#%TITLE% piezo_gcs.mac $Revision: 1.2 $
#%NAME%
# Macros to control a piezo PI controller connected via GPIB line.
# ONLY GCS (General Command Set) compatible PI controller
# can be driven by this macro set.
#%DESCRIPTION%
# This macro file allows to connect a piezo to a macro motor in SPEC.
#
# %BR%Controllers currently supported are:
#%DL%
#%DT%PI E-516 (GPIB)%DD%
#%XDL%
#
# For debug purpose mainly, it's also possible to configure a macro
# counter that will read the position of a piezo axis. But to avoid
# duplicating parameters, the counter has no parameter and takes them
# from its corresponding macro motor. In order to guess the motor
# to use, the name of the counter must be the same as the motor with
# %B%\"_c\"%B% added at the end.
# For instance: %B%\"nnn_x_c\"%B% for %B%\"nnn_x\"%B%
#
#%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 "piezogcs"
# %DT% TYPE
# set to "Macro Motor"
# %DT% ADDR
# set to the GPIB_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%
# %DT% 3)
# In the config file add for %B%each%B% motor (%B%WARNING%B%: these
# parameters are critical and can damage your hardware if wrong. They
# are specific to each axis and not to the controller. Therefore
# check with Electronics Group the value and %B%DO%B% %B%NOT%B%
# copy/paste these values)
# %BR%
# %DL%
# %DT%MOTPAR:a7 = mu/V
# resolution in micron per volt (ex: 35)
# %DT%MOTPAR:a9 = Vout/Vcmd
# ratio out volt / command volt (ex: 10)
# %DT%MOTPAR:deadtime = seconds
# sleep time after a motion (ex: 0.1)
# %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 "piezogcs_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
# must the motor mne plus "_c"
# %DT% Unit
# do not mind
# %DT% Chan
# do not mind
# %XDL%
#
# %XDL%
#%END%
#
#%HISTORY%
#$Log: piezo_gcs.mac,v $
#Revision 1.2 2008/04/30 08:51:41 rey
#A number of modifications including / velocity parameter, state handling
#and extra checking
#
#Revision 1.1 2007/02/16 11:18:30 papillon
#* Remove version checking (not working)
#
#Revision 1.0 2006/03/06 08:15:25 perez
#Initial Revision
#
#
#%END%
#
constant PIEZO_GCS_HEAD "PIEZO GCS: "
global PIEZO_GCS[]
global PIEZO_GCS_C[]
#%UU% [personal msg]
#%MDESC%
# Switch on or off the print of debug messages
#
def piezogcsdebug '{
global PIEZO_GCS[]
if(PIEZO_GCS["debug"]) {
rdef piezogcs__debug \'#\$#\'
print PIEZO_GCS_HEAD"debug mode is OFF"
PIEZO_GCS["debug"]=0
} else {
rdef piezogcs__debug \'print "PIEZO GCS:","$*"\'
print PIEZO_GCS_HEAD"debug mode is ON"
PIEZO_GCS["debug"]=1
}
}'
# No debug by default
def piezogcs__debug \'#\$#\'
#%IU%
#%MDESC%
# Check if controller was well configured
#
def piezogcs_checkctl() '{
if(PIEZO_GCS["on"] != 1) {
print PIEZO_GCS_HEAD"ERROR: no controller, try \"reconfig\""
return(-1)
}
}'
#%IU%
#%MDESC%
# Convert channel from digit to single ASCII char
#
def piezogcs_getch(ch) '{
local nr
if(ch==0) { nr="A" } else
if(ch==1) { nr="B" } else
if(ch==2) { nr="C" } else {
print PIEZO_GCS_HEAD"ERROR: \""mne"\" wrong channel, only 3 axis supported"
PIEZO_GCS["on"]=0
nr="?"
}
piezogcs__debug "channel : \""nr"\""
return nr
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec after reading the config file
#
def piezogcs_config(num,type,p1,p2,p3) '{
global PIEZO_GCS[]
# p1==?? p2==number of motors supported
if(type=="ctrl") {
piezogcs__debug "config(): new controller"
# check that the controller is switched on
if(gpib_poll(piezogcs_ADDR) == -1) {
print PIEZO_GCS_HEAD"ERROR: no controller found at address "piezogcs_ADDR
PIEZO_GCS["on"]=0
#return(".error.")
} else {
PIEZO_GCS["on"]=1
}
piezogcs__debug "config(): switch controller online"
gpib_put(piezogcs_ADDR,"ONL 1\n")
sleep(0.1)
}
# p1==unit p2==module p3==channel
if(type=="mot") {
local nr
local mne
local a7 a8 a9 a10
local dev
mne=motor_mne(num)
print "configuring motor " motor_mne(num) " configuration"
if (piezogcs_checkctl() == -1) {
print PIEZO_GCS_HEAD" motor " motor_mne(num) " is unusable"
#return(".error.")
return
}
if (( nr=piezogcs_getch(p3) ) == "?") { return }
# get and check piezo parameters for that axis
a7 = motor_par(num,"a7")
a9 = motor_par(num,"a9")
a8 = motor_par(num,"a8")
a10 = motor_par(num,"a10")
vel = motor_par(num,"vel")
if(a7 == 0) {
print PIEZO_GCS_HEAD"Warning: \""mne"\" \"a7\" parameter not set."
}
if(a9 == 0) {
print PIEZO_GCS_HEAD"Warning: \""mne"\" \"a9\" parameter not set."
}
dev = motor_par(num,"address")
# configure the axis
if ( a7 != 0 ) {
print PIEZO_GCS_HEAD"Warning: \""mne"\" \"a7\" parameter set to " a7
piezogcs__debug "config(): a7: "a7
gpib_put(dev, sprintf("SPA %s7 %d\n", nr, a7))
}
if ( a9 != 0 ) {
print PIEZO_GCS_HEAD"Warning: \""mne"\" \"a9\" parameter set to " a9
piezogcs__debug "config(): a9: "a9
gpib_put(dev, sprintf("SPA %s9 %d\n", nr, a9))
}
if ( vel != 0 ) {
print PIEZO_GCS_HEAD"Warning: \""mne"\" \"vel\" parameter set to " vel
gpib_put(dev, sprintf("VEL %s%f\n", nr, vel))
print PIEZO_GCS_HEAD"Warning: velocity control activated "
gpib_put(dev, sprintf("VCO %s\n", nr ))
}
}
}'
#%IU%(motor_num)
#%MDESC%
# MACRO MOTOR:
# return the position read from the controller
#
def piezogcs_getpos(num) '{
local dev
local ch
local nr
local aux
local pos
mne = motor_mne(num)
dev = motor_par(num,"address")
ch = motor_par(num,"channel")
nr = piezogcs_getch(ch)
gpib_put(dev, sprintf("POS? %s\n", nr))
aux = gpib_get(dev, "\n")
pos = aux + 0.0
return(pos)
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec on motor operation.
#
def piezogcs_cmd(num,key,p1,p2) '{
local mne
local addr
local dev
local ch
local nr
if(num == "..") { return }
mne = motor_mne(num)
dev = motor_par(num,"address")
ch = motor_par(num,"channel")
nr = piezogcs_getch(ch)
if (PIEZO_GCS["on"] == 0 ) return(0)
#
# return the current motor position in mm or deg
#
if (key == "position") {
local pos
pos = piezogcs_getpos(num)
piezogcs__debug "position() : pos : "pos" micron"
return(pos)
}
#
# start a motion (p1==abs pos, p2==rel pos, with pos in mm or deg)
#
if (key == "start_one") {
local aux
piezogcs__debug "start_one(): pos : "p1" micron"
gpib_put(dev, sprintf("MOV %s%g\n", nr, p1))
if((t=motor_par(num,"deadtime")) != 0) {
piezogcs__debug "start_one(): sleeping: "t" seconds"
sleep(t)
}
}
if (key == "get_status") {
gpib_put(dev, sprintf("ONT? %s\n", nr, p1))
stat = gpib_get(dev)
if (stat == 0) { # moving
return 0x02
} else {
return 0
}
}
# stop a single motor
#
if (key == "abort_one") {
piezogcs__debug "abort_one()"
mne = motor_mne(num)
dev = motor_par(num,"address")
ch = motor_par(num,"channel")
nr = piezogcs_getch(ch)
gpib_put(dev, sprintf("STP %s\n", nr))
return
}
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec after reading the config file
#
def piezogcs_c_config(num,type,p1,p2,p3) '{
global PIEZO_GCS_C[]
#
#
#
if(type=="ctrl") {
PIEZO_GCS_C["on"]=1
}
#
#
#
if(type=="cnt") {
local mne
local mot_mne mot_num
mne=cnt_mne(num)
mot_mne=substr(mne,1,index(mne,"_c")-1)
if((mot_num=motor_num(mot_mne)) == -1) {
print PIEZO_GCS_HEAD"ERROR: \""mne"\" invalid counter name"
print "The name must the same as the motor name but with \"_c\" added"
PIEZO_GCS_C["on"]=0
return
}
PIEZO_GCS_C[mne]["mot_num"]=mot_num
}
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec on counter operation.
#
def piezogcs_c_cmd(num,key,p1,p2) '{
global PIEZO_GCS_C[]
if (key == "counts") {
local pos
local mot_num
local mne
mne=cnt_mne(num)
mot_num=PIEZO_GCS_C[mne]["mot_num"]
p " "mot_num
pos = piezogcs_getpos(mot_num)
return(pos)
}
}'
#
#%MACROS%
#%IMACROS%
#%AUTHOR% BLISS 2006
#%TOC%
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