#%TITLE% newport_agilis.mac
#%NAME% newport_agilis.mac - Macros to control the Newport Agilis piezo
# motor controller AG-M100. This one has been modified to be connected to a
# serial line. Normally, they have only USB.
#$Revision: 1.0 $
#%DESCRIPTION%
# First declare a serial line
#\0SERIAL\0\0\0\0\0\0\0\0DEVICE\0<>TYPE\0\0<>BAUD\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0<>MODE
#\00\0\0YES\0\0\0\0/dev/ttyS0\0\0\0\0\0<>\0\0115200\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0raw
#%BR%
# To define a macro motor controller you must define
# a motor controller in config, ADDR is the serial line index number.
#
#\0\0\0MOTORS\0\0\0\0\0\0\0DEVICE\0\0\0\0ADDR\0\0\0<>MODE\0\0\0\0\0\0NUM\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0<>TYPE
#\0\0\0\0\0\0YES\0\0\0\0\0\0\0laser\0\0\0\0\04\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\01\0\0\0\0\0\0\0\0\0\0Macro\0Motors
#
# Then declare a motor with that controller.
#
#%B%make\0this\0window\0bigger\0for\0better\0reading!%B%
#%SETUP%
# The defaults for the serial line :%BR%
# Baud Rate = 115200%BR%
# Data Bits = 8%BR%
# Parity = None%BR%
# Stop Bits = 1%BR%
# Flow Control = None%BR%
# Termination Character = CR/LF%BR%
#%END%
need spec_utils
#-----------------------------------------------------------
#%IU%()
#%MDESC% Setting a couple of preset values.
def __agilis_globals() '{
global __AGILIS_ERRORS[], __AGILIS_STATUS[]
__AGILIS_ERRORS["CC"]["-1"] = "Unknown command (only available on AG-UC8)."
__AGILIS_ERRORS["CC"]["-2"] = "Must not specify any channel."
__AGILIS_ERRORS["CC"]["-3"] = "Wrong format for nn (must be integer)."
__AGILIS_ERRORS["CC"]["-4"] = "Wrong value for nn (must be between 0 and 4 included)."
__AGILIS_ERRORS["CC"]["-5"] = "Not allowed in local mode (controller must be in remote)."
__AGILIS_ERRORS["CC"]["-6"] = "Not allowed state (both axes must be in state 0)."
__AGILIS_ERRORS["MR"]["-2"] = "Axis must not be specified."
__AGILIS_ERRORS["MR"]["-3"] = "Parameter must not be specified."
__AGILIS_ERRORS["MR"]["-6"] = "The two axis must be in state 0."
__AGILIS_ERRORS["PR"]["-2"] = "Axis out of range (must be 1 or 2)."
__AGILIS_ERRORS["PR"]["-3"] = "Wrong format for nn (must be integer)."
__AGILIS_ERRORS["PR"]["-5"] = "Not allowed in local mode (controller must be in remote mode)."
__AGILIS_ERRORS["PR"]["-6"] = "Not allowed state (controller must be in state 0)."
__AGILIS_ERRORS["RS"]["-2"] = "Axis must not be specified."
__AGILIS_ERRORS["RS"]["-3"] = "Parameter must not be specified."
__AGILIS_ERRORS["SU"]["-2"] = "Axis out of range (must be 1 or 2)."
__AGILIS_ERRORS["SU"]["-3"] = "Wrong format for nn (must be integer)."
__AGILIS_ERRORS["SU"]["-4"] = "Wrong value for nn (must be an integer between -50 and 50, not zero)."
__AGILIS_ERRORS["SU"]["-5"] = "Not allowed in local mode (controller must be in remote mode)"
__AGILIS_ERRORS["SU"]["-6"] = "Not allowed state (controller must be in state 0)"
__AGILIS_ERRORS["ST"]["-2"] = "Axis out of range (must be 1 or 2)."
__AGILIS_ERRORS["ST"]["-3"] = "Parameter must not be specified."
__AGILIS_ERRORS["ST"]["-5"] = "Not allowed in local mode (controller must be in remote mode)."
__AGILIS_ERRORS["TS"]["-3"] = "Parameter must not be specified."
__AGILIS_ERRORS["TP"]["-2"] = "Axis out of range (must be 1 or 2)."
__AGILIS_ERRORS["TP"]["-3"] = "Parameter must not be specified."
__AGILIS_ERRORS["TP"]["-5"] = "Not allowed in local mode (controller must be in remote mode)."
__AGILIS_ERRORS["TP"]["-6"] = "Not allowed state (axis must not be in state 3)."
__AGILIS_STATUS["TS"]["1"] = "Stepping (currently executing a PR command)"
__AGILIS_STATUS["TS"]["2"] = "Jogging (currently executing a JA command with command parameter different than 0)."
__AGILIS_STATUS["TS"]["3"] = "Moving to limit (currently executing MV, MA, PA commands)"
}
'
# leave those macros alone, if they`re already defined.
if (!(whatis("__npagilisdebug") & 2)) rdef __npagilisdebug \'#$*\'
if (!(whatis("__agilis_simu") & 2)) rdef __agilis_simu \'#$*\'
#%UU%
#%MDESC% toggle debug mode for the present macros.
def agilis_debug '{
if ((whatis("__npagilisdebug")>>16) <= 5) { # just a # sign -> off
rdef __npagilisdebug "eprint \"Agilis: \", "
print "agilis debug is ON"
} else {
rdef __npagilisdebug \'#$*\'
print "agilis debug is OFF"
}
}
'
#%UU%
#%MDESC% toggle simulation mode for the present macros.
def agilis_sim '{
local onoff
if ((whatis("__agilis_simu")>>16) >= 5) {
unglobal __AGILIS
cdef("prompt_mac","","agilis_simu", "delete")
rdef __agilis_simu \'#$*\'
onoff = 0
}
else {
global __AGILIS[]
__AGILIS[1]["SU"] = 16
__AGILIS[2]["SU"] = 16
cdef("prompt_mac",\
"tty_cntl(\"md\");printf(\"AGILIS simulation\"); tty_cntl(\"me\");",\
"agilis_simu")
rdef __agilis_simu \'return __agilis_simulation\'
onoff = 1
}
print "agilis simulation is", onoff ? "on" : "off"
}
'
#-----------------------------------------------------------
#%IU%(addr)
#%MDESC% Setting a couple of preset values. Device and controller ID.
def __agilis_set_serial_parameters(addr) '{
global ESRF_ERR
local __tab[], macro, func
macro = "newport_agilis.mac"
func = "__agilis_set_serial_parameters()"
__npagilisdebug "Setting serial line parameters", addr
__agilis_simu()
if (ser_par(addr, "timeout=1,baud=115200,stop_bits=1,data_bits=8")\
== -1) {
local __errstr
__errstr = macro " ---> " func
__errstr = __errstr " --> ERROR --> ser_par: Can`t set serial "
__errstr = __errstr "parameters."
__agilis_err(__errstr)
}
return(0)
}
'
def __agilis_err(__errstr) '{
__errstr = __errstr "\n"
cprint(__errstr, 3, 1, 1)
}
'
def __agilis_put(addr, send) '{
__agilis_simu(send)
local nchar, str
local cmd, macro, func
macro = "newport_agilis.mac"
func = "__agilis_put()"
str = send "\r\n"
__npagilisdebug func, send
nchar = ser_put(addr, str)
if (length(str) != nchar) {
local __errstr
__errstr = macro " ---> " func " --> ERROR --> ser_put("
__errstr = __errstr addr ", " send ") Not enough characters sent!"
__agilis_err(__errstr)
return ".error."
}
}
'
def __agilis_get(addr) '{
__agilis_simu()
local __l, cmd, macro, func, retval, chksum, loops, __answer
macro = "newport_agilis.mac"
func = "__agilis_get()"
loops = 200
__npagilisdebug func
__answer = ser_get(addr, "\r\n")
if (__answer == -1) {
local __errstr
__errstr = macro " ---> " func " --> ERROR --> ser_put("
__errstr = __errstr addr ", \"\\r\\n\")"
__agilis_err(__errstr)
return ".error."
}
# cut off \r\n
__answer = substr(__answer, 1, length(__answer) -2)
__npagilisdebug "answer: \"" __answer "\""
return __answer
}
'
#%IU%(addr, send)
#%MDESC%
def __agilis_putget(addr, send) '{
__agilis_simu(send)
local macro, func, retval, __answer, __error, __errstr
macro = "newport_agilis.mac"
func = "__agilis_putget()"
__npagilisdebug func, send
if (__agilis_put(addr, send) == ".error.") {
__errstr = macro " ---> " func " --> ERROR --> couldn`t send!"
__agilis_err(__errstr)
return ".error."
}
if ((__answer = __agilis_get(addr)) == ".error.") {
__errstr = macro " ---> " func " --> ERROR --> no answer"
__agilis_err(__errstr)
return ".error."
}
__npagilisdebug func, "answer: ", __answer
return __answer
}
'
#%IU%(addr, send)
#%MDESC%Does the packing of the command with the checksum and the unpacking of
# the answer.
def __agilis_checkerror(addr, cmd) '{
local macro, func, retval, __answer, __error, __errstr
macro = "newport_agilis.mac"
func = "__agilis_checkerror()"
__npagilisdebug func, cmd
if (__agilis_put(addr, "TE") == ".error.") {
__errstr = macro " ---> " func " --> ERROR --> couldn`t send \"TE\"!"
__agilis_err(__errstr)
return ".error."
}
if ((__error = __agilis_get(addr)) == ".error.") {
__errstr = macro " ---> " func " --> ERROR --> no answer after \"TE\""
__agilis_err(__errstr)
return ".error."
}
__npagilisdebug "__error is \"" __error "\""
if (__error == "TE0") {
return
}
else {
__error = substr(__error, 3)
__errstr = "Agilis: ERROR on " cmd " " __AGILIS_ERRORS[cmd][__error]
__agilis_err(__errstr)
return ".error."
}
}
'
def __agilis_simulation(send) '{
__npagilisdebug "__agilis_simu", send
local __cmd chan __answer
__answer = ""
__AGILIS["last"] = send
if (send == "") return "0"
if (send == "TS") return "0"
if (send == "TE") return "0"
if (send == "MR") return ""
if (index(send, "CC") == 1) {
__AGILIS["crtl"] = substr(send,1,1)
return ""
}
chan = substr(send,1,1)
__npagilisdebug "__agilis_simu channel", chan
if (index(send, "PR") == 2) {
__AGILIS[chan]["posi"] = substr(send, 4)
__npagilisdebug "\t\tposition is", __AGILIS[chan]["posi"]
}
if (index(send, "TP") == 2) {
__answer = __AGILIS[chan]["posi"]
__npagilisdebug "\t\treturned position is", __AGILIS[chan]["posi"]
}
if (index(send, "SU") == 2) {
if (substr(send,4,1) == "+") {
__answer = __AGILIS[chan]["SU"]
}
else {
__AGILIS[chan]["SU"] = substr(send,4)
}
}
__npagilisdebug "\t\tanswer is", __answer
return __answer
}
'
#%IU%
#%DESC%
def __agilis_status(addr, axis, quiet) '{
local __cmd, __answer, __errstr
local macro, func, __errstr
macro = "newport_agilis.mac"
func = "__agilis_status()"
__cmd = axis "TS"
__npagilisdebug "agilis_status: "
__answer = __agilis_putget(addr, __cmd)
if (__answer == ".error.") {
__errstr = macro " ---> " func
__errstr = __errstr " --> ERROR on \"TS\"."
__agilis_err(__errstr)
return ".error."
}
__answer = substr(__answer, 4)
__npagilisdebug "agilis_status: answer is", __answer
if (quiet) return __answer
if (__answer == "0") {
return 0
}
else {
__errstr = macro " ---> " func " --> Status: "
__errstr = __errstr __AGILIS_STATUS["TS"][__answer]
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(addr, "TS") == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
}
'
#%IU%
#%DESC% changes the Agilis channel (which in Spec is the module), only if
# necessary. CC command is refused, when used during a movement.
def __agilis_change_module(addr, module) '{
global __AGILIS_MODULE
__npagilisdebug "__agilis_change_module", __AGILIS_MODULE, module
local __cmd, __answer, __errstr
if (module == __AGILIS_MODULE) {
return
}
__cmd = "CC" module
if (__agilis_put(agilis_ADDR, __cmd) == ".error.") {
__errstr = macro " ---> " func " prestart_one --> ERROR on " __cmd "."
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(agilis_ADDR, "CC") == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
__AGILIS_MODULE = module
}
'
#%IU%
#%DESC%
def __agilis_config(mnum, type, unit, module, channel) '{
__npagilisdebug "Configuring", mnum, type, unit, module, channel
local macro, func, __errstr
macro = "newport_agilis.mac"
func = "__agilis_config()"
if (whatis("__AGILIS_ERRORS") != 0x5000004) {
__agilis_globals()
}
if (type == "ctrl") {
if (__agilis_set_serial_parameters(agilis_ADDR) != 0) {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Setting parameters failed"
__agilis_err(__errstr)
return ".error."
}
if (__agilis_put(agilis_ADDR, "MR") == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Setting controller to remote "
__errstr = __errstr "mode \"MR\"."
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(agilis_ADDR, "MR") == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
}
else if (type == "mot") {
if ((module < 1) || (module > 4)) {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR -->\n Channel is not one of 1,2,3,4"
__errstr = __errstr " Motor will be unusable.\n"
__agilis_err(__errstr)
return ".error."
}
if ((channel < 1) || (channel > 2)) {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR -->\n Axis is not one of 1,2"
__errstr = __errstr " Motor will be unusable."
__agilis_err(__errstr)
return ".error."
}
}
}
'
#%IU%
#%DESC% Spec Macro Motor function
def __agilis_cmd(mnum, cmd, p1, p2) '{
__npagilisdebug "Command: mnum", mnum, "cmd", cmd, ", p1", p1, ", p2", p2
if ( mnum == ".." ) {
ser_par(agilis_ADDR, "flush", 2)
return
}
local macro, func, __errstr
macro = "newport_agilis.mac"
func = "__agilis_cmd()"
local module, chan
chan = motor_par(mnum, "channel")
module = motor_par(mnum, "module")
if (cmd == "position" ) {
__npagilisdebug "Command position: "
__cmd = chan "TP"
if ((__pos = __agilis_putget(agilis_ADDR, __cmd)) == ".error.") {
__errstr = macro " ---> " func " prestart_one --> ERROR on " __cmd "."
__agilis_err(__errstr)
return ".error."
}
__npagilisdebug "TP returned", __pos
if (__agilis_checkerror(agilis_ADDR, "TP") == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
__pos = substr(__pos, 4)
__npagilisdebug "position is", __pos
return __pos
}
else
if ( (cmd == "prestart_one") || (cmd == "preread_one") ) {
local __cmd, __answer, __errstr
__npagilisdebug "Command", cmd
if (__agilis_change_module(agilis_ADDR, module) == ".error.") {
return ".error."
}
}
else if ( cmd == "start_one") {
__npagilisdebug "Command start_one: "
__cmd = chan "PR" p2
if (__agilis_put(agilis_ADDR, __cmd) == ".error.") {
__errstr = macro " ---> " func " --> ERROR on \"TS\"."
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(agilis_ADDR, "PR") == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
}
else if ( cmd == "abort_one") {
__npagilisdebug "Command abort_one: "
__cmd = chan "ST"
if (__agilis_put(agilis_ADDR, __cmd) == ".error.") {
__errstr = macro " ---> " func " --> ERROR on \"TS\"."
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(agilis_ADDR) == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
}
else if ( cmd == "get_status") {
__npagilisdebug "Command get_status: "
return __agilis_status(agilis_ADDR, chan, 1) * 2
}
else if ( cmd == "set_position") {
if (p1 != 0) {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Can`t set other than 0."
__agilis_err(__errstr)
return ".error."
}
__cmd = chan "ZP"
if (__agilis_put(agilis_ADDR, __cmd) == ".error.") {
__errstr = macro " ---> " func " --> ERROR on \"TS\"."
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(agilis_ADDR) == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
}
}
'
#%UU% mne [step size]
#%MDESC% Set step amplitude or get step amplitude setting for the motor designated
# with mne.
def agilis_setstepsize '{
if (!$#) {
eprint "Please give motor mnemonic as argument"
exit
}
_check0 "$1"
local chan, module, addr, __cmd, __errst, mne, mnum, __answer
mnum = motor_num("$1")
module = motor_par(mnum, "module")
chan = motor_par(mnum, "channel")
addr = motor_par(mnum, "addr")
mne = "$1"
if ($# == 1) {
__npagilisdebug "agilis_setstepsize: ", mne
if (__agilis_change_module(addr, module) == ".error.") {
__errstr = macro " ---> " func " --> ERROR on CC."
__agilis_err(__errstr)
return ".error."
}
__cmd = chan "SU+"
if ((__answer = __agilis_putget(addr, __cmd)) == ".error.") {
__errstr = macro " ---> " func " --> ERROR"
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(addr) == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
print "Current step size for motor", mne, "(" module "/" chan "):", __answer
}
else {
if (__agilis_change_module(addr, module) == ".error.") {
__errstr = macro " ---> " func " --> ERROR on CC."
__agilis_err(__errstr)
return ".error."
}
__cmd = chan "SU" "$2"
if ((__answer = __agilis_putget(addr, __cmd)) == ".error.") {
__errstr = macro " ---> " func " --> ERROR"
__agilis_err(__errstr)
return ".error."
}
if (__agilis_checkerror(addr) == ".error.") {
__errstr = macro " --> " func
__errstr = __errstr " --> ERROR --> Checking error."
__agilis_err(__errstr)
return ".error."
}
}
}
'
#%MACROS%
#%IMACROS%
#%END%
#%BUGS% Bugs ? What bugs ??
#%AUTHOR%
#Holger (BLISS) for ID18.
#%TOC%
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