198 lines
8.0 KiB
Python
198 lines
8.0 KiB
Python
# -*- coding: utf-8 -*-
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# *****************************************************************************
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#
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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#
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# *****************************************************************************
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"""driver for pythron motors"""
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from secop.core import Done, Command, EnumType, FloatRange, IntRange, \
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HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType
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from secop.errors import CommunicationFailedError, HardwareError
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class PhytronIO(StringIO):
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end_of_line = '\x03' # ETX
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timeout = 0.2
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identification = [('0IVR', 'MCC Minilog .*')]
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def communicate(self, command, expect_response=True):
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for ntry in range(5, 0, -1):
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try:
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head, _, reply = super().communicate('\x02' + command).partition('\x02')
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if reply[0] == '\x06': # ACK
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if len(reply) == 1 and expect_response:
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raise CommunicationFailedError('empty response')
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break
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raise CommunicationFailedError('missing ACK %r' % reply)
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except Exception as e:
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if ntry == 1:
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raise
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self.log.warning('%s - retry', e)
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return reply[1:]
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class Motor(PersistentMixin, HasIO, Drivable):
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axis = Property('motor axis X or Y', StringType(), default='X')
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address = Property('address', IntRange(0, 15), default=0)
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speed_factor = Property('steps / degree', FloatRange(0, None), default=2000)
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encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
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default=1, readonly=False)
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value = Parameter('angle', FloatRange(unit='deg'))
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target = Parameter('target angle', FloatRange(unit='deg'), readonly=False)
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speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False)
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accel = Parameter('', FloatRange(2, 250, unit='deg/s/s'), readonly=False)
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encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
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offset = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
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sign = PersistentParam('', IntRange(-1,1), readonly=False, default=1)
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encoder = Parameter('encoder reading', FloatRange(unit='deg'))
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sameside_offset = Parameter('offset when always approaching from the same side',
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FloatRange(unit='deg'), readonly=False, default=0)
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ioClass = PhytronIO
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fast_poll = 0.1
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_sameside_pending = False
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_mismatch_count = 0
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def earlyInit(self):
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super().earlyInit()
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self.loadParameters()
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def get(self, cmd):
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return self.communicate('\x02%x%s%s' % (self.address, self.axis, cmd))
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def set(self, cmd, value):
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self.communicate('\x02%x%s%s%g' % (self.address, self.axis, cmd, value), False)
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def set_get(self, cmd, value, query):
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self.set(cmd, value)
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return self.get(query)
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def read_value(self):
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prev_enc = self.encoder
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pos = float(self.get('P20R')) * self.sign - self.offset
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if self.encoder_mode != 'NO':
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enc = self.read_encoder()
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else:
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enc = pos
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status = self.communicate('\x02%xSE' % self.address)
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status = status[0:4] if self.axis == 'X' else status[4:8]
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self.log.debug('run %s enc %s end %s', status[1], status[2], status[3])
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status = self.get('=H')
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if status == 'N':
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if self.encoder_mode == 'CHECK':
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e1, e2 = sorted((prev_enc, enc))
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if e1 - self.encoder_tolerance <= pos <= e2 + self.encoder_tolerance:
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self.status = self.Status.BUSY, 'driving'
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else:
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self.log.error('encoder lag: %g not within %g..%g',
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pos, e1, e2)
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self.get('S') # stop
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self.status = self.Status.ERROR, 'encoder lag error'
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self.setFastPoll(False)
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else:
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self.status = self.Status.BUSY, 'driving'
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else:
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if self._sameside_pending:
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# drive to real target
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self.set('A', self.sign * (self.target + self.offset))
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self._sameside_pending = False
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return pos
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if (self.encoder_mode == 'CHECK' and
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abs(enc - pos) > self.encoder_tolerance):
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if self._mismatch_count < 2:
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self._mismatch_count += 1
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else:
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self.log.error('encoder mismatch: abs(%g - %g) < %g',
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enc, pos, self.encoder_tolerance)
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self.status = self.Status.ERROR, 'encoder does not match pos'
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else:
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self._mismatch_count = 0
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self.status = self.Status.IDLE, ''
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self.setFastPoll(False)
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return pos
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def read_encoder(self):
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if self.encoder_mode == 'NO':
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return self.value
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return float(self.get('P22R')) * self.sign - self.offset
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def read_speed(self):
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return float(self.get('P14R')) / self.speed_factor
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def write_speed(self, value):
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inv_factor = float(self.get('P03R'))
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if abs(inv_factor * self.speed_factor - 1) > 0.001:
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raise HardwareError('speed factor does not match %g' % (1.0 / inv_factor))
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return float(self.set_get('P14S', int(value * self.speed_factor), 'P14R')) / self.speed_factor
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def read_accel(self):
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return float(self.get('P15R')) / self.speed_factor
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def write_accel(self, value):
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if abs(float(self.get('P03R')) * self.speed_factor - 1) > 0.001:
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raise HardwareError('speed factor does not match')
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return float(self.set_get('P15S', int(value * self.speed_factor), 'P15R')) / self.speed_factor
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def write_target(self, value):
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if self.status[0] == self.Status.ERROR:
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raise HardwareError('need reset')
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self.status = self.Status.BUSY, 'changed target'
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if self.sameside_offset:
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# drive first to target + sameside_offset
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# we do not optimize when already driving from the right side
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self._sameside_pending = True
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self.set('A', self.sign * (value + self.offset + self.sameside_offset))
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else:
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self.set('A', self.sign * (value + self.offset))
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self.setFastPoll(True, self.fast_poll)
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return value
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def write_offset(self, value):
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self.offset = value
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self.saveParameters()
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return Done
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def stop(self):
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self.get('S')
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@Command
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def reset(self):
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"""reset error, set position to encoder"""
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self.read_value()
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if self.status[0] == self.Status.ERROR:
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enc = self.encoder + self.offset
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pos = self.value + self.offset
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if abs(enc - pos) > self.encoder_tolerance:
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if enc < 0:
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while enc < 0:
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self.offset += 360
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enc += 360
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self.set('P22S', enc * self.sign)
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self.saveParameters()
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self.set('P20S', enc * self.sign) # set pos to encoder
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self.read_value()
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# self.status = self.Status.IDLE, ''
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# TODO:
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# '=E' electronics status
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# '=I+' / '=I-': limit switches
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# use P37 to determine if restarted
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