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docs(psi motor): add component docs

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wakonig_k
2025-06-10 09:00:07 +02:00
parent eb543e1905
commit 97459bad76
1 changed files with 52 additions and 12 deletions
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64
ophyd_devices/devices/psi_motor.py
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@ -15,7 +15,6 @@ from ophyd.utils.epics_pvs import AlarmSeverity
class SpmgStates: class SpmgStates:
"""Enum for the EPICS MotorRecord's SPMG state""" """Enum for the EPICS MotorRecord's SPMG state"""
# pylint: disable=too-few-public-methods
STOP = 0 STOP = 0
PAUSE = 1 PAUSE = 1
MOVE = 2 MOVE = 2
@ -31,12 +30,31 @@ class EpicsMotor(OphydEpicsMotor):
""" """
tolerated_alarm = AlarmSeverity.INVALID tolerated_alarm = AlarmSeverity.INVALID
motor_done_move = Cpt(EpicsSignalRO, ".DMOV", auto_monitor=True, kind=Kind.normal) motor_done_move = Cpt(
EpicsSignalRO, ".DMOV", auto_monitor=True, kind=Kind.normal, docs="Done moving to value"
)
motor_deadband = Cpt(EpicsSignalRO, ".RDBD", auto_monitor=True, kind=Kind.config) motor_deadband = Cpt(
motor_mode = Cpt(EpicsSignal, ".SPMG", auto_monitor=True, put_complete=True, kind=Kind.omitted) EpicsSignal, ".RDBD", auto_monitor=True, kind=Kind.config, docs="Retry Deadband (EGU)"
motor_status = Cpt(EpicsSignal, ".STAT", auto_monitor=True, kind=Kind.omitted) )
motor_enable = Cpt(EpicsSignal, ".CNEN", auto_monitor=True, kind=Kind.omitted) motor_mode = Cpt(
EpicsSignal,
".SPMG",
auto_monitor=True,
put_complete=True,
kind=Kind.omitted,
docs="SPMG mode. Either Stop(0), Pause(1), Move(2) or Go(3).",
)
motor_status = Cpt(
EpicsSignal, ".STAT", auto_monitor=True, kind=Kind.omitted, docs="Alarm status"
)
motor_enable = Cpt(
EpicsSignal,
".CNEN",
auto_monitor=True,
kind=Kind.omitted,
docs="Enable control. Either 0 (disabled) or 1 (enabled).",
)
def move(self, position, wait=True, **kwargs) -> MoveStatus: def move(self, position, wait=True, **kwargs) -> MoveStatus:
"""Extended move function with a few sanity checks """Extended move function with a few sanity checks
@ -71,7 +89,13 @@ class EpicsMotorEC(EpicsMotor):
""" """
USER_ACCESS = ["reset"] USER_ACCESS = ["reset"]
motor_enable_readback = Cpt(EpicsSignalRO, "-EnaAct", auto_monitor=True, kind=Kind.normal) motor_enable_readback = Cpt(
EpicsSignalRO,
"-EnaAct",
auto_monitor=True,
kind=Kind.normal,
docs="[ECMC] Reflects whether the axis is enabled in the hardware level.",
)
motor_enable = Cpt( motor_enable = Cpt(
EpicsSignal, EpicsSignal,
"-EnaCmd-RB", "-EnaCmd-RB",
@ -79,18 +103,34 @@ class EpicsMotorEC(EpicsMotor):
put_complete=True, put_complete=True,
auto_monitor=True, auto_monitor=True,
kind=Kind.normal, kind=Kind.normal,
docs="[ECMC] Send enable/disable command to hardware.",
) )
homed = Cpt(EpicsSignalRO, "-Homed", auto_monitor=True, kind=Kind.normal) homed = Cpt(EpicsSignalRO, "-Homed", auto_monitor=True, kind=Kind.normal)
velocity_readback = Cpt(EpicsSignalRO, "-VelAct", auto_monitor=True, kind=Kind.normal) velocity_readback = Cpt(
position_readback = Cpt(EpicsSignalRO, "-PosAct", auto_monitor=True, kind=Kind.normal) EpicsSignalRO,
position_error = Cpt(EpicsSignalRO, "-PosErr", auto_monitor=True, kind=Kind.normal) "-VelAct",
auto_monitor=True,
kind=Kind.normal,
docs="[ECMC] Velocity readback",
)
position_readback = Cpt(
EpicsSignalRO,
"-PosAct",
auto_monitor=True,
kind=Kind.normal,
docs="[ECMC] Position readback",
)
position_error = Cpt(
EpicsSignalRO, "-PosErr", auto_monitor=True, kind=Kind.normal, docs="[ECMC] Position error"
)
# Virtual motor and temperature limits are interlocks # Virtual motor and temperature limits are interlocks
high_interlock = Cpt(EpicsSignalRO, "-SumIlockFwd", auto_monitor=True, kind=Kind.normal) high_interlock = Cpt(EpicsSignalRO, "-SumIlockFwd", auto_monitor=True, kind=Kind.normal)
low_interlock = Cpt(EpicsSignalRO, "-SumIlockBwd", auto_monitor=True, kind=Kind.normal) low_interlock = Cpt(EpicsSignalRO, "-SumIlockBwd", auto_monitor=True, kind=Kind.normal)
# ecmc_status = Cpt(EpicsSignalRO, "-Status", auto_monitor=True, kind=Kind.normal)
error = Cpt(EpicsSignalRO, "-ErrId", auto_monitor=True, kind=Kind.normal) error = Cpt(EpicsSignalRO, "-ErrId", auto_monitor=True, kind=Kind.normal)
error_msg = Cpt(EpicsSignalRO, "-MsgTxt", auto_monitor=True, kind=Kind.normal) error_msg = Cpt(
EpicsSignalRO, "-MsgTxt", auto_monitor=True, kind=Kind.normal, docs="[ECMC] Error message"
)
error_reset = Cpt(EpicsSignal, "-ErrRst", put_complete=True, kind=Kind.omitted) error_reset = Cpt(EpicsSignal, "-ErrRst", put_complete=True, kind=Kind.omitted)
def move(self, position, wait=True, **kwargs) -> MoveStatus: def move(self, position, wait=True, **kwargs) -> MoveStatus: