csaxs_bec/device_configs/user_template.yaml

@@ -50,7 +50,7 @@ rotx:
 ############################################################
 
 npx:
-  description: nPoint x axis on the big npoint controller
+  description: nPoint x axis on the big (3-axis) npoint controller
   deviceClass: csaxs_bec.devices.npoint.npoint.NPointAxis
   deviceConfig:
     axis_Id: A
@@ -60,6 +60,7 @@ npx:
     - 50
     port: 23
     sign: 1
+    settle_time: 0.1
   enabled: true
   onFailure: buffer
   readOnly: false
@@ -68,7 +69,7 @@ npx:
   deviceTags:
   - npoint
 npy:
-  description: nPoint y axis on the big npoint controller
+  description: nPoint y axis on the big (3-axis) npoint controller
   deviceClass: csaxs_bec.devices.npoint.npoint.NPointAxis
   deviceConfig:
     axis_Id: B
@@ -78,6 +79,26 @@ npy:
     - 50
     port: 23
     sign: 1
+    settle_time: 0.1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  connectionTimeout: 20
+  deviceTags:
+  - npoint
+np2x:
+  description: nPoint x axis on the small (2-axis) npoint controller
+  deviceClass: csaxs_bec.devices.npoint.npoint.NPointAxis
+  deviceConfig:
+    axis_Id: A
+    host: "nPoint219026.psi.ch"
+    limits:
+    - -25
+    - 25
+    port: 23
+    sign: 1
+    settle_time: 0.08
   enabled: true
   onFailure: buffer
   readOnly: false

csaxs_bec/devices/npoint/npoint.py

@@ -3,6 +3,7 @@ import threading
 import time
 
 import numpy as np
+from bec_lib.logger import bec_logger
 from ophyd import Component as Cpt
 from ophyd import Device, PositionerBase, Signal, SignalRO
 from ophyd.status import wait as status_wait
@@ -11,6 +12,8 @@ from ophyd_devices.utils.controller import Controller, threadlocked
 from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
 from prettytable import PrettyTable
 
+logger = bec_logger.logger
+
 
 def channel_checked(fcn):
     """Decorator to catch attempted access to channels that are not available."""
@@ -390,7 +393,7 @@ class NPointAxis(Device, PositionerBase):
     user_setpoint = Cpt(NpointSetpointSignal, signal_name="setpoint")
 
     motor_is_moving = Cpt(NpointMotorIsMoving, value=0, kind="normal")
-    settling_time = Cpt(Signal, value=0.1, kind="config")
+    settle_time: Cpt[Signal] = Cpt(Signal, value=0.1, kind="config")
     high_limit_travel = Cpt(Signal, value=0, kind="omitted")
     low_limit_travel = Cpt(Signal, value=0, kind="omitted")
 
@@ -445,9 +448,22 @@ class NPointAxis(Device, PositionerBase):
             self.high_limit_travel.put(limits[1])
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
-        self.controller.on(timeout=timeout)
-        self._update_setpoint_from_readback()
-
+        for _ in range(5):
+            try:
+                self.controller.on(timeout=timeout)
+                self._update_setpoint_from_readback()
+            except TimeoutError:
+                self.controller.off(update_config=False)
+                time.sleep(1)
+            else:
+                break
+        else:
+            raise TimeoutError(
+                f"NPointAxis {self.name}: Failed to update the setpoint from the readback value after 5 attempts during startup. This may happen occasionally. "
+                f"Try to reload the config and if the problem persists, check the connection to the nPoint controller "
+                f"and ensure that it is powered on and accessible at {self.controller._socket_host}:{self.controller._socket_port}."
+            )
+        
     def _update_setpoint_from_readback(self):
         """
         The setpoint is only stored locally. After a restart,
@@ -522,7 +538,7 @@ class NPointAxis(Device, PositionerBase):
             self.motor_is_moving.set_motor_is_moving(1)
             val = self.readback.read()
             self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
-            time.sleep(self.settling_time.get())
+            time.sleep(max(self.settle_time.get(), 0))
             self.motor_is_moving.set_motor_is_moving(0)
             val = self.readback.read()
             self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())