
View File
@@ -353,7 +353,7 @@ class OMNYSampleTransferMixin:
def _otransfer_gripper_up(self):
up_position = self._get_user_param_safe("otransy", "up_position")
if dev.otransy.get().readback < up_position - 0.1:
umv(dev.otransy, -1.2)
umv(dev.otransy, up_position)
if dev.otransy.get().readback < up_position - 0.1:
raise OMNYTransferError("The gripper did not move up.")
@@ -683,12 +683,10 @@ class OMNYSampleTransferMixin:
else:
self._omnycam_parking()
_ogalil_encoder_steps_per_mm = dev.oparkz.get().motor_resolution
self._otransfer_gripper_to_park_z()
_otransy_approach_height = self._otransfer_move_gripper_to_pin_pos(pin_position)
self._otransfer_controller_enable_mount_mode()
dev.otransy.controller.socket_put_confirmed(f"mntaprch={_otransy_approach_height*_ogalil_encoder_steps_per_mm:.0f}")
dev.otransy.controller.socket_put_confirmed(f"mntaprch={_otransy_approach_height:.2f}")
input("Ready. Press Enter to start the mount process now...")
dev.otransy.controller.socket_put_confirmed("XQ#GRPUT")
@@ -699,7 +697,10 @@ class OMNYSampleTransferMixin:
self._otransfer_controller_disable_mount_mode()
#update the new sample status in storage
self._otransfer_check_free_slot_available_at_position(pin_position,1)
#this also moves the gripper to parking position
#this also moves the gripper to parking position
#alternatively a next sample is to be picked
#keep shuttle open and ask user which sample to pick
#but have to make sure that shield will be closed for sample pos movements beyond shuttle positions
self._otransfer_shield_close(pin_position)
dev.omny_samples.show_all()
@@ -709,27 +710,29 @@ class OMNYSampleTransferMixin:
while(mntprgs != 0):
time.sleep(1)
confirm = (bool(float(dev.otransy.controller.socket_put_and_receive("MGconfirm"))))
confirm = (int(float(dev.otransy.controller.socket_put_and_receive("MGconfirm"))))
time.sleep(0.02)
mntprgs = (bool(float(dev.otransy.controller.socket_put_and_receive("MGmntprgs"))))
mntprgs = (int(float(dev.otransy.controller.socket_put_and_receive("MGmntprgs"))))
time.sleep(0.02)
if confirm == 0:
print("Confirm check - no confirmation needed yet.")
pass
#print("Confirm check - no confirmation needed yet.")
elif confirm == -1:
#we are getting a sample
if mntprgs == -1:
toppin = self._otransfer_get_toppin_position()
print(f"TopPin position is {toppin:.3f} mm")
if self._otransfer_get_toppin_position()>-25.4:
print("THIS IS LARGER THAN THE CURRENT THRESHOLD OF -25.4. ARE YOU SURE THE PIN IS OK AND DOES NOT HAVE A DAMAGE IN THE BOTTOM?")
user_input = input("All OK? Please confirm. y/n?")
if not self.OMNYTools.yesno("THIS IS LARGER THAN THE CURRENT THRESHOLD OF -25.4. ARE YOU SURE THE PIN IS OK AND DOES NOT HAVE A DAMAGE IN THE BOTTOM? Continue?"):
raise OMNYTransferError("Abort by user because of top pin position.")
text = "All OK?"
#we are mounting a sample
elif mntprgs == 1:
print("All OK? Please confirm. First confirmation = sample release. y/n?")
text = "All OK? Please confirm. First confirmation = sample release"
elif mntprgs == 0:
print("All OK? Please confirm. y/n?")
text = "All OK? Please confirm"
if user_input == "y":
if self.OMNYTools.yesno(text,"y"):
dev.otransy.controller.socket_put_confirmed("confirm=1")
else:
raise OMNYTransferError("The sample mount progress was aborted by user.")
@@ -738,14 +741,17 @@ class OMNYSampleTransferMixin:
def _otransfer_check_sensor_connected(self):
sensorvoltage = (float(dev.otransy.controller.socket_put_and_receive("MG@AN[8001]")))
gripper_sensorvoltagetarget = self._get_user_param_safe("otransy", "gripper_sensorvoltagetarget")
if not (sensorvoltage > gripper_sensorvoltagetarget-0.5 and sensorvoltage < gripper_sensorvoltagetarget):
if not np.fabs(sensorvoltage - gripper_sensorvoltagetarget) < 0.5:
raise OMNYTransferError(f"Sensorvoltage is {sensorvoltage:.2f} V. This indicates a sensor error.")
def otransfer_get_sample(self, pin_position: int):
self._omnycam_parking()
user_input = ("Please confirm that currently there is no sample in the gripper. It would be dropped! y/n?")
if user_input != "y":
if not self.OMNYTools.yesno("Please confirm that currently there is no sample in the gripper. It would be dropped!","y"):
raise OMNYTransferError("Transfer process has been manually aborted.")
#clean abort before starting
dev.otransx.controller.socket_put_confirmed("XQ#STOP,1")
time.sleep(0.1)
self._otransfer_check_sensor_connected()
if not self._otransfer_check_sample_available_at_position(pin_position,0):
raise OMNYTransferError(f"There is no sample available at position {pin_position}")
@@ -769,15 +775,14 @@ class OMNYSampleTransferMixin:
_otransy_approach_height = self._otransfer_move_gripper_to_pin_pos(pin_position)
self._otransfer_controller_enable_mount_mode()
_ogalil_encoder_steps_per_mm = dev.oparkz.get().motor_resolution
dev.otransy.controller.socket_put_confirmed(f"getaprch={_otransy_approach_height*_ogalil_encoder_steps_per_mm:.0f}")
dev.otransy.controller.socket_put_confirmed(f"getaprch={_otransy_approach_height:.2f}")
input("Ready. Press Enter to start the mount process now...")
dev.otransy.controller.socket_put_confirmed("XQ#GRGET")
print("The Unmount process started.")
time.sleep(1)
self._otransfer_confirm()
self._otransfer_controller_disable_mount_mode()
@@ -856,7 +861,7 @@ class OMNYSampleTransferMixin:
else:
umv(dev.osamroy, -25, dev.osamy, 2.7, dev.osamx, 0, dev.otransx, -350, dev.oeyex, 0)
umv(dev.oshield, 0, dev.otransx, -458.1545+0.05, dev.oeyey, -4.8)
umv(dev.oshield, -12, otransz, -45.6494)
umv(dev.oshield, -12, dev.otransz, -45.6494)
else:
umv(dev.osamroy, -25, dev.osamy, 2.7, dev.osamx, 0, dev.otransx, -458.1545+0.05, dev.oeyex, 0, dev.oeyey, -4.8)
csaxs_bec/device_configs/omny_config.yaml
+1 -1
View File
@@ -109,7 +109,7 @@ otransy:
readoutPriority: baseline
userParameter:
up_position: -1.2
gripper_sensorvoltagetarget: -2.94
gripper_sensorvoltagetarget: -2.30
otransz:
description: Transfer Z
deviceClass: csaxs_bec.devices.omny.galil.ogalil_ophyd.OMNYGalilMotor
csaxs_bec/devices/omny/galil/galil_ophyd.py
+1 -1
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@@ -105,7 +105,7 @@ class GalilController(Controller):
return True
def stop_all_axes(self) -> str:
return self.socket_put_and_receive("XQ#STOP,1")
return self.socket_put_confirmed("XQ#STOP,1")
def get_digital_input(self, channel):
return bool(float(self.socket_put_and_receive(f"MG @IN[{channel}]").strip()))