Axes

class pylayers.measures.parker.smparker.Axes(_id=1, name='x', ser='emulated', scale=1280000, typ='t')

Bases: pylayers.util.project.PyLayers

This class allows the control of axes

svar : system variables dstatus : status bits dusrflt : user faults ddrvflt : drive faults

Attributes Summary

ddrvflt
dstatus
dusrflt
dvar

Methods Summary

acceleration([value, cmd])	set/get acceleration
add_profile(**kwargs)	add a new profile to lprofile
close()
com([command, verbose])	send command to serial port
del_profile([index])	delete profile
fromfile(cmdfile[, dirfile])
getvar([lvar])	allows get state of variables
go()	move axes in translation or rotation
home([cmd])	enables back home for each axe.
info()	gives informations about system variables of PARKER
limits([cmd])	give state and set up limits
mvpro(id_pro)	move according to specified profile
parsinfo([cmd])	allows get parsing informations.
reg([typ])	read boolean quantities in registers : ST, UF, DF
reset()	reset axis
set_profile(num)
show()
stationnary()	test bit in status ST
step([value, cmd])	set/get distance
velocity([value, cmd])	set/get velocity

Attributes Documentation

ddrvflt = {1: 'Composite Fault', 2: 'Output stage over curent', 3: 'Supply rail failure', 4: 'Ambient over temperature', 5: 'Drive over temperature', 6: 'Configuration error', 7: 'Motor high voltage rail failure', 8: 'Output fault'}

dstatus = {1: 'command processing paused', 2: 'looping', 3: 'wait for trigger', 4: 'running program', 5: 'going home', 6: 'waiting for delay timeout', 7: 'registration in progress', 9: 'motor energised', 11: 'event trigger active until trigger inputs are reset', 12: 'input in LSEL not matching label', 13: '-ve : Fin de course atteint', 14: '+ve Fin de course atteint', 19: 'moving', 20: 'stationnary', 21: 'no registration signal seen in registration window', 22: 'cannot stop within the defined regisration distance'}

dusrflt = {1: 'value is out of range', 2: 'incorrect command syntax', 3: 'last label already in use', 4: 'label of this name not defined', 5: 'missing Z pulse when homing', 6: 'homing failed no signal detected', 7: 'home signal too narrow', 8: 'drive de-energised', 9: 'cannot related end statement to a label', 10: 'program memory buffer full', 11: 'no more motion profiles avaible', 12: 'no more sequence labels avaible', 13: 'end of travel limit hit', 14: 'still moving', 15: 'deceleration error', 16: 'transmit buffer overflow', 17: 'user program nesting overflow', 18: 'cannot use an undefined profile', 19: 'drive not ready', 22: 'save error', 23: 'command not supported by this product'}

dvar = {'BU': 'Buffer usage', 'CQ': 'Command queuing', 'DF': 'Drive fault status', 'EI': 'Encoder input', 'EO': 'Encoder signal output', 'EP': 'Encoder position', 'ER': 'Feedback encoder resolution', 'EX': 'Coms response style & echo control', 'IN': 'Inputs', 'IP': 'In position flag', 'IT': 'In position time', 'MC': 'Motor current', 'MR': 'Motor resolution', 'MS': 'Motor standby current', 'MV': 'Moving', 'PA': 'Position absolute', 'PE': 'Position error', 'PI': 'Position incremental', 'RB': 'Ready/Busy flag', 'RM': 'Registration Move', 'RV': 'Revision software', 'SN': 'Serial number', 'ST': 'Status of indexing', 'UF': 'User Program Fault status'}

Methods Documentation

acceleration(value=10, cmd='get')

set/get acceleration

value : int cmd : string

{set | get}

>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> A.velocity(value=10)
>>> A.velocity(cmd='get')

add_profile(**kwargs)

add a new profile to lprofile

num : profile number aa : aceleration (rps2) ad : deceleration (rps2) dstep : distance (step) v : vmax (rps) vs : vstart (rps) spr : steps per round

close()

com(command='R(SN)', verbose=False)

send command to serial port

prefix : str command prefix (command=’R(SN)’) arg : command argument verbose :

>>> # Some suitable commands
>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> st=A.com('ON') #Energized motor
>>> st=A.com('LIMITS(1,0,0)') #Disable limit +,limits normally open, mode 0 stop motion and abort prog
>>> st=A.com('V15') # Change velocity to 15
>>> st=A.com('AA15') # Change acceleration to 15
>>> st=A.com('AD15') # Change deceleration to 15

del_profile(index=1)

delete profile

index : int

>>> A.del_profile(num_profil)

fromfile(cmdfile, dirfile='./DriverFiles')

getvar(lvar=[])

allows get state of variables

lvar : list of variables

>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> A.getvar('PA') #Get Position absolute

go()

move axes in translation or rotation

var : distance (cm) | degres () vel : velocity (rps) aa : acceleration (rps)

>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> R = Axes(3,'ang',typ='r',scale=2111.1111,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> A.step(value=0.1,cmd='set')
>>> A.go() # moves over 10cm on axis 1
>>> R.go() # moves over 45 on axis 3

home(cmd='set', **kwargs)

enables back home for each axe.

for more informations see Parker book page 108.

cmd : ‘set’|’go’ mode : int

0The indexer positions the motor in the active window of the

switch (default setting)

1 : The motor is positioned to the required edge of the switch + or - 2 : The indexer is set to seek the nearest drive zero phase

position to improve homing repetability

vel : velocity and direction acc : acceleration (and deceleration) edg : this parameter is used to to select the required edge of the

home switch

typboolean used to select the type of switch to be used for homing

1 : Home switch normally closed 0 : Home switch normally open (default)

armedboolean

0 : turned OFF 1 : turned ON

info()

gives informations about system variables of PARKER

>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> st = A.info()

limits(cmd='get', **kwargs)

give state and set up limits

cmd : ‘get’|’set’ mask : int

0 : Enable limits (default setting) 1 : Disable limit + 2 : Disable limit - 3 : Disable limit + and -

typboolean

0 : Limits normally closed (default setting) 1 : Limits normally open

modeboolean

0 : Stop motion and abort the prog when a limit is hit 1 : Stop motion and continue the prog when a limit is hit

LD : sets the required deceleration rate after hitting a limit

mvpro(id_pro)

move according to specified profile

axis id_pro

str

>>> from pylayers.measures.parker import smparker
>>> A = Axes()
>>> A.mvpro(1)

parsinfo(cmd='HOME')

allows get parsing informations.

cmd : ‘LSEL’ | ‘HOME’ | ‘LIMITS’

reg(typ='ST')

read boolean quantities in registers : ST, UF, DF

ST : Status (default) UF : User Faults DF : Drive Faults

>>> # To check and parse the axis status
>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> A.reg('ST')
>>> #scans over axis 1 by given status

reset()

reset axis

>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> A.reset() #reset axis X

set_profile(num)

show()

stationnary()

test bit in status ST

>>> # To check and parse the axis status
>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> A.reg('ST')

>>> from pylayers.measures.parker import smparker
>>> S = smparker.Scanner()
>>> S.a[1].stationnary()
>>> #scans over axis 1 by given status

step(value=0.1, cmd='get')

set/get distance

value : int cmd : string

{set | get}

>>> from pylayers.measures.parker import smparker
>>> S = Scanner()
>>> S.a[4].step(-0.1,cmd='set')

velocity(value=10, cmd='get')

set/get velocity

value : int cmd : string

{set | get}

>>> from pylayers.measures.parker import smparker
>>> A = Axes(1,'x',typ='t',scale=1280000,ser=Serial(port=gettty(),baudrate=9600,timeout=0.05))
>>> A.velocity(value=10)
>>> A.velocity(cmd='get')