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Commit 4ddedfdf authored by Hsiang-Yu's avatar Hsiang-Yu
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pico motor

parent c4def7dd
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picomotor_ver2/picomotor_ver2/HAPPY_PICO_CONTROL.adl 0 → 100644
View file @ 4ddedfdf
file {
name="/opt/rtcds/userapps/release/cds/common/medm/picomotor/HAPPY_PICO_CONTROL.adl"
version=030107
}
display {
object {
x=1944
y=178
width=683
height=202
}
clr=14
bclr=4
cmap=""
gridSpacing=5
gridOn=0
snapToGrid=0
}
"color map" {
ncolors=65
colors {
ffffff,
ececec,
dadada,
c8c8c8,
bbbbbb,
aeaeae,
9e9e9e,
919191,
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787878,
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5a5a5a,
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2d2d2d,
000000,
00d800,
1ebb00,
339900,
2d7f00,
216c00,
fd0000,
de1309,
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4b6ec7,
3a5eab,
27548d,
fbf34a,
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ffb0ff,
d67fe2,
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8b1a96,
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a4aaff,
8793e2,
6a73c1,
4d52a4,
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c7bb6d,
b79d5c,
a47e3c,
7d5627,
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99ffff,
73dfff,
4ea5f9,
2a63e4,
0a00b8,
ebf1b5,
d4db9d,
bbc187,
a6a462,
8b8239,
73ff6b,
52da3b,
3cb420,
289315,
1a7309,
}
}
rectangle {
object {
x=12
y=49
width=157
height=30
}
"basic attribute" {
clr=56
}
}
text {
object {
x=37
y=58
width=105
height=15
}
"basic attribute" {
clr=14
}
textix="$(PICOID) 1"
align="horiz. centered"
}
"message button" {
object {
x=12
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_1_REV"
clr=14
bclr=4
}
label="<< REV"
press_msg="1"
release_msg="0"
}
"message button" {
object {
x=93
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_1_FWD"
clr=14
bclr=4
}
label="FWD >>"
press_msg="1"
release_msg="0"
}
rectangle {
object {
x=12
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
"text entry" {
object {
x=93
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_1_POSITION"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
text {
object {
x=27
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="STEP"
align="horiz. centered"
}
"text entry" {
object {
x=12
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_1_STEP"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
rectangle {
object {
x=93
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
text {
object {
x=105
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="TOTAL "
align="horiz. centered"
}
"message button" {
object {
x=12
y=165
width=26
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_STATUS"
clr=14
bclr=4
}
label="?"
press_msg="1"
release_msg="0"
}
"text entry" {
object {
x=42
y=165
width=630
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_ERRORMESSAGE"
clr=14
bclr=4
}
format="string"
limits {
}
}
bar {
object {
x=12
y=195
width=157
height=3
}
monitor {
chan="$(IFO):PICO-$(PICOID)_1_HOGE"
clr=20
bclr=5
}
label="no decorations"
limits {
}
}
rectangle {
object {
x=179
y=49
width=157
height=30
}
"basic attribute" {
clr=56
}
}
text {
object {
x=204
y=58
width=105
height=15
}
"basic attribute" {
clr=14
}
textix="$(PICOID) 2"
align="horiz. centered"
}
"message button" {
object {
x=179
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_2_REV"
clr=14
bclr=4
}
label="<< REV"
press_msg="1"
release_msg="0"
}
"message button" {
object {
x=259
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_2_FWD"
clr=14
bclr=4
}
label="FWD >>"
press_msg="1"
release_msg="0"
}
rectangle {
object {
x=179
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
"text entry" {
object {
x=259
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_2_POSITION"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
text {
object {
x=193
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="STEP"
align="horiz. centered"
}
"text entry" {
object {
x=179
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_2_STEP"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
rectangle {
object {
x=259
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
text {
object {
x=272
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="TOTAL "
align="horiz. centered"
}
bar {
object {
x=179
y=195
width=157
height=3
}
monitor {
chan="$(IFO):PICO-$(PICOID)_2_HOGE"
clr=20
bclr=5
}
label="no decorations"
limits {
}
}
rectangle {
object {
x=346
y=49
width=157
height=30
}
"basic attribute" {
clr=56
}
}
text {
object {
x=371
y=58
width=105
height=15
}
"basic attribute" {
clr=14
}
textix="$(PICOID) 3"
align="horiz. centered"
}
"message button" {
object {
x=346
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_3_REV"
clr=14
bclr=4
}
label="<< REV"
press_msg="1"
release_msg="0"
}
"message button" {
object {
x=427
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_3_FWD"
clr=14
bclr=4
}
label="FWD >>"
press_msg="1"
release_msg="0"
}
rectangle {
object {
x=346
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
"text entry" {
object {
x=427
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_3_POSITION"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
text {
object {
x=361
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="STEP"
align="horiz. centered"
}
"text entry" {
object {
x=346
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_3_STEP"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
rectangle {
object {
x=427
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
text {
object {
x=439
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="TOTAL "
align="horiz. centered"
}
bar {
object {
x=346
y=195
width=157
height=3
}
monitor {
chan="$(IFO):PICO-$(PICOID)_3_HOGE"
clr=20
bclr=5
}
label="no decorations"
limits {
}
}
rectangle {
object {
x=515
y=49
width=157
height=30
}
"basic attribute" {
clr=56
}
}
text {
object {
x=540
y=58
width=105
height=15
}
"basic attribute" {
clr=14
}
textix="$(PICOID) 4"
align="horiz. centered"
}
"message button" {
object {
x=515
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_4_REV"
clr=14
bclr=4
}
label="<< REV"
press_msg="1"
release_msg="0"
}
"message button" {
object {
x=596
y=135
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_4_FWD"
clr=14
bclr=4
}
label="FWD >>"
press_msg="1"
release_msg="0"
}
rectangle {
object {
x=515
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
"text entry" {
object {
x=596
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_4_POSITION"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
text {
object {
x=530
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="STEP"
align="horiz. centered"
}
"text entry" {
object {
x=515
y=105
width=76
height=25
}
control {
chan="$(IFO):PICO-$(PICOID)_4_STEP"
clr=14
bclr=4
}
format="truncated"
limits {
}
}
rectangle {
object {
x=596
y=85
width=76
height=20
}
"basic attribute" {
clr=2
}
}
text {
object {
x=608
y=88
width=48
height=15
}
"basic attribute" {
clr=14
}
textix="TOTAL "
align="horiz. centered"
}
bar {
object {
x=515
y=195
width=157
height=3
}
monitor {
chan="$(IFO):PICO-$(PICOID)_4_HOGE"
clr=20
bclr=5
}
label="no decorations"
limits {
}
}
text {
object {
x=13
y=14
width=180
height=15
}
"basic attribute" {
clr=14
}
textix="Newfocus 8742 for $(PICOID)"
align="horiz. centered"
}
picomotor_ver2/picomotor_ver2/HAPPY_PICO_MASTER.adl 0 → 100644
View file @ 4ddedfdf
This diff is collapsed.
picomotor_ver2/picomotor_ver2/HAPPY_PICO_MASTER_BAK.adl 0 → 100644
View file @ 4ddedfdf
This diff is collapsed.
picomotor_ver2/picomotor_ver2/HAPPY_TEST.adl 0 → 100644
View file @ 4ddedfdf
file {
name="/opt/rtcds/userapps/release/cds/common/scripts/picomotor_ver2/picomotor_ver2/HAPPY_TEST.adl"
version=030107
}
display {
object {
x=3051
y=450
width=400
height=400
}
clr=14
bclr=4
cmap=""
gridSpacing=5
gridOn=0
snapToGrid=0
}
"color map" {
ncolors=65
colors {
ffffff,
ececec,
dadada,
c8c8c8,
bbbbbb,
aeaeae,
9e9e9e,
919191,
858585,
787878,
696969,
5a5a5a,
464646,
2d2d2d,
000000,
00d800,
1ebb00,
339900,
2d7f00,
216c00,
fd0000,
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73dfff,
4ea5f9,
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0a00b8,
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d4db9d,
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a6a462,
8b8239,
73ff6b,
52da3b,
3cb420,
289315,
1a7309,
}
}
"related display" {
object {
x=56
y=95
width=150
height=30
}
display[0] {
label="1"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=MCO"
}
clr=14
bclr=55
label="TEST"
}
"shell command" {
object {
x=83
y=154
width=165
height=44
}
command[0] {
label="start pico"
name="/kagra/Dropbox/Personal/miyo/script/newpicomotor/picoepics/pcaspico.py"
}
clr=14
bclr=55
}
"related display" {
object {
x=88
y=258
width=150
height=30
}
display[0] {
label="1"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=1"
}
display[1] {
label="2"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=2"
}
display[2] {
label="3"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=3"
}
display[3] {
label="4"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=4"
}
clr=14
bclr=55
label="TEST"
}
picomotor_ver2/picomotor_ver2/HAPPY_TEST_BAK.adl 0 → 100644
View file @ 4ddedfdf
file {
name="/opt/rtcds/userapps/trunk/cds/common/scripts/picomotor_ver2/picomotor_ver2/HAPPY_TEST.adl"
version=030107
}
display {
object {
x=3051
y=450
width=400
height=400
}
clr=14
bclr=4
cmap=""
gridSpacing=5
gridOn=0
snapToGrid=0
}
"color map" {
ncolors=65
colors {
ffffff,
ececec,
dadada,
c8c8c8,
bbbbbb,
aeaeae,
9e9e9e,
919191,
858585,
787878,
696969,
5a5a5a,
464646,
2d2d2d,
000000,
00d800,
1ebb00,
339900,
2d7f00,
216c00,
fd0000,
de1309,
be190b,
a01207,
820400,
5893ff,
597ee1,
4b6ec7,
3a5eab,
27548d,
fbf34a,
f9da3c,
eeb62b,
e19015,
cd6100,
ffb0ff,
d67fe2,
ae4ebc,
8b1a96,
610a75,
a4aaff,
8793e2,
6a73c1,
4d52a4,
343386,
c7bb6d,
b79d5c,
a47e3c,
7d5627,
58340f,
99ffff,
73dfff,
4ea5f9,
2a63e4,
0a00b8,
ebf1b5,
d4db9d,
bbc187,
a6a462,
8b8239,
73ff6b,
52da3b,
3cb420,
289315,
1a7309,
}
}
"related display" {
object {
x=56
y=95
width=150
height=30
}
display[0] {
label="1"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PR2_IM"
}
clr=14
bclr=55
label="TEST"
}
"shell command" {
object {
x=83
y=154
width=165
height=44
}
command[0] {
label="start pico"
name="/kagra/Dropbox/Personal/miyo/script/newpicomotor/picoepics/pcaspico.py"
}
clr=14
bclr=55
}
"related display" {
object {
x=88
y=258
width=150
height=30
}
display[0] {
label="1"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=1"
}
display[1] {
label="2"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=2"
}
display[2] {
label="3"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=3"
}
display[3] {
label="4"
name="HAPPY_PICO_CONTROL.adl"
args="IFO=K1,PICOID=PRM_IM,DOF=4"
}
clr=14
bclr=55
label="TEST"
}
picomotor_ver2/picomotor_ver2/Trinamic_control6110.py 0 → 100644
View file @ 4ddedfdf
#
# -*- coding:utf-8 -*-
import socket
import time
import logging
import logging.config
from __init__ import get_module_logger
logger = get_module_logger(__name__)
class controller(object):
def init(self,ipaddr):
self.ipaddr = ipaddr
self.port = 23
self.BUFFER_SIZE = 4096
self.reply_message = None
self.connect()
self.maxModuleCurrent = 1.6
def __init__(self):
self.commandDict = {'ROR':1, 'ROL':2, 'MST':3, 'MVP':4, 'SAP':5, 'GAP':6,
'STAP':7, 'RSAP':8, 'SGP':9, 'GGP':10, 'RFS':13, 'SIO':14, 'GIO':15, 'WAIT':27, 'STOP':28,
'SCO':30, 'GCO':31, 'CCO':32, 'VER':136, 'RST':255}
self.position = 0
self.speed = 0.0
self.timeout = 2.
self.writeTimeout = 0.0
self.connected = None
self.port = None
self.portName = None
self.errorDict = {1:'Wrong checksum', 2:'Invalid command', 3:'Wrong type', 4:'Invalid value',
5:'Configuration EEPROM locked', 6:'Command not available'}
self.maxModuleCurrent = 1.6
def connect(self):
logger.info('Connecting to {0}:{1}'.format(self.ipaddr,self.port))
try:
netAddr=(self.ipaddr, self.port)
self.netsock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.netsock.connect(netAddr)
self.netsock.setblocking(1)
self.netsock.settimeout(5.0)
except socket.error as e:
logger.info(e)
print e
print 'Could not connect to {0}:{1}. '\
'Please check network configuration.'.format(self.ipaddr,self.port)
print 'exit..'
exit()
def __enter__(self):
#self.connect()
return self
def sendCommand(self, cmd, type, motor, value):
adr = 1
try:
command = self.commandDict[cmd]
except KeyError:
return 'Wrong command'
tmp = struct.pack('BBBBi', adr, command, type, motor, value)
checksum = sum(struct.unpack('BBBBBBBB', tmp)) % 256
TxBuffer = struct.pack('>BBBBiB', adr, command, type, motor, value, checksum)
if self.connected == 'RS485':
if self.port.inWaiting() > 0:
self.port.flushInput()
self.port.flushOutput()
self.port.write(TxBuffer)
elif self.connected == 'TCP':
self.port.send(TxBuffer)
return TxBuffer
def read(self):
hoge = ''
def reconnect(self):
print 'Reconnecting...'
if self.connected == 'RS485':
self.close()
self.connectRS485(self.portName, self.baudrate)
elif self.connected == 'TCP':
self.close()
self.connectTCP(self.portName[0], self.portName[1])
print 'Testing connection:'
self.sendCommand('GAP', 1, 0, 0)
if self.connected == 'RS485':
RxBuffer = self.port.read(9)
elif self.connected == 'TCP':
RxBuffer = self.port.recv(9)
else:
RxBuffer = ''
if RxBuffer.__len__() != 9:
status = 0
self.close()
raise MotorError('Reconnection failed.')
else:
status = 1
print '...ok'
return status
def connectTCP(self, ipadr, port):
self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
self.port.connect((ipadr, port))
self.port.settimeout(self.timeout)
self.connected = 'TCP'
self.portName = [ipadr, port]
except Exception, e:
print 'Could not connect to TCP', e
def send(self, sendString):
logger.info('Send "{1}" to {0}'.format(self.ipaddr,sendString))
def close(self):
logger.info('Closing controller {0}'.format(self.ipaddr))
self.netsock.close()
logger.info('OK. Bye {0}'.format(self.ipaddr))
def __exit__(self,type, value, traceback):
self.close()
class driver(controller):
def __init__(self,ipaddr):
super(driver,self).init(ipaddr)
#super(driver,self).__init__()
#super(driver,self).init(ipaddr)
#print "here"
def __enter__(self):
super(driver,self).__enter__()
return self
def ask_driver_error(self):
self.send('TE?')
def ask_position(self,driverAddr,motorAddr):
self.send('%sTP?'%(motorAddr))
def ask_speed(self,driverAddr,motorAddr):
self.send('%sVA?'%(motorAddr))
def check_reply_message(self):
self.read()
logger.info('Reply message is "{0}"'.format(self.reply_message))
return self.reply_message
def check_error_message(self):
self.read()
return errorMessage[int(self.reply_message)]
def set_vel(self,driverAddr,motorAddr,vel):
""" Max velocity
standard motor : 2000[step/sec] maybe..
tiny motor : 1750[step/sec]
"""
self.send('%s>%sVA%s'%(driverAddr,motorAddr,vel))
def set_acc(self,driverAddr,motorAddr,acc):
self.send('%s>%sAC%s'%(driverAddr,motorAddr,acc))
def move_step(self,driverAddr,motorAddr,count):
self.send('%s>%sPR%d'%(driverAddr,motorAddr,count))
def stop_motor(self,driverAddr,motorAddr):
self.send('%s>%sST'%(driverAddr,motorAddr))
def abort(self):
self.send('AB')
def soft_stop(self):
self.send('ST')
def restart(self):
self.send('RS')
def __exit__(self,type, value, traceback):
#self.stop_motor("1","1") # stop all motor
super(driver,self).__exit__(type, value, traceback)
def getTargetPosition(self):
cmd = 'GAP' # Get axis parameter
type = 4 # Target speed... maybe use 4 (max pos speed)?
value = 0 # don't care
motor = 1
self.sendCommand(cmd, type, motor, value)
data = self.receiveData()
if data.status != 100:
if self.errorDict.has_key(data.status):
raise MotorError(self.errorDict[data.status])
elif data.status == None:
raise MotorError('Incorrect controller response, trying to reconnect')
else:
raise MotorError(''.join(('Unknown error, ', str(data.status))))
return data.value
if __name__ == "__main__":
with driver("172.168.1.60") as k1stepper:#,4001
k1stepper.reconnect()
k1stepper.set_vel(1,1,1000)
k1stepper.set_acc(1,1,500)
k1stepper.move_step(1,1,1000)
k1stepper.check_reply_message()
#print k1stepper.getTargetPosition()
picomotor_ver2/picomotor_ver2/Trinamic_control6110_edit.py 0 → 100644
View file @ 4ddedfdf
#
# -*- coding:utf-8 -*-
import socket
import time
import logging
import logging.config
from __init__ import get_module_logger
logger = get_module_logger(__name__)
class controller(object):
def init(self,ipaddr):
self.ipaddr = ipaddr
self.port = 23
self.BUFFER_SIZE = 4096
self.reply_message = None
self.connect()
self.maxModuleCurrent = 1.6
def __init__(self):
self.commandDict = {'ROR':1, 'ROL':2, 'MST':3, 'MVP':4, 'SAP':5, 'GAP':6,
'STAP':7, 'RSAP':8, 'SGP':9, 'GGP':10, 'RFS':13, 'SIO':14, 'GIO':15, 'WAIT':27, 'STOP':28,
'SCO':30, 'GCO':31, 'CCO':32, 'VER':136, 'RST':255}
self.position = 0
self.speed = 0.0
self.timeout = 2.
self.writeTimeout = 0.0
self.connected = None
self.port = None
self.portName = None
self.errorDict = {1:'Wrong checksum', 2:'Invalid command', 3:'Wrong type', 4:'Invalid value',
5:'Configuration EEPROM locked', 6:'Command not available'}
self.maxModuleCurrent = 1.6
def connect(self):
logger.info('Connecting to {0}:{1}'.format(self.ipaddr,self.port))
try:
netAddr=(self.ipaddr, self.port)
self.netsock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.netsock.connect(netAddr)
self.netsock.setblocking(1)
self.netsock.settimeout(5.0)
except socket.error as e:
logger.info(e)
print e
print 'Could not connect to {0}:{1}. '\
'Please check network configuration.'.format(self.ipaddr,self.port)
print 'exit..'
exit()
def __enter__(self):
#self.connect()
return self
def sendCommand(self, cmd, type, motor, value):
adr = 1
try:
command = self.commandDict[cmd]
except KeyError:
return 'Wrong command'
tmp = struct.pack('BBBBi', adr, command, type, motor, value)
checksum = sum(struct.unpack('BBBBBBBB', tmp)) % 256
TxBuffer = struct.pack('>BBBBiB', adr, command, type, motor, value, checksum)
if self.connected == 'RS485':
if self.port.inWaiting() > 0:
self.port.flushInput()
self.port.flushOutput()
self.port.write(TxBuffer)
elif self.connected == 'TCP':
self.port.send(TxBuffer)
return TxBuffer
def read(self):
hoge = ''
def reconnect(self):
print 'Reconnecting...'
if self.connected == 'RS485':
self.close()
self.connectRS485(self.portName, self.baudrate)
elif self.connected == 'TCP':
self.close()
self.connectTCP(self.portName[0], self.portName[1])
print 'Testing connection:'
self.sendCommand('GAP', 1, 0, 0)
if self.connected == 'RS485':
RxBuffer = self.port.read(9)
elif self.connected == 'TCP':
RxBuffer = self.port.recv(9)
else:
RxBuffer = ''
if RxBuffer.__len__() != 9:
status = 0
self.close()
raise MotorError('Reconnection failed.')
else:
status = 1
print '...ok'
return status
def connectTCP(self, ipadr, port):
self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
self.port.connect((ipadr, port))
self.port.settimeout(self.timeout)
self.connected = 'TCP'
self.portName = [ipadr, port]
except Exception, e:
print 'Could not connect to TCP', e
def send(self, sendString):
logger.info('Send "{1}" to {0}'.format(self.ipaddr,sendString))
def close(self):
logger.info('Closing controller {0}'.format(self.ipaddr))
self.netsock.close()
logger.info('OK. Bye {0}'.format(self.ipaddr))
def __exit__(self,type, value, traceback):
self.close()
class driver(controller):
def __init__(self,ipaddr):
super(driver,self).init(ipaddr)
#super(driver,self).__init__()
#super(driver,self).init(ipaddr)
def __enter__(self):
super(driver,self).__enter__()
return self
def ask_driver_error(self):
self.send('TE?')
def ask_position(self,driverAddr,motorAddr):
self.send('%sTP?'%(motorAddr))
def ask_speed(self,driverAddr,motorAddr):
self.send('%sVA?'%(motorAddr))
def check_reply_message(self):
self.read()
logger.info('Reply message is "{0}"'.format(self.reply_message))
return self.reply_message
def check_error_message(self):
self.read()
return errorMessage[int(self.reply_message)]
def set_vel(self,driverAddr,motorAddr,vel):
""" Max velocity
standard motor : 2000[step/sec] maybe..
tiny motor : 1750[step/sec]
"""
self.send('%s>%sVA%s'%(driverAddr,motorAddr,vel))
def set_acc(self,driverAddr,motorAddr,acc):
self.send('%s>%sAC%s'%(driverAddr,motorAddr,acc))
def move_step(self,driverAddr,motorAddr,count):
self.send('%s>%sPR%d'%(driverAddr,motorAddr,count))
def stop_motor(self,driverAddr,motorAddr):
self.send('%s>%sST'%(driverAddr,motorAddr))
def abort(self):
self.send('AB')
def soft_stop(self):
self.send('ST')
def restart(self):
self.send('RS')
def __exit__(self,type, value, traceback):
#self.stop_motor("1","1") # stop all motor
super(driver,self).__exit__(type, value, traceback)
def getTargetPosition(self):
cmd = 'GAP' # Get axis parameter
type = 4 # Target speed... maybe use 4 (max pos speed)?
value = 0 # don't care
motor = 1
self.sendCommand(cmd, type, motor, value)
data = self.receiveData()
if data.status != 100:
if self.errorDict.has_key(data.status):
raise MotorError(self.errorDict[data.status])
elif data.status == None:
raise MotorError('Incorrect controller response, trying to reconnect')
else:
raise MotorError(''.join(('Unknown error, ', str(data.status))))
return data.value
if __name__ == "__main__":
with driver("172.168.1.60") as k1stepper:#,4001
#k1stepper.reconnect()
k1stepper.restart()
k1stepper.set_vel(1,1,1750)
k1stepper.set_acc(1,1,10000)
k1stepper.move_step(1,1,1000)
#print k1stepper.getTargetPosition()
picomotor_ver2/picomotor_ver2/__init__.py 0 → 100644
View file @ 4ddedfdf
"""
this is for adl MIYOPICO_ver1.adl.
"""
import logging
def get_module_logger(modname):
#logging.config.fileConfig('logging.conf')
logging.config.fileConfig('/home/controls/Desktop/picomotor_ver2/picomotor_ver2/logging.conf')
logger = logging.getLogger('logExample')
return logger
picomotor_ver2/picomotor_ver2/__main__.py 0 → 100644
View file @ 4ddedfdf
import pcaspico
import newfocus8742
import sys
import time
import logging
import logging.config
from __init__ import get_module_logger
logger = get_module_logger(__name__)
try :
prefix = sys.argv[1]
driverIP = sys.argv[2]
#import subprocess
#pl = subprocess.Popen('ps alx | grep {0}'.format(prefix,driverIP),shell=True,stdout=subprocess.PIPE).communicate()[0]
#print pl
#exit()
except IndexError:
sys.exit("python2 -m K1:PICO-MCI_IM_ 172.168.1.60.")
print prefix,driverIP
picoserver = pcaspico.PcasServer(prefix,newfocus8742.driver(driverIP))
try:
logger.info("Start server!")
picoserver.run()
except KeyboardInterrupt:
mydriver.close()
print e
print 'Detect keyboard interrupt. Bye!'
#logger.info("KeyboardInterrupt")
#logger.info("Bye")
exit()
pass
'''
try:
picoserver.run()
except KeyboardInterrupt as e:
mydriver.close()
print e
print 'Detect keyboard interrupt. Bye!'
exit()
'''
picomotor_ver2/picomotor_ver2/config.py 0 → 100644
View file @ 4ddedfdf
def pvdb_dof(i):
_REV = '{0}_REV'.format(i)
_FWD = '{0}_FWD'.format(i)
_POSITION = '{0}_POSITION'.format(i)
_STEP = '{0}_STEP'.format(i)
_SPEED = '{0}_SPEED'.format(i)
pvdb = {
_REV: {
'prec': 4,
'value': 0,
},
_FWD: {
'prec': 4,
'value': 0,
},
_POSITION: {
'prec': 10,
'value': 0,
},
_STEP: {
'prec': 5,
'value': 34,
},
_SPEED: {
'prec': 4,
'value': 500,
},
}
return pvdb
pvdb = pvdb_dof(1)
pvdb.update(pvdb_dof(2))
pvdb.update(pvdb_dof(3))
pvdb.update(pvdb_dof(4))
_ERROR = 'ERROR'
_ERRORMESSAGE = 'ERRORMESSAGE'
_STATUS = 'STATUS'
_COMMAND = 'COMMAND'
dic = {\
_ERROR: {
'prec': 3,
'value': 0,
},
_ERRORMESSAGE: {
'type':'string',
},
_STATUS: {
'prec': 3,
'value': 0,
},
_COMMAND: {
'type':'string',
},
}
pvdb.update(dic)
if __name__ == '__main__':
print pvdb
picomotor_ver2/picomotor_ver2/log.txt 0 → 100644
View file @ 4ddedfdf
This diff is collapsed.
picomotor_ver2/picomotor_ver2/logging.conf 0 → 100644
View file @ 4ddedfdf
[loggers]
keys=root, logExample
[handlers]
keys=consoleHandler, fileHandler
[formatters]
keys=logFormatter
[logger_root]
level=DEBUG
handlers=consoleHandler
[logger_logExample]
level=DEBUG
handlers=consoleHandler, fileHandler
qualname=logExample
propagate=0
[handler_consoleHandler]
class=StreamHandler
level=DEBUG
formatter=logFormatter
args=(sys.stdout,)
[handler_fileHandler]
#class=handlers.RotatingFileHandler
class=FileHandler
level=DEBUG
formatter=logFormatter
args=('pico.log',)
#args=('log.log', 'S', 1, 10)
[formatter_logFormatter]
format=%(asctime)s - %(name)s - %(levelname)s - %(message)s
#datefmt=
\ No newline at end of file
picomotor_ver2/picomotor_ver2/newfocus8742.py 0 → 100644
View file @ 4ddedfdf
#
#!coding:utf-8
import socket
#import select
import time
import logging
import logging.config
from __init__ import get_module_logger
logger = get_module_logger(__name__)
errorMessage = \
{
-1 :"TIMEOUT",
0 :"NO ERROR DETECTED",
3 :"OVER TEMPERATURE SHUTDOWN",
6 :"COMMAND DOES NOT EXIST",
7 :"PARAMETER OUT OF RANGE",
9 :"AXIS NUMBER OUT OF RANGE",
10 :"EEPROM WRITE FAILED",
11 :"EEPROM READ FAILED",
37 :"AXIS NUMBER MISSING",
38 :"COMMAND PARAMETER MISSING",
46 :"RS-485 ETX FAULT DETECTED",
47 :"RS-485 CRC FAULT DETECTED",
48 :"CONTROLLER NUMBER OUT OF RANGE",
49 :"SCAN IN PROGRESS",
100:"MOTOR_1 TYPE NOT DEFINED",
200:"MOTOR_2 TYPE NOT DEFINED",
300:"MOTOR_3 TYPE NOT DEFINED",
400:"MOTOR_4 TYPE NOT DEFINED",
101:"MOTOR_1 PARAMETER OUT OF RANGE",
102:"MOTOR_2 PARAMETER OUT OF RANGE",
103:"MOTOR_3 PARAMETER OUT OF RANGE",
104:"MOTOR_4 PARAMETER OUT OF RANGE",
108:"MOTOR_1 NOT CONNECTED",
208:"MOTOR_2 NOT CONNECTED",
308:"MOTOR_3 NOT CONNECTED",
408:"MOTOR_4 NOT CONNECTED",
110:"MOTOR_1 MAXIMUM VELOCITY EXCEEDED",
210:"MOTOR_2 MAXIMUM VELOCITY EXCEEDED",
310:"MOTOR_3 MAXIMUM VELOCITY EXCEEDED",
410:"MOTOR_4 MAXIMUM VELOCITY EXCEEDED",
111:"MOTOR_1 MAXIMUM ACCELERATION EXCEEDED",
211:"MOTOR_2 MAXIMUM ACCELERATION EXCEEDED",
311:"MOTOR_3 MAXIMUM ACCELERATION EXCEEDED",
411:"MOTOR_4 MAXIMUM ACCELERATION EXCEEDED",
114:"MOTOR_1 MOTION IN PROGRESS",
214:"MOTOR_2 MOTION IN PROGRESS",
314:"MOTOR_3 MOTION IN PROGRESS",
414:"MOTOR_4 MOTION IN PROGRESS",
}
class controller(object):
def __init__(self,ipaddr):
self.ipaddr = ipaddr
self.port = 23
self.BUFFER_SIZE = 4096
self.reply_message = None
self.connect()
def connect(self):
logger.info('Connecting to {0}:{1}'.format(self.ipaddr,self.port))
try:
netAddr=(self.ipaddr, self.port)
self.netsock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.netsock.connect(netAddr)
self.netsock.setblocking(1)
self.netsock.settimeout(1.0)
except socket.error as e:
logger.info(e)
print e
print 'Could not connect to {0}:{1}. '\
'Please check network configuration.'.format(self.ipaddr,self.port)
print 'exit..'
exit()
except Exception as e:
logger.info(e)
print e
exit()
def __enter__(self):
#self.connect()
return self
def read(self):
time.sleep(0.1)
#print time.sleep
try:
data = self.netsock.recv(self.BUFFER_SIZE)
data = data.replace('\xff\xfb\x01\xff\xfb\x03','')
#print "2",data
data = data.replace('\r\n','')
text = ([chr(ord(i)) for i in data])
data = int(''.join(text))
#print "3",data
self.reply_message = data
except Exception as e:
logger.warning(e)
logger.warning('failed data receiving')
self.reply_message = -1
def send(self, sendString):
logger.info('Send "{1}" to {0}'.format(self.ipaddr,sendString))
try:
self.netsock.send(sendString+'\n')
except socket.error as e:
logger.info(e)
logger.info("Reconnecting..")
self.connect()
except Exception as e:
logger.info(e)
print type(e)
print dir(e)
logger.info("Exit. Bye")
exit()
def close(self):
logger.info('Closing controller {0}'.format(self.ipaddr))
self.netsock.close()
logger.info('OK. Bye {0}'.format(self.ipaddr))
def __exit__(self,type, value, traceback):
self.close()
class driver(controller):
def __init__(self,ipaddr):
super(driver,self).__init__(ipaddr)
self.ipaddr = ipaddr
#self.set_acc(2,1,500)
#self.set_vel(2,1,500)
def __enter__(self):
super(driver,self).__enter__()
return self
def reconnect(self):
self.__init__(self.ipaddr)
def ask_driver_error(self):
self.send('TE?')
def ask_position(self,driverAddr,motorAddr):
self.send('%sTP?'%(motorAddr))
def ask_speed(self,driverAddr,motorAddr):
self.send('%sVA?'%(motorAddr))
def check_reply_message(self):
self.read()
logger.info('Reply message is "{0}"'.format(self.reply_message))
return self.reply_message
def check_error_message(self):
try:
logger.info('Reply message is "{0}"'.format(errorMessage[int(self.reply_message)]))
return errorMessage[int(self.reply_message)]
except:
pass
return -34
def set_vel(self,driverAddr,motorAddr,vel):
""" Max velocity
standard motor : 2000[step/sec] maybe..
tiny motor : 1750[step/sec]
"""
self.send('%s>%sVA%s'%(driverAddr,motorAddr,vel))
def set_acc(self,driverAddr,motorAddr,acc):
self.send('%s>%sAC%s'%(driverAddr,motorAddr,acc))
def move_step(self,driverAddr,motorAddr,count):
self.send('%s>%sPR%d'%(driverAddr,motorAddr,count))
def stop_motor(self,driverAddr,motorAddr):
self.send('%s>%sST'%(driverAddr,motorAddr))
def abort(self):
self.send('AB')
def soft_stop(self):
self.send('ST')
def restart(self):
self.send('RS')
def __exit__(self,type, value, traceback):
self.stop_motor("1","1") # stop all motor
#super(driver,self).__exit__(type, value, traceback)
if __name__ == "__main__":
with driver("172.168.1.60") as k1pico:#10.68.150.22
k1pico.ask_position(2,1)
k1pico.set_acc(2,1,1000)
k1pico.set_vel(2,1,1000)
k1pico.move_step(2,1,50000)
k1pico.check_reply_message()
#k1pico.stop_motor(2,1)
#k1pico.restart()
#k1pico.ask_driver_error()
#k1pico.check_reply_message()
#k1pico.ask_speed(1,1)
#k1pico.check_reply_message()
picomotor_ver2/picomotor_ver2/newfocus8742.py~ 0 → 100644
View file @ 4ddedfdf
#
#!coding:utf-8
import socket
#import select
import time
import logging
import logging.config
from __init__ import get_module_logger
logger = get_module_logger(__name__)
errorMessage = \
{
-1 :"TIMEOUT",
0 :"NO ERROR DETECTED",
3 :"OVER TEMPERATURE SHUTDOWN",
6 :"COMMAND DOES NOT EXIST",
7 :"PARAMETER OUT OF RANGE",
9 :"AXIS NUMBER OUT OF RANGE",
10 :"EEPROM WRITE FAILED",
11 :"EEPROM READ FAILED",
37 :"AXIS NUMBER MISSING",
38 :"COMMAND PARAMETER MISSING",
46 :"RS-485 ETX FAULT DETECTED",
47 :"RS-485 CRC FAULT DETECTED",
48 :"CONTROLLER NUMBER OUT OF RANGE",
49 :"SCAN IN PROGRESS",
100:"MOTOR_1 TYPE NOT DEFINED",
200:"MOTOR_2 TYPE NOT DEFINED",
300:"MOTOR_3 TYPE NOT DEFINED",
400:"MOTOR_4 TYPE NOT DEFINED",
101:"MOTOR_1 PARAMETER OUT OF RANGE",
102:"MOTOR_2 PARAMETER OUT OF RANGE",
103:"MOTOR_3 PARAMETER OUT OF RANGE",
104:"MOTOR_4 PARAMETER OUT OF RANGE",
108:"MOTOR_1 NOT CONNECTED",
208:"MOTOR_2 NOT CONNECTED",
308:"MOTOR_3 NOT CONNECTED",
408:"MOTOR_4 NOT CONNECTED",
110:"MOTOR_1 MAXIMUM VELOCITY EXCEEDED",
210:"MOTOR_2 MAXIMUM VELOCITY EXCEEDED",
310:"MOTOR_3 MAXIMUM VELOCITY EXCEEDED",
410:"MOTOR_4 MAXIMUM VELOCITY EXCEEDED",
111:"MOTOR_1 MAXIMUM ACCELERATION EXCEEDED",
211:"MOTOR_2 MAXIMUM ACCELERATION EXCEEDED",
311:"MOTOR_3 MAXIMUM ACCELERATION EXCEEDED",
411:"MOTOR_4 MAXIMUM ACCELERATION EXCEEDED",
114:"MOTOR_1 MOTION IN PROGRESS",
214:"MOTOR_2 MOTION IN PROGRESS",
314:"MOTOR_3 MOTION IN PROGRESS",
414:"MOTOR_4 MOTION IN PROGRESS",
}
class controller(object):
def __init__(self,ipaddr):
self.ipaddr = ipaddr
self.port = 23
self.BUFFER_SIZE = 4096
self.reply_message = None
self.connect()
def connect(self):
logger.info('Connecting to {0}:{1}'.format(self.ipaddr,self.port))
try:
netAddr=(self.ipaddr, self.port)
self.netsock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.netsock.connect(netAddr)
self.netsock.setblocking(1)
self.netsock.settimeout(1.0)
except socket.error as e:
logger.info(e)
print e
print 'Could not connect to {0}:{1}. '\
'Please check network configuration.'.format(self.ipaddr,self.port)
print 'exit..'
exit()
except Exception as e:
logger.info(e)
print e
exit()
def __enter__(self):
#self.connect()
return self
def read(self):
time.sleep(0.1)
#print time.sleep
try:
data = self.netsock.recv(self.BUFFER_SIZE)
data = data.replace('\xff\xfb\x01\xff\xfb\x03','')
#print "2",data
data = data.replace('\r\n','')
text = ([chr(ord(i)) for i in data])
data = int(''.join(text))
#print "3",data
self.reply_message = data
except Exception as e:
logger.warning(e)
logger.warning('failed data receiving')
self.reply_message = -1
def send(self, sendString):
logger.info('Send "{1}" to {0}'.format(self.ipaddr,sendString))
try:
self.netsock.send(sendString+'\n')
except socket.error as e:
logger.info(e)
logger.info("Reconnecting..")
self.connect()
except Exception as e:
logger.info(e)
print type(e)
print dir(e)
logger.info("Exit. Bye")
exit()
def close(self):
logger.info('Closing controller {0}'.format(self.ipaddr))
self.netsock.close()
logger.info('OK. Bye {0}'.format(self.ipaddr))
def __exit__(self,type, value, traceback):
self.close()
class driver(controller):
def __init__(self,ipaddr):
super(driver,self).__init__(ipaddr)
self.ipaddr = ipaddr
#self.set_acc(2,1,500)
#self.set_vel(2,1,500)
def __enter__(self):
super(driver,self).__enter__()
return self
def reconnect(self):
self.__init__(self.ipaddr)
def ask_driver_error(self):
self.send('TE?')
def ask_position(self,driverAddr,motorAddr):
self.send('%sTP?'%(motorAddr))
def ask_speed(self,driverAddr,motorAddr):
self.send('%sVA?'%(motorAddr))
def check_reply_message(self):
self.read()
logger.info('Reply message is "{0}"'.format(self.reply_message))
return self.reply_message
def check_error_message(self):
try:
logger.info('Reply message is "{0}"'.format(errorMessage[int(self.reply_message)]))
return errorMessage[int(self.reply_message)]
except:
pass
return -34
def set_vel(self,driverAddr,motorAddr,vel):
""" Max velocity
standard motor : 2000[step/sec] maybe..
tiny motor : 1750[step/sec]
"""
self.send('%s>%sVA%s'%(driverAddr,motorAddr,vel))
def set_acc(self,driverAddr,motorAddr,acc):
self.send('%s>%sAC%s'%(driverAddr,motorAddr,acc))
def move_step(self,driverAddr,motorAddr,count):
self.send('%s>%sPR%d'%(driverAddr,motorAddr,count))
def stop_motor(self,driverAddr,motorAddr):
self.send('%s>%sST'%(driverAddr,motorAddr))
def abort(self):
self.send('AB')
def soft_stop(self):
self.send('ST')
def restart(self):
self.send('RS')
def __exit__(self,type, value, traceback):
self.stop_motor("1","1") # stop all motor
#super(driver,self).__exit__(type, value, traceback)
if __name__ == "__main__":
with driver("172.168.1.60") as k1pico:#10.68.150.22
k1pico.ask_position(2,1)
k1pico.set_acc(2,1,1000)
k1pico.set_vel(2,1,1000)
k1pico.move_step(2,1,-100000)
k1pico.check_reply_message()
#k1pico.stop_motor(2,1)
#k1pico.restart()
#k1pico.ask_driver_error()
#k1pico.check_reply_message()
#k1pico.ask_speed(1,1)
#k1pico.check_reply_message()
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