#%NAME%
# PM.MAC - Macros to control a pico motor (New Focus, Inc) by RS232 or GPIB
#%DESCRIPTION%
# This macro file allows to define pico motor as pseudo-motors in SPEC.
# As this is implemented on the macro level not all commands will work.
#
#%EXAMPLE%
#%DL%
#%DT% mv pm1 50 %DD% Send 50*(nbsetp/mm) steps to the pico motor controller
# according to the parameter set in the SPEC configuration
#%DT% ascan pm1 0 10 10 1 %DD%
# (scan pm1 from 0 to 10 in 10 steps and count for 1 second)
#%DT% a2scan pm1 0 20 opti -5 5 10 1 %DD%
# (scan the optical table stepper motor from
# -5 to 5 degrees and scan at the same time the pm1 from 0 to 20 micr.)
#%XDL%
#%END%
#%UU% [No of pm] [pm1 motor name] [pm1 device name] ...
#%MDESC% Adds the given picomotor to the already defined picomotors
#
global PMON PM_LIST
list_init PM_LIST
#%UU% pm-device pm-mnemonic pm-slot pm-connector pm-channel
#%MDESC%
# Add definitions for a pico motor pseudomotor
def pmadd 'pm_add("$1", "$2", "$3", "$4", "$5", "$6")'
#%IU% (pm-mnemonic, pm-device)
#%MDESC%
# Add definitions for a pico motor pseudomotor
def pm_add(dev, mne, slot, con, ch, gpibaddr) '{
local step_size speed
pmoff
list_add(PM_LIST,mne)
list_setpar(PM_LIST,mne,"dev",dev)
list_setpar(PM_LIST,mne,"slot",slot)
list_setpar(PM_LIST,mne,"con",con)
list_setpar(PM_LIST,mne,"ch",ch)
list_setpar(PM_LIST,mne,"gpibaddr",gpibaddr)
A[motor_num(mne)] = list_getpar(PM_LIST,mne,"pos")
setup_tail("pm", sprintf("pm_%s %s", mne, mne))
pmon
# set speed from config file
# speed = motor_par(motor_num(mne), "velocity")
# if (speed > 1500)
# speed = 1500
# if (speed < 0.023)
# speed = 0.023
# esrf_io(dev, "DevSerWriteString", sprintf("@:SOUR:PULS:FREQ %f Hz\r",speed))
# if (index(esrf_io(dev, "DevSerReadString", 2), "OK") == ))
# printf("cannot set speed for pico motor %s !!\n", mne)
# list_setpar(PM_LIST,mne,"speed",speed)
# read and set step size
step_size = motor_par(motor_num(mne), "step_size")
list_setpar(PM_LIST,mne,"stepsize",step_size)
}'
def pmunsetup '{
pmdel("$2")
}'
#%UU% (pm-mnemonic)
#%MDESC%
# Delete definitions for one PICO MOTOR mnemonic
#
def pmdel(mne) '{
list_remove(PM_LIST,mne)
cdef("", "", mne, "delete")
}'
#%UU%
#%MDESC%
def pmreset '
pmoff
list_init PM_LIST
'
#%UU
#%MDESC%
# Shows current Pico pseudomotors definition.
#
def pmshow '{
local pmno mne dev slot con ch addr speed
if (pmno = list_n(PM_LIST)) {
printf("\nPM pseudomotors are \"%s\"\n\n",PMON?"ACTIVE":"NOT ACTIVE")
printf(" Motor Device Slot Connector Channel Speed Config\n")
printf("------------------------------------------------------------------------\n")
for (i=1; i<=pmno; i++) {
mne = list_item(PM_LIST, i)
# dev = list_getpar(PM_LIST, i, "dev")
#
# slot = list_getpar(PM_LIST, i, "slot")
# con = list_getpar(PM_LIST, i, "con")
# ch = list_getpar(PM_LIST, i, "ch")
# addr = slot*100 + con*10 + ch
# esrf_io(dev, "DevSerWriteString", sprintf("@:INST:NSEL %d\r", addr))
# if (index(esrf_io(dev, "DevSerReadString", 2), "OK") == 0) {
# printf("cannot select pico motor %s !!\n", mne)
# }
# esrf_io(dev, "DevSerWriteString","@:SOUR:PULS:FREQ ?\r")
# speed = esrf_io(dev, "DevSerReadString", 2)
printf(" %6s %15s %4s %9s %7s %5s ", mne, \
sprintf("%s:%s",list_getpar(PM_LIST,i,"dev"), \
list_getpar(PM_LIST,i,"gpibaddr")), \
list_getpar(PM_LIST, i, "slot"),\
list_getpar(PM_LIST, i, "con"),\
list_getpar(PM_LIST, i, "ch"), \
speed)
if (motor_num(mne) < 0)
printf("%11s\n","NOT DEFINED")
else
printf("%11s\n","OK")
}
printf("\n")
} else {
printf("Nothing defined for Pico Motors\n")
}
}'
#%UU%
#%MDESC%
# Deactivates definitions for pico motors pseudomotors.
def pmoff '
{
local pmno
pmno = list_n(PM_LIST)
for (i = 1; i <= pmno; i++) {
cdef("", "", list_item(PM_LIST, i), "delete")
}
PMON=0
}'
#%IU%
#%MDESC%
# Activates definitions for pico motor pseudomotors.
#
def pmon '{
local pmno num mne
pmno = list_n(PM_LIST)
for (i=1; i <= pmno; i++) {
num = motor_num(mne = list_item(PM_LIST, i))
if (num != -1 ) {
cdef("user_checkall",sprintf("pmmove %s\n", mne), mne, 0x01)
cdef("user_getpangles",sprintf("pmgetangles %s\n", mne), mne, 0x01)
cdef("user_cleanup2",sprintf("pmstop %s\n", mne), mne, 0x01)
}
}
PMON=1
printf("Pico Motor pseudomotors are now ACTIVE\n")
}'
def pmread '{
local dev gpibaddr
p pm_get("$1")
}'
#%IU%
#%MDESC%
# Stop all configured pico motors
#
def pmstop '{
local slot con ch addr pm_com
slot = list_getpar(PM_LIST, "$1", "slot")
con = list_getpar(PM_LIST, "$1", "con")
ch = list_getpar(PM_LIST, "$1", "ch")
addr = slot*100 + con*10 + ch
pm_com = sprintf(":INST:NSEL %d", addr)
pm_send("$1", pm_com)
if (index(pm_get("$1"), "OK") == 0) {
printf("cannot select pico motor %s !!\n", list_item(PM_LIST, "$1"))
exit
}
pm_com = ":INST:STAT 0"
pm_send("$1", pm_com)
if (index(pm_get("$1"), "OK") == 0) {
printf("cannot stop pico motor %s !!\n", list_item(PM_LIST, "$1"))
exit
}
}'
#%IU%
#
def pmmove '{
local slot con ch addr old_pos nbstep pm_com
# check if we need to move
old_pos = list_getpar(PM_LIST, "$1", "pos") + 0
if (A[$1] != old_pos) {
# select the motor
slot = list_getpar(PM_LIST, "$1", "slot")
con = list_getpar(PM_LIST, "$1", "con")
ch = list_getpar(PM_LIST, "$1", "ch")
addr = slot*100 + con*10 + ch
pm_com = sprintf(":INST:NSEL %d", addr)
pm_send("$1", pm_com)
if (index(pm_get("$1"), "OK") == 0) {
printf("cannot select pico motor %s !!\n", list_item(PM_LIST, "$1"))
exit
}
# set direction of rotation
nbstep = A[$1] - old_pos
if (nbstep < 0)
pm_com = ":SOUR:DIR CW"
else
pm_com = ":SOUR:DIR CCW"
pm_send("$1", pm_com)
if (index(pm_get("$1"), "OK") == 0) {
printf("cannot change rotation dir. for pico motor %s !!\n", list_item(PM_LIST, "$1"))
exit
}
# move the motor
nbstep = fabs(nbstep) * list_getpar(PM_LIST, "$1", "stepsize")
pm_com = sprintf(":SOUR:PULS:COUN %d", nbstep)
pm_send("$1", pm_com)
if (index(pm_get("$1"), "OK") == 0) {
printf("cannot move pico motor %s !!\n", list_item(PM_LIST, "$1"))
exit
}
list_setpar(PM_LIST,"$1","pos",A[$1])
}
}'
#%IU%
#
def pmgetangles '{
local mne
mne = "$1"
A[$1] = list_getpar(PM_LIST,mne,"pos")
}'
#%IU%
#%MDESC%
# Set New position value to a pico motor
#
def pmset '{
local mne
if ($# != 2) {
p "Usage : pmset [motor mne.] [new pos]"
exit
}
mne = "$1"
list_setpar(PM_LIST,mne,"pos", $2)
A[$1] = $2
}'
#%IU%
#%MDESC%
# Send command to pico controller
#
def pm_send(nmot, com) '{
local dev gpibaddr
dev = list_getpar(PM_LIST, nmot, "dev")
if (dev == "gpib")
gpibaddr = list_getpar(PM_LIST, nmot, "gpibaddr")
if (dev == "gpib")
gpib_put(gpibaddr, com)
else
esrf_io(dev, "DevSerWriteString", sprintf("@%s\r", com))
return(0)
}'
#%IU%
#%MDESC%
# Get answer from pico controller
#
def pm_get(nmot) '{
local dev gpibaddr
dev = list_getpar(PM_LIST, nmot, "dev")
if (dev == "gpib")
gpibaddr = list_getpar(PM_LIST, nmot, "gpibaddr")
if (dev == "gpib")
return(gpib_get(gpibaddr))
else
return(esrf_io(dev, "DevSerReadString", 2))
}'
#%MACROS%
#%IMACROS%
#%DEPENDENCIES%
# To use a pico motor the following conditions have to be fulfilled:
#%UL%
#%LI% The file pm.mac has to be read in done by: startup s.
# (this file needs: pseudo.mac , stchanges.mac)
#%LI% the pico motors have to be configured done by: SPECADM
# (Controller NONE, mnemonic as in startupscript)
#%LI% setup the pico motors (with pmsetup ) done by: startup s.
#%XUL%
#%AUTHOR%
#%TOC%
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