#%TITLE% pi_e517.mac $Revision: 1.6 $
#%NAME%
# Macros to control a piezo PI E517 controller connected via TCP/IP.
#
#%DESCRIPTION%
# This macro file allows to connect a piezo to a macro motor in SPEC.
#
#%DL%
#%DT%PI E-517 (TCP)%DD%
#%XDL%
#
# For debug purpose mainly, it's also possible to configure a macro
# counter that will read the position of a piezo axis.
# Parameter of the macro counter:
# <motor> : motor mnemonic to reflect position.
#
#%END%
#
#%SETUP%
# In order to configure a macro motor:
# %DL%
# %DT% 1)
# You must have a "MOTORS" defined with:
# %BR%
# %DL%
# %DT% DEVICE
# set to "pi_e517"
# %DT% TYPE
# set to "Macro Motor"
# %DT% ADDR
# set to the TCP Address of the controller
# %DT% NUM
# must be set also
# %XDL%
# %DT% 2)
# Per piezo axis you must define a motor with:
# %BR%
# %DL%
# %DT% Controller
# set to "MAC_MOT"
# %DT% Unit
# field must be set to the "MOTOR" entry.
# %DT% Chan
# field must be set to the piezo axis of the controller
# (for instance "0" stands for axis "A", "1" for "B" etc)
# %XDL%
# %XDL%
#
# In order to configure a macro counter:
# %DL%
# %DT% 1)
# You must have a "SCALERS" defined with:
# %BR%
# %DL%
# %DT% DEVICE
# set to "pi_e517_c"
# %DT% TYPE
# set to "Macro Counter"
# %DT% NUM
# must be set also
# %XDL%
# %DT% 2)
# Per piezo axis you must define a counter with:
# %BR%
# %DL%
# %DT% Device
# set to "MAC_CNT"
# %DT% Mnemonic
# what you want.
# %DT% parameters
# "motor" -> mnemonic of the motor to reflect position.
# %DT% Unit
# do not mind
# %DT% Chan
# do not mind
# %XDL%
#
# %XDL%
#
#%END%
need spec_utils
constant PI_E517_HEAD "PI E-517 :"
global PI_E517[]
######################################################################
############################### ##############################
############################### DEBUG ##############################
############################### ##############################
######################################################################
#%UU% [<personal msg>]
#%MDESC%
# Switch on or off the print of debug messages
#
def pi_e517debug '{
if(PI_E517["debug"]) {
rdef pi_e517__debug \'#\$#\'
print PI_E517_HEAD"debug mode is OFF"
PI_E517["debug"]=0
}
else {
rdef pi_e517__debug \'print PI_E517_HEAD,"$*"\'
print PI_E517_HEAD"debug mode is ON"
PI_E517["debug"]=1
}
}'
# No debug by default
def pi_e517__debug \'#\$#\'
#%IU% <msg>
#%MDESC%
# Prints error message <msg> in bold with a red header.
def pi_e517_err(msg) '{
local _colors _prompt
_colors = cprint_colors_enabled()
cprint_enable_colors
_prompt = PI_E517_HEAD "ERROR : "
cprint(_prompt, 1, 8, 1)
bprint(sprintf("%s\n", msg))
if(_colors == 0){
cprint_disable_colors
}
}'
######################################################################
########################### ##########################
########################### COMMUNICATION ##########################
########################### ##########################
######################################################################
#%UU% (<tcp_dev>, <cmd>)
#%MDESC%
# Sends <cmd> to a tcp device.
# Adds "\n" at end of <cmd>
# Uses tcp/ip device : <tcp_dev>.
def pi_e517_put(tcp_dev, cmd) '{
local _cmd
# Purges <cmd>.
_cmd = removeEndingChar( cmd, "\n")
_cmd = removeEndingChar(_cmd, "\r")
# Adds terminator.
_cmd = sprintf("%s\n", _cmd)
pi_e517__debug "pi_e517_put tcp_dev="tcp_dev " _cmd=" _cmd
sock_put(tcp_dev, _cmd)
}'
#%UU% (<tcp_dev>)
#%MDESC%
# Reads and returns the socket.
def pi_e517_get(tcp_dev) '{
local _ans
_ans = sock_get(tcp_dev)
return(_ans)
}'
#%IU% (<mot_num>, <cmd>)
#%MDESC%
# Sends <cmd> to the controller corresponding to motor <mot_num>
# and returns the answer.
#
# -<mot_num> : motor number
# -<cmd> : string
#
def pi_e517_send(mot_num, cmd) '{
local _tcp_dev
_tcp_dev = pi_e517_get_tcp_dev_by_mot(mot_num)
if(_tcp_dev == "0"){
print "ERROR pi_e517_cmd bad motor name or undefined motor"
return(-1)
}
sock_par(_tcp_dev, "flush")
pi_e517__debug "SEND \"" cmd "\" to " _tcp_dev
if(pi_e517_put(_tcp_dev, cmd) == -1){
return( -1)
}
if ((_ans = pi_e517_get(_tcp_dev)) == -1){
return( -1)
}
else{
pi_e517__debug "GET " _ans " from " _tcp_dev
return(_ans)
}
}'
#%IU% (<mot_num>, <cmd>)
#%MDESC%
# Sends <cmd> to the controller corresponding to motor <mot_num>
# without wating for an answer.
#
# -<mot_num> : motor number
# -<cmd> : string
#
# Returns 0 in case of success.
# Returns -1 in case of error.
#
def pi_e517_send_no_ans(mot_num, cmd) '{
local _tcp_dev
_tcp_dev = pi_e517_get_tcp_dev_by_mot(mot_num)
sock_par(_tcp_dev, "flush")
pi_e517__debug "SEND \"" cmd "\" to " _tcp_dev
if(pi_e517_put(_tcp_dev, cmd) == -1){
return( -1)
}
return(0)
}'
#%IU% (<mot_num>)
#%MDESC%
# Returns the ip address/name of the controller corresponding to motor
# <mot_num>
# Returns -1 in case of error.
#
def pi_e517_get_tcp_dev_by_mot(mot_num)'{
local _ans
pi_e517__debug "pi_e517_get_tcp_dev_by_mot" mot_num
_ans = motor_par(mot_num, "tcp_dev")
if(_ans != ""){
return (_ans)
}
else{
pi_e517_err(sprintf("parameter tcp_dev not defined for motor %d", mot_num))
return (-1)
}
}'
#%IU% (<mot_num>)
#%MDESC%
# Returns the channel letter of axis of motor <mot_num>.
# Returns -1 in case of failure.
#
def pi_e517_get_chan_letter(mot_num, caller) '{
local _ans
pi_e517__debug "in pi_e517_get_chan_letter for motor number " mot_num
_ans = motor_par(mot_num, "chan_letter")
pi_e517__debug "in pi_e517_get_chan_letter read letter=" _ans
if (_ans == "A" || _ans == "B" || _ans == "C"){
return(_ans)
}
else{
pi_e517_err(sprintf("parameter chan_letter not properly defined for motor %d", mot_num))
print "_ans="_ans " caller="caller
pi_e517_err( "It should be automatic -> please run reconfig.")
return(-1)
}
}'
#%IU% (<mot_num>)
#%MDESC%
# Returns the channel NUMBER of axis of motor <mot_num>.
# Returns -1 in case of failure.
#
def pi_e517_get_chan_nb(mot_num) '{
local _ans
pi_e517__debug "in pi_e517_get_chan_nb" mot_num
_ans = motor_par(mot_num, "chan_nb")
return(_ans)
}'
#######################################################################
####################### #######################
####################### CONTROLLER MANAGEMENT #######################
####################### #######################
#######################################################################
#%IU% (<mot_num>)
#%MDESC%
# Read the position from the controller axis corresponding
# to motor <mot_num> using command "POS? <N>"
# Returns the position read.
# Returns "ERROR" in case of error.
#
def pi_e517_get_read_pos(mot_num) '{
local _chan_letter _cmd _ans _pos
pi_e517__debug "in pi_e517_get_read_pos " mot_num
_chan_letter = pi_e517_get_chan_letter(mot_num, 321)
_cmd = sprintf("POS? %s", _chan_letter)
_ans = pi_e517_send(mot_num, _cmd)
pi_e517__debug "in pi_e517_get_read_pos _ans=" _ans
_ans = removeEndingChar(_ans , "\n")
# Removes "A="
_ans = substr(_ans, 3)
pi_e517__debug "in pi_e517_get_read_pos cleanned _ans=" _ans
_pos = _ans + 0.0
pi_e517__debug "in pi_e517_get_read_pos _pos=" _pos
return(_pos)
}'
#%IU% (<mot_num>)
#%MDESC%
# Read the target position from the controller axis corresponding
# to motor <mot_num> using command "MOV? <N>"
#
# Returns the target position read.
# Returns "ERROR" in case of error.
#
def pi_e517_get_pos(mot_num) '{
local _chan_letter _cmd _ans _pos
pi_e517__debug "in pi_e517_get_pos " mot_num
_chan_letter = pi_e517_get_chan_letter(mot_num, 354)
_cmd = sprintf("MOV? %s", _chan_letter)
_ans = pi_e517_send(mot_num, _cmd)
pi_e517__debug "in pi_e517_get_pos _ans=" _ans
_ans = removeEndingChar(_ans , "\n")
# Removes "A="
_ans = substr(_ans, 3)
pi_e517__debug "in pi_e517_get_pos cleanned _ans=" _ans
_pos = _ans + 0.0
pi_e517__debug "in pi_e517_get_pos _pos=" _pos
return(_pos)
}'
#%IU% (<mot_num>, <position>)
#%MDESC%
# Sends to controller of axis corresponding to <mot_num> a
# move to <position> command.
# Sends "MOV A/B/C <position>"
#
# cannot do MOV in open loop : must use voltage.
#
# Returns -1 in case of error.
#
def pi_e517_set_pos(mot_num, position) '{
local _cmd _chan_letter
pi_e517__debug "in pi_e517_set_pos " mot_num
if (openloop){
print "closed loop is OPEN, piezo cannot be controlled in position (use voltage)"
}
_chan_letter = pi_e517_get_chan_letter(mot_num, 355)
_cmd = sprintf("MOV %s %g", _chan_letter, position)
pi_e517_send_no_ans(mot_num, _cmd)
}'
#%IU% (<mot_num>)
#%MDESC%
# Read the voltage from the controller axis corresponding
# to motor <mot_num> using command "? <N>"
# Returns the voltage read.
# Returns "ERROR" in case of error.
#
def pi_e517_get_voltage(mot_num) '{
local _chan _cmd _ans _pos
pi_e517__debug "in pi_e517_get_voltage - mot " mot_num
_chan = pi_e517_get_chan_nb(mot_num)
_cmd = sprintf("VOL? %s", _chan)
_ans = pi_e517_send(mot_num, _cmd)
pi_e517__debug "in pi_e517_get_voltage _ans=" _ans
_ans = removeEndingChar(_ans , "\n")
# Removes "1="
_ans = substr(_ans, 3)
pi_e517__debug "in pi_e517_get_voltage cleanned _ans=" _ans
_voltage = _ans + 0.0
pi_e517__debug "in pi_e517_get_voltage _voltage=" _voltage
return(_voltage)
}'
def pi_e517_get_closed_loop_status(mot_num) '{
local _ans _pos _cmd _chan_letter _status
_chan_letter = pi_e517_get_chan_letter(mot_num, 436)
# First check if closed-loop is active.
_cmd = sprintf("SVO? %s", _chan_letter)
_ans = pi_e517_send(mot_num, _cmd)
_ans = removeEndingChar(_ans, "\n")
_ans = substr(_ans, 3, 1)
if (_ans == 0){
pi_e517__debug " closed-loop is disabled."
return(0)
}
else if(_ans == 1){
pi_e517__debug " closed-loop is active."
return(1)
}
}'
#%IU% (<mot_num>)
#%MDESC%
# Returns the individual "on-target status" of axis corresponding
# to motor <mot_num>
# Uses "ONT?" command
# ONT? return 1 if device is on-target
# Usable only in closed-loop ie if SVO? returns 1.
#
# Returns 0 if not on target and closed-loop active.
# Returns 1 if on target or closed-loop is disabled.
#
def pi_e517_get_status(mot_num) '{
local _ans _pos _cmd _chan_letter _status
local _loop_status
pi_e517__debug "in pi_e517_get_status " mot_num
_chan_letter = pi_e517_get_chan_letter(mot_num, 457)
pi_e517__debug "in pi_e517_get_status SVO? _ans=" _ans
# Checks Closed loop status.
_loop_status = pi_e517_get_closed_loop_status(mot_num)
if (_loop_status == 0){
pi_e517__debug " closed-loop is disabled."
_status = 1
return(_status)
}
else if(_loop_status == 1){
pi_e517__debug " closed-loop is active."
# Then checks ONT.
_cmd = sprintf("ONT? %s", _chan_letter)
_ans = pi_e517_send(mot_num, _cmd)
_ans = removeEndingChar(_ans , "\n")
#pi_e517__debug "in pi_e517_get_status ONT? _ans=" _ans
# Checks channel in answer.
_chan = substr(_ans, 1, 1)
if (_chan != _chan_letter){
print "in pi_e517_get_status strange...."
}
# Removes "1=".
_status = substr(_ans, 3)
return(_status)
}
}'
#%IU% (mot_num)
#%MDESC%
# Sends to controller of motor <mot_num> a stop command.
# Sends "STP"
#
# is it better to use HLT ?
# HLT -> stop smoothly.
# STP / 24 -> stop asap.
#
# !!! on a HLT or STP, the PI controller updates the target
# !!! position using real position...
def pi_e517_stop(mot_num) '{
pi_e517__debug "in pi_e517_stop " mot_num
# return(pi_e517_send_no_ans(mot_num, "STP"))
return(pi_e517_send_no_ans(mot_num, "HLT"))
}'
# PLM : position high limit
#%UU% <mot_num>
#%MDESC%
# Prints out infos read from controller of motor <mot_num>
def pi_e517_infos '{
if ($#==0){
print "please specify a motor num"
exit
}
else{
printf(" %25s CCL?: %s\n", "command level", removeChars(pi_e517_send($1, "CCL?"), "\n"))
printf(" %25s CSV?: %s\n", "GCS Syntax version", removeChars(pi_e517_send($1, "CSV?"), "\n"))
printf(" %25s DCO?: %s\n", "Drift compensation", removeChars(pi_e517_send($1, "DCO?"), "\n"))
printf(" %25s ERR?: %s\n", "Last error", removeChars(pi_e517_send($1, "ERR?"), "\n"))
printf(" %25s IDN?: %s\n", "Identification", removeChars(pi_e517_send($1, "IDN?"), "\n"))
printf(" %25s IFC?: %s\n", "Temporary IP settings", removeChars(pi_e517_send($1, "IFC?"), "\n"))
printf(" %25s IFS?: %s\n", "Persistent IP settings", removeChars(pi_e517_send($1, "IFS?"), "\n"))
printf(" %25s MOV?: %s\n", "Target positions", removeChars(pi_e517_send($1, "MOV?"), "\n"))
printf(" %25s ONL?: %s\n", "Online", removeChars(pi_e517_send($1, "ONL?"), "\n"))
printf(" %25s ONT?: %s\n", "On Target", removeChars(pi_e517_send($1, "ONT?"), "\n"))
printf(" %25s tolerance: %s", "", pi_e517_send($1 ,"SPA? A 0X07000900"))
printf(" %25s tolerance: %s", "", pi_e517_send($1 ,"SPA? B 0X07000900"))
printf(" %25s tolerance: %s", "", pi_e517_send($1 ,"SPA? C 0X07000900"))
printf(" %25s NLM?: %s\n", "position low limit", removeChars(pi_e517_send($1, "NLM?"), "\n"))
printf(" %25s PLM?: %s\n", "position high limit", removeChars(pi_e517_send($1, "PLM?"), "\n"))
printf(" %25s POS?: %s\n", "Positions", removeChars(pi_e517_send($1, "POS?"), "\n"))
printf(" %25s SAI?: %s\n", "Axis identifiers", removeChars(pi_e517_send($1, "SAI?"), "\n"))
printf(" %25s SSN?: %s\n", "Serial Number", removeChars(pi_e517_send($1, "SSN?"), "\n"))
printf(" %25s SVO?: %s\n", "Servo Mode / Closed loop ", removeChars(pi_e517_send($1, "SVO?"), "\n"))
printf(" %25s TAD?: %s\n", "ADC Values of input sig. ", removeChars(pi_e517_send($1, "TAD?"), "\n"))
printf(" %25s TIO?: %s\n", "Digital I/O lines", removeChars(pi_e517_send($1, "TIO?"), "\n"))
printf(" %25s VCO?: %s\n", "Velocity control mode", removeChars(pi_e517_send($1, "VCO?"), "\n"))
printf(" %25s VEL?: %s\n", "Velocities", removeChars(pi_e517_send($1, "VEL?"), "\n"))
printf(" %25s VER?: %s\n", "Firmware version", removeChars(pi_e517_send($1, "VER?"), "\n"))
printf(" %25s VMA?: %s\n", "Voltage output high limit", removeChars(pi_e517_send($1, "VMA?"), "\n"))
printf(" %25s VMI?: %s\n", "Voltage output low limit", removeChars(pi_e517_send($1, "VMI?"), "\n"))
printf(" %25s VOL?: %s\n", "Voltages", removeChars(pi_e517_send($1, "VOL?"), "\n"))
printf(" %25s Osen 1: %s\n", "Offset sensor 1 (doc p.38)", removeChars(pi_e517_send($1, "SPA? 1 0x02000200"), "\n"))
printf(" %25s Osen 2: %s\n", "Offset sensor 2", removeChars(pi_e517_send($1, "SPA? 2 0x02000200"), "\n"))
printf(" %25s Osen 3: %s\n", "Offset sensor 3", removeChars(pi_e517_send($1, "SPA? 3 0x02000200"), "\n"))
printf(" %25s Ksen 1: %s\n", "Gain sensor 1 (doc p.38)", removeChars(pi_e517_send($1, "SPA? 1 0x02000300"), "\n"))
printf(" %25s Ksen 2: %s\n", "Gain sensor 2", removeChars(pi_e517_send($1, "SPA? 2 0x02000300"), "\n"))
printf(" %25s Ksen 3: %s\n", "Gain sensor 3", removeChars(pi_e517_send($1, "SPA? 3 0x02000300"), "\n"))
# printf(" ?: %s\n", removeChars(pi_e517_send(_name, "?"), "\n"))
}
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# ONL returns 1= 2= 3=
# TAD returns 1= 2= 3=
# VOL returns 1= 2= 3=
#
# SAI returns A= B= C=
# ONT returns A= B= C=
# VEL returns A= B= C=
# SVO returns A= B= C=
}'
#%UU% (<mot_num>)
#%MDESC%
# Returns the list of all available parameters.
def pi_e517_get_parameters(mot_num) '{
local _tcp_dev
_tcp_dev = pi_e517_get_tcp_dev_by_mot(mot_num)
if(_tcp_dev == "0"){
print "ERROR pi_e517_cmd bad motor name or undefdined motor"
return(-1)
}
sock_par(_tcp_dev, "flush")
pi_e517__debug "SEND \"HPA?\" to " _tcp_dev
if(pi_e517_put(_tcp_dev, "HPA?") == -1){
return( -1)
}
sleep(0.1)
if ((_ans = pi_e517_get(_tcp_dev)) == -1){
return( -1)
}
else{
pi_e517__debug "GET " _ans " from " _tcp_dev
return(_ans)
}
}'
#%UU% (<mot_num>, <parma>)
#%MDESC%
# Returns the value of parameter <param>
def pi_e517_get_parameter(mot_num, param) '{
local _tcp_dev _chan_letter
local _tmp_arr[] _value
_tcp_dev = pi_e517_get_tcp_dev_by_mot(mot_num)
if(_tcp_dev == "0"){
print "ERROR pi_e517_cmd bad motor name or undefined motor"
return(-1)
}
_chan_letter = pi_e517_get_chan_letter(mot_num, 569)
_cmd = sprintf("SPA? %s %s", _chan_letter, param)
sock_par(_tcp_dev, "flush")
pi_e517__debug "SEND " _cmd " to " _tcp_dev
if(pi_e517_put(_tcp_dev, _cmd) == -1){
return( -1)
}
sleep(0.1)
if ((_ans = pi_e517_get(_tcp_dev)) == -1){
return( -1)
}
else{
pi_e517__debug "GET " _ans " from " _tcp_dev
# _ans looks like : "A 0X07000900=2.00000000e-1"
split(_ans, _tmp_arr, "=")
_value = removeEndingChar( _tmp_arr[1], "\n")
return(_value+0.0)
}
}'
def pi_e517_get_tolerances '{
print "Tolerances:"
printf("A (pz40) %s\n", pi_e517_get_parameter(pz40, "0X07000900"))
printf("B (pz41) %s\n", pi_e517_get_parameter(pz41, "0X07000900"))
printf("C (pz42) %s\n", pi_e517_get_parameter(pz42, "0X07000900"))
printf("A (pz43) %s\n", pi_e517_get_parameter(pz43, "0X07000900"))
printf("B (pz44) %s\n", pi_e517_get_parameter(pz44, "0X07000900"))
printf("C (pz45) %s\n", pi_e517_get_parameter(pz45, "0X07000900"))
}'
# Switches axis of motor <mot_mne> to OFFLINE mode to be able to control it manually.
# Controller must be activated in SPEC config...
def pi_e517_set_offline(mot_mne) '{
local _channel _mot_num
_mot_num = motor_num(mot_mne)
_channel = pi_e517_get_chan_nb(_mot_num)
# NB: ONL 1st parameter is 1/2/3 (not A/B/C)
_cmd = sprintf("ONL %d 0", _channel)
pi_e517_send_no_ans(_mot_num, _cmd)
}'
# Switches axis of motor <mot_mne> to ONLINE mode to be able to control it remotely.
# Controller must be activated in SPEC config...
def pi_e517_set_online(mot_mne) '{
local _channel _mot_num
_mot_num = motor_num(mot_mne)
_channel = pi_e517_get_chan_nb(_mot_num)
# NB: ONL 1st parameter is 1/2/3 (not A/B/C)
_cmd = sprintf("ONL %d 1", _channel)
pi_e517_send_no_ans(_mot_num, _cmd)
}'
#%UU% ()
#%MDESC%
#
def pi_e517_help '{
if ($#==0){
print "please specify a motor num"
exit
}
else{
printf(" IDN?: %s\n", removeChars(pi_e517_send($1, "IDN?"), "\n"))
printf(" VER?: %s\n", removeChars(pi_e517_send($1, "VER?"), "\n"))
printf(" IFC?: %s\n", removeChars(pi_e517_send($1, "IFC?"), "\n"))
printf(" CSV?: %s\n", removeChars(pi_e517_send($1, "CSV?"), "\n"))
printf(" ERR?: %s\n", removeChars(pi_e517_send($1, "ERR?"), "\n"))
printf(" HPA?: %s\n", removeChars(pi_e517_send($1, "HPA?"), "\n"))
}
}'
#%UU% (<tcp_dev>)
#%MDESC%
# Returns the *controller* model name (should be E-517)
def pi_e517_get_model(tcp_dev) '{
local _model _ans
_ans = pi_e517_put(tcp_dev, "IDN?")
sleep(0.01)
_idn = pi_e517_get(tcp_dev)
pi_e517__debug "IDN="_idn
_model = substr(_idn, 21, 5)
if (_model == "E-517"){
return("E-517")
}
else{
return("UNKNOWN")
}
}'
#%IU%
#%MDESC%
# Checks if controller is responding sending it "IDN?".
#
# Returns 1 if controller is responding.
# Returns 0 if controller is NOT responding.
# Returns -1 in case of error.
#
def pi_e517_check_ctrl(mot_num) '{
local _tcp_dev
_tcp_dev = pi_e517_get_tcp_dev_by_mot(mot_num)
if(pi_e517_put(_tcp_dev, "IDN?") == -1){
return (-1)
}
if ((_ans = pi_e517_get(_tcp_dev)) == -1){
return (-1)
}
else{
print _ans
}
return (1)
}'
#%IU%
#%MDESC%
# Converts channel from digit to single char.
# 1 -> "A"
# 2 -> "B"
# 3 -> "C"
def pi_e517_getch(ch) '{
pi_e517__debug "pi_e517_getch for " ch
if(ch==1) {
return("A")
}
if(ch==2) {
return("B")
}
if(ch==3) {
return("C")
}
print PI_E517_HEAD"ERROR: \""mne"\" wrong channel, only 3 axis are supported"
return(-1)
}'
######################################################################
############################ ###########################
############################ MACRO MOTOR ###########################
############################ ###########################
######################################################################
#%IU%
#%MDESC%
# Called by spec after reading the config file
#
def pi_e517_config(mot_num, type, p1, p2, p3) '{
local _tcp_dev _msg _msg2
local _velocity
local _cmd
_tcp_dev = sprintf("%s:50000", pi_e517_ADDR)
pi_e517__debug "Using controller E517, @="_tcp_dev
if(type=="ctrl") {
local _model
print ""
# p1==controller number (0..N)
# p2==number of motors supported (1..M)
_msg = sprintf("p1=\"%s\" p2=\"%s\"", p1, p2)
_msg2 = sprintf("addr=\"%s\"", _tcp_dev)
# Opens a socket to the specified host and port.
# Returns 1 for success and 0 for failure.
sock_par(_tcp_dev, "close")
if (sock_par(_tcp_dev, "connect") == 1){
# Controller model
_model = pi_e517_get_model(_tcp_dev)
if(_model == "E-517"){
printf("[PI_E517] Using controller piezo PI ")
cprint(_model, 4, 8)
printf(" address = %s\n", _tcp_dev)
motor_par(mot_num, "model", _model, "add")
}
else{
pi_e517_err(sprintf( "WRONG MODEL : %s", _model))
}
}
else{
_msg = sprintf("Controller piezo E517 on address %s is not responding \n", _tcp_dev)
pi_e517_err( _msg)
# -> will not configure motors attached to this controller.
return (".error.")
}
}
else if(type=="mot") {
# p1==unit p2==module p3==channel
local _cmd
local _mot_nb _channel _chan_letter
# channel : 1..3
_channel = p3 + 1
# channel letter : A..C
_chan_letter = pi_e517_getch(_channel)
_msg = sprintf("Motor %d (%s) : chan %d (%s)", \
mot_num, motor_mne(mot_num), \
_channel, _chan_letter )
pi_e517__debug _msg
# Saves tcp dev controller in a custom parameter of the motor.
motor_par(mot_num, "tcp_dev", _tcp_dev, "add")
_msg = sprintf("p1=\"%s\" p2=\"%s\" p3=\"%s\"", p1, p2, p3)
printf( "[PI_E517] \"%s\" Configuring motor (ctrl=\"%s\") %s \n", \
motor_mne(mot_num), _tcp_dev, _msg)
# Saves channel letter as "chan_letter" motor parameter.
motor_par(mot_num, "chan_letter", _chan_letter, "add")
# Saves channel as "channel" motor parameter.
pi_e517__debug "saving \"chan_nb\" parameter " _channel " for motor " mot_num
motor_par(mot_num, "chan_nb", _channel, "add")
# Switches axis to ONLINE mode to be able to control it by commands.
# NB: ONL 1st parameter is 1/2/3 (not A/B/C)
_cmd = sprintf("ONL %d 1", _channel)
pi_e517_send_no_ans(mot_num, _cmd)
# Displays the status of the closed loop.
printf("[PI_E517] \"%s\" Closed loop is ", motor_mne(mot_num))
cprint_on_off(pi_e517_get_closed_loop_status(mot_num))
print ""
# Activates the Velocity Control (VCO) for security :
# It avoids to do brutal moves.
# NB: VCO 1st parameter is A/B/C
_cmd = sprintf("VEL? %s", _chan_letter)
_velocity = removeChars(pi_e517_send(mot_num, _cmd), "\n")
printf("[PI_E517] \"%s\" Velocity control activated for chan %s (speed: %s) \n", \
motor_mne(mot_num), _chan_letter, _velocity)
_cmd = sprintf("VCO %s 1", _chan_letter)
pi_e517_send_no_ans(mot_num, _cmd)
}
else {
print PI_E517_HEAD"pi_e517_config() : unknown type : " type
}
}'
# Valid PIEZO parameters for E517+E509+E505
#
# 321.NINA> p pi_e517_send("ctrl0","HPA?")
# The following parameters are valid:
# 0X02000000= 1 3 INT Sensor Mechanic. Sensor enable 0 = Disabled 1 = Enabled
# 0X02000200= 0 3 FLOAT Sensor Mechanic. Sensor correction 0 order (offset)
# 0X02000300= 0 3 FLOAT Sensor Mechanic. Sensor correction 1st order (gain)
# 0X04000500= 2 6 FLOAT ADC. ADC gain
# 0X04000600= 2 6 FLOAT ADC. ADC offset
# 0X04000700= 2 6 FLOAT ADC. HW gain
# 0X04000800= 2 6 FLOAT ADC. HW offset
# 0X04000E00= 1 6 CHAR ADC. LCD unit
# 0X04000E01= 1 6 INT ADC. LCD format
# 0X05000000= 0 3 INT Sensor Filter. Digital filter type
# 0 = No Filter 1 = IIR Filter 2 = FIR filter 99 = User
# 0X05000001= 0 3 FLOAT Sensor Filter. Digital filter Bandwidth
# 0X05000002= 0 3 INT Sensor Filter. Digital filter order
#
# 1003.NINA> p pi_e517_send(pz40, "HLP?")
# The following commands are valid:
# #5 - Request motion status
# #6 - Query if position has changed since last POS?
# #7 - Request controller ready status
# #8 - Query if macro is running
# #9 - Get wave generator status
# #24 - Identical in function to STP
# *IDN? - Get device identification
# CCL <Level> [<PSWD>] Set command level
# CCL? - Get command level
# CSV? - Get GCS syntax version
# CTO {<TrigOutID> <CTOPam> <Value>} Set configuration of trigger output
# CTO? [{<TrigOutID> <CTOPam>}] Get configuration of trigger output
# CTI {<TrigInID> <CTIPam> <Value>} Set configuration of trigger input
# CTI? [{<TrigInID> <CTIPam>}] Get configuration of trigger input
# DCO {<AxisID> <DCOState>} Set drift compensation mode (0/1)
#%IU%
#%MDESC%
# Called by spec on motor operation.
# p1 = ?
def pi_e517_par(mot_num, key, todo, p1) '{
local _srv _cmd _ans _velocity
local _chan_letter _channel
# _chan_letter = pi_e517_get_chan_letter(mot_num, 739)
_channel = motor_par(mot_num, "channel")
_chan_letter = pi_e517_getch(_channel + 1)
_msg = sprintf("in pi_e517_par mot_num=%d key=%s todo=%s p1=%s", \
mot_num, key, todo, p1)
pi_e517__debug _msg
# print "***pi_e517_par " mot_num"," key"," todo"," p1
# Returns new motor_par() argins handled
if (key == "?" && todo == "get") {
return("servo")
}
#PC: when is this called by spec?
if (key == "servo") {
# Handles the piezo closed loop.
# !! si on veut fermer/ouvrir la boucle par soft il faut que le switch du
# controleur soit en position open.
if (todo == "set") {
_cmd = sprintf("SVO %s %d", _chan_letter, (p1?1:0))
pi_e517_send_no_ans(mot_num, _cmd)
}
_cmd = sprintf("SVO?")
if((_ans = pi_e517_send(mot_num, _cmd)) == ".error.") {
return(0)
}
sscanf(_ans, "A=%f", _srv)
return(_srv)
}
if(key == "slew_rate" || key == "velocity"){
# SET / GET velocity
# Not called automatically on a reconfig...
# Called on first move.
if (todo == "set") {
pi_e517__debug "pi_e517_par :slew_rate/velocity " p1
if (p1 > 10) {
print "Achtung pi_e517 velocity is :" p1
}
# Velocity is integer number like this
# Too coarse 1 um/s
_cmd = sprintf("VEL %s %f", _chan_letter, p1)
pi_e517_send_no_ans(mot_num, _cmd)
}
else if(todo == "get"){
_cmd = sprintf("VEL? %s", _chan_letter)
if((_ans = pi_e517_send(mot_num, _cmd)) == ".error.") {
return(0)
}
sscanf(_ans, "A=%f", _velocity)
return(_velocity)
}
}
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec on motor operation.
#
def pi_e517_cmd(mot_num, key, p1, p2) '{
# print ">>> pi_e517_cmd "mot_num"," key"," p1"," p2
if(mot_num == "..") {
return(0)
}
# Returns the current motor position in mm or deg
if (key == "position") {
local pos
pos = pi_e517_get_pos(mot_num)
pi_e517__debug "position() : pos : " pos " micron"
return(pos)
}
# Starts a motion (p1==abs pos, p2==rel pos, with pos in mm or deg)
if (key == "start_one") {
local aux
pi_e517__debug "start_one(): pos : "p1" micron"
pi_e517_set_pos(mot_num, p1)
# ???
if((t=motor_par(mot_num, "deadtime")) != 0) {
pi_e517__debug "start_one(): sleeping: "t" seconds"
sleep(t)
}
}
# Status
if (key == "get_status") {
_status = pi_e517_get_status(mot_num)
if (_status == 0) {
# print "moving" mot_num
return (0x02)
}
else {
# printf(" %s is on-target\n", motor_mne(mot_num))
sleep(0.1)
return(0)
}
}
# Stops a single motor.
if (key == "abort_one") {
pi_e517__debug "pi_e517_cmd abort_one()"
pi_e517_stop(mot_num)
return(1)
}
# SET velocity on first move (not on a reconfig).
if(key == "slew_rate" || key == "velocity"){
_chan_letter = pi_e517_get_chan_letter(mot_num, 853)
pi_e517__debug "pi_e517_par :slew_rate/velocity " p1
if (p1 > 10) {
print "Achtung velocity is :" p1
}
_cmd = sprintf("VEL %s %d", _chan_letter, p1)
pi_e517_send_no_ans(mot_num, _cmd)
}
}'
######################################################################
###################### ######################
###################### POSITION MACRO COUNTER ######################
###################### ######################
######################################################################
#%IU%
#%MDESC%
# Called by spec after reading the config file
#
def pi_e517_c_config(count_num, type, p1, p2, p3) '{
#
if(type=="ctrl") {
# ?
}
#
if(type=="cnt") {
local _mot_mne _mot_num
_cnt_mne = cnt_mne(count_num)
_mot_num = counter_par(count_num, "motor")
_mot_mne = motor_mne(_mot_num)
if((mot_num = motor_num(_mot_mne)) == -1) {
pi_e517_err(sprintf( "invalid motor name parameter %s for counter %s",\
_mot_mne,_cnt_mne))
}
}
}'
#%IU%
#%MDESC%
# Called by spec on counter operation.
#
def pi_e517_c_cmd(count_num,key,p1,p2) '{
if (key == "counts") {
local _pos _mot_num _mot_mne _cnt_mne
_cnt_mne = cnt_mne(count_num)
_mot_num = counter_par(count_num, "motor")
_mot_mne = motor_mne(_mot_num)
pi_e517__debug "pi_e517_c_cmd : counts for counter " _cnt_mne
pi_e517__debug " get pos of motor " _mot_mne
_pos = pi_e517_get_read_pos(_mot_num)
return(_pos)
}
}'
######################################################################
####################### ######################
####################### VOLTAGE MACRO COUNTER ######################
####################### ######################
######################################################################
#%IU%
#%MDESC%
# Called by spec after reading the config file
#
def pi_e517_v_config(count_num, type, p1, p2, p3) '{
#
if(type=="ctrl") {
# ?
}
#
if(type=="cnt") {
local _mot_mne _mot_num
_cnt_mne = cnt_mne(count_num)
_mot_num = counter_par(count_num, "motor")
_mot_mne = motor_mne(_mot_num)
_msg = sprintf("for counter %d(%s) motor num=%d (%s)", \
count_num, _cnt_mne, _mot_num, _mot_mne)
if((mot_num = motor_num(_mot_mne)) == -1) {
pi_e517_err(sprintf("invalid motor name parameter %s for counter %s ", \
_mot_mne,_cnt_mne))
}
}
}'
#%IU%
#%MDESC%
# Called by spec on counter operation.
#
def pi_e517_v_cmd(count_num,key,p1,p2) '{
if (key == "counts") {
local _pos _mot_num _mot_mne _cnt_mne
_cnt_mne = cnt_mne(count_num)
_mot_num = counter_par(count_num, "motor")
_mot_mne = motor_mne(_mot_num)
pi_e517__debug "pi_e517_v_cmd : counts for counter " _cnt_mne
pi_e517__debug " get pos of motor " _mot_mne
_pos = pi_e517_get_voltage(_mot_num)
return(_pos)
}
}'
#
#%MACROS%
#%IMACROS%
#%AUTHOR% MP CG BLISS 2012 2013
#%TOC%
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