#%TITLE% MICOS.MAC
#%NAME%
# Macro motors controller for Micos motors
#
#%CATEGORY% Positioning
#
#%DESCRIPTION%
# The macro set offers the possibility to set-up a Micos motor
# a SPEC "harware macro-motor".
#
# The macro-motor controller is called "micos_mot".
#
# Only one device can be configfured :(
#
#%EXAMPLE%
#%DL%
#%DT% micos_mot_setup mix id13/micos/x %DD%
# Set-up the micos macro motor with the mnemonic "mix"
#
#%DT% micos_config mix %DD%
# Macro to set acceleration, velocity, window_size and settling_time
# parameters for a micos motor.
#
#%XDL%
#
#%END%
# for cprint
jtdo("spec_utils")
######################################################################
############################## ##############################
############################## SETUP ##############################
############################## ##############################
######################################################################
#%UU% <motor_mnemonic> <device_name>
#%MDESC%
# Calls set-up of micos macro motor.
def micos_mot_setup '{
local _mot_mne _dev
_mot_mne = "$1"
_dev = "$2"
_micos_mot_setup(_mot_mne, _dev)
}'
#%UU% (<motor_mnemonic> <device_name>)
#%MDESC%
# Set-up of micos macro motor.
# The given device is linked to the given mnemonic.
def _micos_mot_setup(mot_mne, dev) '{
global MICOS_MOT
global ESRF_ERR
global ESRF_ERR_MSG
global MICOS_MOT_ERROR
MICOS_MOT_ERROR = "WARNING, error on reading micos macro motor"
MICOS_MOT[mot_mne]["dev_name"] = dev
}'
#%UU%
#%MDESC%
# Resets the micos controller (after a cut-off of air compressed for example).
def micos_reset '{
local _ans
_ans = esrf_io(MICOS_MOT["$1"]["dev_name"], "DevReset")
}'
#%UU%
#%MDESC%
# Removes globals.
def micos_mot_unsetup '{
unglobal MICOS_MOT
unglobal MICOS_MOT_ERROR
}'
######################################################################
############################### ###############################
############################### INFO ###############################
############################### ###############################
######################################################################
#%UU%
#%MDESC%
# Prints information about configured micos device.
def micos_show '{
print "--------------============ MICOS ================-----------------"
print esrf_io(MICOS_MOT["srot"]["dev_name"], "DevStatus")
printf ("Velocity : %s\n", esrf_io(MICOS_MOT["srot"]["dev_name"], "DevReadVelocity"))
printf ("Acceleration : %s\n", esrf_io(MICOS_MOT["srot"]["dev_name"], "DevReadAcceleration"))
printf ("RAW Position : %s\n", esrf_io(MICOS_MOT["srot"]["dev_name"], "DevReadPosition"))
printf ("HoldCurr : %s\n", esrf_io(MICOS_MOT["srot"]["dev_name"], "DevGetHoldCurr"))
printf ("CloseLoop : %s\n", esrf_io(MICOS_MOT["srot"]["dev_name"], "DevGetCloseLoop"))
print "\\------------------------------------------------------------------/"
}'
######################################################################
############################ ###########################
############################ MACRO MOTOR ###########################
############################ ###########################
######################################################################
#%IU% (<mot_num>, <type>, <unit>, <module>, <channel>)
#%MDESC%
# Macro motor configuration.
def micos_mot_config(mot_num, type, unit, module, channel) '{
# print "--micos_mot_config--mot-num=" mot_num
if (whatis("MICOS_MOT") && 0x8000000){
cprint( "==MICOS==: setup\n", 2)
}
else{
cprint( "==MICOS==: not setup\n", 1)
return ".error."
}
return 0
}'
#%IU%
#%MDESC%
# Entry point of macro motor controller.
# Called with different keys to handle motor actions.
#
def micos_mot_cmd(mot_num, what, p1, p2) '{
local _mot
_mot = motor_mne(mot_num)
if (motnum == "..") {
if (what == "position") print " MICOSSSSSS PROBLEM position "
if (what == "get_status") print " MICOSSSSSS PROBLEM get_status"
if (what == "start_one") print " MICOSSSSSS PROBLEM start_one"
if (what == "set_position") print " MICOSSSSSS PROBLEM set_position"
if (what == "abort_one") print " MICOSSSSSS PROBLEM abort_one"
if (what == "velocity") print " MICOSSSSSS PROBLEM velocity"
if (what == "acceleration") print " MICOSSSSSS PROBLEM acceleration "
}
else{
#-------------------------------------
# "position" must return dial position (in integer steps)
# parameters: none
if (what == "position") {
local _pos
_pos = esrf_io (MICOS_MOT[_mot]["dev_name"], "DevReadPosition")
return (_pos)
}
else{
# do nothing
}
#-------------------------------------
# "get_status" called during the motion, must return a bit mask
# bits meaning: 0 if motor idle
# 2 if motor moving
# 4 if negative limit on
# 8 if positive limit on
# parameters: none
if (what == "get_status") {
local _state
local _ret
ESRF_ERR = -1
_state = esrf_io (MICOS_MOT[_mot]["dev_name"], "DevState")
if (ESRF_ERR) {
tty_cntl("md")
print "\n <status>" MICOS_MOT_ERROR " " mot_num "\n\n"
tty_cntl("me")
print " -- error is: -- " ESRF_ERR_MSG
}
#
# DEVMOVING
#
if (_state == 9) {
_ret |= 2
return _ret
}
#
# DEVALARM
#
if (_state == 45) {
print
print esrf_io (MICOS_MOT[_mot]["dev_name"], "DevStatus")
print
_ret |= 4
return _ret
}
#
# DEVFAULT
#
if (_state == 23) {
print
print esrf_io (MICOS_MOT[_mot]["dev_name"], "DevStatus")
print
return 0
}
return 0
}
else{
# nothing
}
#-------------------------------------
# "start_one"
# parameters: p2 is relative motion, p1 is absolute requested position
if (what == "start_one") {
ESRF_ERR = -1
esrf_io(MICOS_MOT[_mot]["dev_name"], "DevMoveAbsolute", p1)
if (ESRF_ERR) {
tty_cntl("md")
print "\n <move> " MICOS_MOT_ERROR " " mot_num "\n\n"
print ESRF_ERR_MSG
print "Status is " esrf_io(MICOS_MOT[_mot]["dev_name"], "DevStatus")
tty_cntl("me")
}
}
else {
# nothing
}
#-------------------------------------
# "set_position" called on "set_dial motor newpos"
# parameters: p1 is the new position
#
if (what == "set_position") {
ESRF_ERR = -1
esrf_io(MICOS_MOT[_mot]["dev_name"], "DevLoadPosition", p1)
if (ESRF_ERR) {
tty_cntl("md")
print "\n" MICOS_MOT_ERROR " " mot_num "\n\n"
tty_cntl("me")
}
}
else {
# nothing
}
#-------------------------------------
# "abort_one" called on <Ctrl-C>
#
if (what == "abort_one") {
ESRF_ERR = -1
esrf_io(MICOS_MOT[_mot]["dev_name"], "DevAbort")
if (ESRF_ERR) {
tty_cntl("md")
print "\n <abort> " MICOS_MOT_ERROR " " mot_num "\n\n"
tty_cntl("me")
}
}
# called on motor_par(xxx, "velocity", newval)
if(what == "velocity") {
# esrf_io(MICOS_MOT[_mot]["dev_name"], "DevSetVelocity", velocity)
}
# called on motor_par(xxx,"velocity",newval)
if(what == "acceleration") {
# esrf_io(MICOS_MOT[_mot]["dev_name"], "DevSetAcceleration", acceleration)
}
}
}'
#%UU% [ motor_mnemonic ]
#%MDESC%
# Sets the acceleration and velocity of a motor.
#
def micos_config '{
local _ret
local _mot
local double array _signals[10]
local acceleration
local velocity
local window_size
local settling_time
local argin
if ( $# != 1 ) {
printf ("Usage: micos_config mnemonic\n")
exit
}
else {
_mot = MICOS_MOT["$1"]["dev_name"]
_ret = esrf_io (_mot, "DevReadSigValues", _signals)
if ( _ret >= 0 ) {
printf ("\nMotor parameters:\n")
acceleration = getval("Acceleration[mm(deg)/:s2] ",_signals[2])
velocity = getval("Velocity[mm(deg)/s] ",_signals[3])
window_size = getval("Window Size[mm(deg)] ",_signals[4])
settling_time= getval("Settling Time[sec] ",_signals[5])
printf ("\n")
}
}
esrf_io(_mot, "DevSetAcceleration", acceleration)
esrf_io(_mot, "DevSetVelocity", velocity)
argin[0] = window_size
argin[1] = settling_time
esrf_io(_mot, "DevSetWindow", argin)
}'
#%MACROS%
#%IMACROS%
#%AUTHOR% J. MEYER / BLISS / ESRF
#%TOC%
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