script/devices/Gonio.py

@@ -0,0 +1,37 @@
+
+
+def home_fast_table():
+    caput ("SAR-EXPMX:ASYN.AOUT", "enable plc 1")
+
+def get_fx_pos():
+    return caget("SAR-EXPMX:MOT_FX.RBV",  'f') 
+
+def set_fx_pos(pos):
+    return caput("SAR-EXPMX:MOT_FX.VAL", float(pos)) 
+
+
+def get_fy_pos():
+    return caget("SAR-EXPMX:MOT_FY.RBV",  'f') 
+
+def set_fy_pos(pos):
+    return caput("SAR-EXPMX:MOT_FY.VAL", float(pos)) 
+
+def get_ry_pos():
+    return caget("SAR-EXPMX:MOT_ROT_Y.RBV",  'f') 
+
+def set_ry_pos(pos):
+    return caput("SAR-EXPMX:MOT_ROT_Y.VAL", float(pos)) 
+
+def get_cz_pos():
+    return caget("SAR-EXPMX:MOT_CZ.RBV",  'f') 
+
+def set_cz_pos(pos):
+    return caput("SAR-EXPMX:MOT_CZ.VAL", float(pos)) 
+
+def get_cx_pos():
+    return caget("SAR-EXPMX:MOT_CX.RBV",  'f') 
+
+def set_cx_pos(pos):
+    return caput("SAR-EXPMX:MOT_CX.VAL", float(pos))         
+        
+    

script/devices/Hexiposi.py

@@ -95,10 +95,16 @@ class Hexiposi(DiscretePositionerBase):
         self.move_pos(self.val)
         #Workaround as state does not changes immediatelly
         if moving:
-            try:
-                self.waitState(State.Busy,1200)                
-            except:
-                pass
+            #try:
+            #    self.waitState(State.Busy,1200)                
+            #except:
+            #    print sys.exc_info()[1]
+            start = time.time()
+            while self.state != State.Busy:
+                if time.time() - start > 1.5:
+                    print "Timeout waiting Hexiposi busy"
+                    break
+                self.update()   
 
     def is_in_position(self, pos):
         return take() == pos
@@ -131,7 +137,7 @@ class Hexiposi(DiscretePositionerBase):
 dev = Hexiposi("hexiposi", "myriotell:8002/hexiposi")
 
 add_device(dev, True)
-hexiposi.polling=500
+hexiposi.polling=1000
 #print dev.url
 #print dev.get_status()
 
@@ -144,4 +150,4 @@ class hexiposi_position(ReadonlyRegisterBase):
             
 add_device(hexiposi_position(), True)
 hexiposi_position.polling = 1000
-
+hexiposi.set_deadband(0.5)

script/devices/Wago.py

@@ -112,6 +112,8 @@ def release_psys():
     """
     Release psys safety
     """    
+    if is_manual_mode():
+        raise Exception ("Cannot release PSYS in manual mode")
     release_psys_safety.write(False)
     time.sleep(0.01)
     release_psys_safety.write(True)