started my own tcmc lib

Config/measurement.json

@@ -1,4 +1,4 @@
-{"std_test_mov": [-10, 10],
+{"std_test_mov": [-10, 0],
 "std_test_wait": [10, 50],
 "backlsh_meas_mov":  [10, -10, -10, 10],
 "backlash_meas_wait": [1]}

Scripts/Test_torque.py

@@ -1,29 +1,90 @@
+import ctypes.wintypes
+from ctypes import c_ubyte, c_double
+
+import numpy as np
 import pyads
 import time
+import struct
+
+import struct
+from ctypes import (
+    memmove,
+    addressof,
+    c_ubyte,
+    Array,
+    Structure,
+    sizeof,
+    create_string_buffer,
+)
+from datetime import datetime
+from functools import partial
+from typing import Optional, Union, Tuple, Any, Type, Callable, Dict, List, cast, OrderedDict
+
+from pyads import StructureDef, size_of_structure, dict_from_bytes
+from sklearn.externals.array_api_compat.dask.array import astype
+
+simpleMove = (
+    ("axisNr", pyads.PLCTYPE_UINT,1),
+    ("targetPos", pyads.PLCTYPE_LREAL,1),
+    ("velocity", pyads.PLCTYPE_LREAL,1)
+)
 
 AMS_NET_ID = "5.67.222.118.1.1"
 PLC_IP     = "129.129.181.164"
-PORT = 501#852  # your port (not the runtime port like 851)
+PORT = 851 # your port (not the runtime port like 851)
 
 IGRP = 0xF030
 IOFFS = 0x47C
 LENGTH = 8  # bytes
 
-with pyads.Connection(AMS_NET_ID, PORT,PLC_IP) as plc:
-    while True:
-        t = plc.read(IGRP, IOFFS, pyads.PLCTYPE_UDINT*4)
-        #t= (plc.read_by_name(    "GVL.astAxes[1].Axis.NcToPlc.CoupleState"))
-        if t > 0.0:
-            print(f"Torque is {t}")
+# Axis ADS variables (TwinCAT NC axis interface)
+AXIS1_REF = 1  # Axis ID for axis 1
+AXIS2_REF = 4  # Axis ID for axis 2
 
-        # Interpret the raw bytes, e.g. as 64-bit integer or double
-        # Here: unpack as little-endian unsigned 64-bit integer
-        import struct
+plc = pyads.Connection(AMS_NET_ID, PORT,PLC_IP)
 
-        #value = struct.unpack("<d", data)[0]
+def gearin(connection):
+    print(connection.write_by_name("GVL.GerarInCmd", True, pyads.PLCTYPE_BOOL))
+    print(connection.write_by_name("GVL.GerarOutCmd", False, pyads.PLCTYPE_BOOL))
+
+def gearout(connection):
+    print(connection.write_by_name("GVL.GerarInCmd", False, pyads.PLCTYPE_BOOL))
+    print(connection.write_by_name("GVL.GerarOutCmd", True, pyads.PLCTYPE_BOOL))
+
+def enableAxis(connection):
+    connection.write_by_name("GVL.EnableAxis", True, pyads.PLCTYPE_BOOL)
+
+def disableAxis(connection):
+    connection.write_by_name("GVL.EnableAxis", False, pyads.PLCTYPE_BOOL)
+
+def stopAxis(connection):
+    while connection.read_by_name("GVL.Axis1Stoping", pyads.PLCTYPE_BOOL) == False:
+        connection.write_by_name("GVL.StopCmd", True, pyads.PLCTYPE_BOOL)
+    connection.write_by_name("GVL.StopCmd", False, pyads.PLCTYPE_BOOL)
+
+def moveAbsolut(connection, Axis_ref, TargetPos, velocity):
+    stopAxis(connection)
+    connection.write_by_name("GVL.moveInterface.targetPos", TargetPos,pyads.PLCTYPE_LREAL)
+    connection.write_by_name("GVL.moveInterface.axisNr", Axis_ref, pyads.PLCTYPE_UINT)
+    connection.write_by_name("GVL.moveInterface.velocity", velocity, pyads.PLCTYPE_LREAL)
+
+def executeCmd(connection):
+    while connection.read_by_name("GVL.Done", pyads.PLCTYPE_BOOL) == False:
+        connection.write_by_name("GVL.StartCmd", True, pyads.PLCTYPE_BOOL)
+    connection.write_by_name("GVL.Done", False, pyads.PLCTYPE_BOOL)
+    connection.write_by_name("GVL.StartCmd", False, pyads.PLCTYPE_BOOL)
 
 
-
-        time.sleep(0.1)  # adjust read interval
-
+if __name__ == "__main__":
+    print("Testing torque")
+    plc.open()
+    #enableAxis(plc)
+    #disableAxis(plc)
+    enableAxis(plc)
+    #gearout(plc)
+    #stopAxis(plc)
+    #plc.write_by_name("GVL.StopCmd", False, pyads.PLCTYPE_BOOL)
+    moveAbsolut(plc, 0, 100, 0.5)
+    #executeCmd(plc)
+    plc.close()
 

Scripts/metrology_functions.py

@@ -317,36 +317,50 @@ def run_repeatability_series(
 
     # enable axis clean up later
 
-    axis1.setAcceleration(50.0)
-    axis1.setDeceleration(50.0)
+    axis1.setAcceleration(5.0)
+    axis1.setDeceleration(5.0)
     axis1.setVelocity(3)
     axis1.disableAxis()
     sleep(1)
     axis1.enableAxis()
-    axis1.
+
+
     sleep(1)
 
-    axis4.setAcceleration(50.0)
-    axis4.setDeceleration(50.0)
+    axis4.setAcceleration(5.0)
+    axis4.setDeceleration(5.0)
     axis4.setVelocity(3)
+
     axis4.disableAxis()
     sleep(1)
     axis4.enableAxis()
     sleep(1)
-    exit(1)
+
     # --------------------------------------load coordinates from file-----------------------
     x_coordinates_json = myu.load_object(measurement_mov_path)
     x_coordinates = x_coordinates_json.get('std_test_mov')
     wait_x_json = myu.load_object(measurement_mov_path)
     wait_x = wait_x_json.get('std_test_wait')
-    print(wait_x)
+    print("WaitPattern: ",wait_x)
+    print("movPattern",x_coordinates)
+    start1 = axis1.getActPos()
+    print("start1",start1)
+    print("target1",start1+x_coordinates[0])
+    start4 = axis4.getActPos()
 
     for i in range(ntries):
         # ---------------------------------------------move------------------------------------------
         # add multithreading for simultanious movement of y and x axis
         for mov, wait in zip(x_coordinates, wait_x):
-            axis1.moveRelative(mov)
-            axis4.moveRelative(mov)
+            t1 = start1+mov
+            print("t1",t1)
+            while axis1.getMovingStatus() or axis4.getMovingStatus():
+                print("waiting on axis")
+            axis4.moveAbsolute(start4+(mov))
+            axis1.moveAbsolute(t1)
+            sleep(0.05)
+
+
             sleep(wait)
         start_pos_rbv = 4  # ????
         meas_pos_rbv = 5  # ????

data/data20250819_alignment_tests/20250819_164339_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,2 @@
+      0           4.000000           5.000000  141.123  146.690 1755614646.922
+      1           4.000000           5.000000  141.018  146.333 1755614670.329

data/data20250819_alignment_tests/20250819_164440_static_0/conf_20250819.json

@@ -0,0 +1 @@
+{"Number_of_cycles": 2, "Amplitude_mm": 1, "Time_in_beam_s": 5, "Time_out_of_beam_s": 10, "Exposure_time": 0.0001, "Img_Processing": 1, "pixel_size_mu": 0.275, "long_time_interval": 50}

data/data20250819_alignment_tests/20250819_164440_static_0/static_0.dat

@@ -0,0 +1,2 @@
+      1           0.000000           0.000000  141.041  146.367 1755614680.327
+      2           0.000000           0.000000  141.143  146.189 1755614680.489

data/data20250819_alignment_tests/20250819_171119_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,2 @@
+      0           4.000000           5.000000  142.147  145.180 1755616306.703
+      1           4.000000           5.000000  142.537  145.074 1755616330.020

data/data20250819_alignment_tests/20250819_172053_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,2 @@
+      0           4.000000           5.000000 -902.174   96.387 1755616897.370
+      1           4.000000           5.000000  189.994  114.706 1755616942.127

data/data20250819_alignment_tests/20250819_172557_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,2 @@
+      0           4.000000           5.000000  131.931  456.240 1755617197.650
+      1           4.000000           5.000000 1012.102  102.046 1755617230.496

data/data20250819_alignment_tests/20250819_173751_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,2 @@
+      0           4.000000           5.000000  124.419  127.096 1755617903.859
+      1           4.000000           5.000000  114.836  134.107 1755617929.067

data/data20250819_alignment_tests/20250819_182233_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,9 @@
+      0           4.000000           5.000000  115.654  186.859 1755620593.486
+      1           4.000000           5.000000 -436.682  105.386 1755620625.926
+      2           4.000000           5.000000   90.086  205.844 1755620657.317
+      3           4.000000           5.000000 -768.041  115.024 1755620687.385
+      4           4.000000           5.000000 -2110.679 -411.303 1755620714.897
+      5           4.000000           5.000000 6326.494  109.449 1755620747.264
+      6           4.000000           5.000000   88.276  125.691 1755620775.516
+      7           4.000000           5.000000 -688.586  133.320 1755620807.006
+      8           4.000000           5.000000  151.561   59.660 1755620833.231

data/data20250819_alignment_tests/20250819_182849_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1 @@
+      0           4.000000           5.000000   91.946  112.013 1755621000.760

data/data20250819_alignment_tests/20250819_183438_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,2 @@
+      0           4.000000           5.000000 -1007.293  175.311 1755621354.107
+      1           4.000000           5.000000 1275.260   81.079 1755621431.851

data/data20250820_alignment_tests/20250820_090932_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,7 @@
+      0           4.000000           5.000000  152.714  111.319 1755673840.713
+      1           4.000000           5.000000  149.607  111.895 1755673904.511
+      2           4.000000           5.000000  152.606  110.521 1755673971.075
+      3           4.000000           5.000000  154.080  110.783 1755674035.423
+      4           4.000000           5.000000  151.047  111.064 1755674099.762
+      5           4.000000           5.000000  127.727  104.807 1755674166.338
+      6           4.000000           5.000000  129.495  109.062 1755674232.720

data/data20250820_alignment_tests/20250820_092254_repeatibility_0/repeatibility_0.dat

@@ -0,0 +1,2 @@
+      0           4.000000           5.000000  153.749  106.743 1755674642.599
+      1           4.000000           5.000000  152.676  107.505 1755674706.410