diff --git a/cfg/phytron.cfg b/cfg/phytron.cfg new file mode 100644 index 0000000..45ae300 --- /dev/null +++ b/cfg/phytron.cfg @@ -0,0 +1,19 @@ +[NODE] +id = phytron_test.psi.ch +description = phytron motor test + +[INTERFACE] +uri = tcp://5000 + +[drv_iodev] +description = +class = secop_psi.phytron.PhytronIO +uri = ma15-ts.psi.ch:3005 +# uri = serial:///dev/tty.usbserial?baudrate=57600 +# uri = serial:///dev/ttyUSB0?baudrate=9600 + +[drv] +description = a phytron motor +class = secop_psi.phytron.Motor +iodev = drv_iodev +encoder_mode = CHECK diff --git a/cfg/trinamic.cfg b/cfg/trinamic.cfg index 3fa8fb4..ca375e3 100644 --- a/cfg/trinamic.cfg +++ b/cfg/trinamic.cfg @@ -7,8 +7,8 @@ uri = tcp://5000 [drv_iodev] description = -class = secop.bytesio.BytesIO -uri = serial:///dev/ttyUSB0?baudrate=57600 +class = secop.core.BytesIO +uri = serial:///dev/tty.usbserial?baudrate=57600 # uri = serial:///dev/ttyUSB0?baudrate=9600 [drv] diff --git a/cfg/uniax.cfg b/cfg/uniax.cfg index 4e9916f..3fed41b 100644 --- a/cfg/uniax.cfg +++ b/cfg/uniax.cfg @@ -7,7 +7,7 @@ uri = tcp://5000 [drv_iodev] description = -class = secop.bytesio.BytesIO +class = secop.core.BytesIO uri = serial:///dev/ttyUSB0?baudrate=57600 # uri = serial:///dev/ttyUSB0?baudrate=9600 diff --git a/secop_psi/phytron.py b/secop_psi/phytron.py new file mode 100644 index 0000000..3502333 --- /dev/null +++ b/secop_psi/phytron.py @@ -0,0 +1,138 @@ +# -*- coding: utf-8 -*- +# ***************************************************************************** +# +# This program is free software; you can redistribute it and/or modify it under +# the terms of the GNU General Public License as published by the Free Software +# Foundation; either version 2 of the License, or (at your option) any later +# version. +# +# This program is distributed in the hope that it will be useful, but WITHOUT +# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS +# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more +# details. +# +# You should have received a copy of the GNU General Public License along with +# this program; if not, write to the Free Software Foundation, Inc., +# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +# +# Module authors: +# Markus Zolliker +# +# ***************************************************************************** + +"""driver for pythron motors""" + +from secop.core import Done, Command, EnumType, FloatRange, IntRange, \ + HasIodev, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType +from secop.errors import CommunicationFailedError, HardwareError + + +class PhytronIO(StringIO): + end_of_line = '\x03' # ETX + identification = [('0IVR', 'MCC Minilog .*')] + + def communicate(self, command): + head, _, reply = super().communicate('\x02' + command).partition('\x02') + if reply[0] != '\x06': # ACK + raise CommunicationFailedError('missing ACK %r' % reply) + return reply[1:] + + +class Motor(PersistentMixin, HasIodev, Drivable): + axis = Property('motor axis X or Y', StringType(), default='X') + address = Property('address', IntRange(0, 15), default=0) + speed_factor = Property('steps / degree', FloatRange(0, None), default=2000) + + encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2), + default=1, readonly=False) + value = Parameter('angle', FloatRange(unit='deg'), poll=True) + target = Parameter('target angle', FloatRange(unit='deg'), readonly=False) + speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False, poll=True) + encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01) + zero = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0) + encoder = Parameter('encoder reading', FloatRange(unit='deg'), poll=True) + + iodevClass = PhytronIO + + def earlyInit(self): + self.loadParameters() + + def get(self, cmd): + return self._iodev.communicate('\x02%x%s%s' % (self.address, self.axis, cmd)) + + def set(self, cmd, value): + self._iodev.communicate('\x02%x%s%s%g' % (self.address, self.axis, cmd, value)) + + def set_get(self, cmd, value, query): + self.set(cmd, value) + return self.get(query) + + def read_value(self): + pos = float(self.get('P20R')) + self.zero + if self.encoder_mode != 'NO': + enc = self.read_encoder() + else: + enc = pos + status = self.get('=H') + if status == 'N': + if (self.encoder_mode == 'CHECK' and + abs(enc - pos) > self.speed * 0.1 + self.encoder_tolerance): + self.get('SN') # stop + self.status = self.Status.ERROR, 'encoder does not match pos' + else: + self.status = self.Status.BUSY, 'driving' + else: + if (self.encoder_mode == 'CHECK' and + abs(enc - pos) > self.encoder_tolerance): + self.status = self.Status.ERROR, 'encoder does not match pos' + else: + self.status = self.Status.IDLE, '' + return pos + + def read_encoder(self): + if self.encoder_mode == 'NO': + return self.value + return float(self.get('P22R')) + self.zero + + def read_speed(self): + return float(self.get('P14R')) / self.speed_factor + + def write_speed(self, value): + if abs(float(self.get('P03R')) * self.speed_factor - 1) > 0.001: + raise HardwareError('speed factor does not match') + return float(self.set_get('P14S', int(value * self.speed_factor), 'P14R')) / self.speed_factor + + def write_target(self, value): + if self.status[0] == self.Status.ERROR: + raise HardwareError('need reset') + self.status = self.Status.BUSY, 'changed target' + self.set('A', value - self.zero) + + def write_zero(self, value): + self.zero = value + self.saveParameters() + return Done + + def stop(self): + self.get('SN') + + @Command + def reset(self): + self.read_value() + if self.status[0] == self.Status.ERROR: + enc = self.encoder - self.zero + pos = self.value - self.zero + if abs(enc - pos) > self.encoder_tolerance: + if enc < 0: + while enc < 0: + self.zero -= 360 + enc += 360 + self.set('P22S', enc) + self.saveParameters() + self.set('P20S', enc) # set pos to encoder + self.status = self.Status.IDLE, '' + +# TODO: +# '=E' electronics status +# '=I+' / '=I-': limit switches +# use P37 to determine if restarted \ No newline at end of file