2.3. NewportSMC100
Summary: |
Newport SMC100CC/PP |
Type: |
Actuator |
License: |
licensed under LGPL |
Platforms: |
Windows, Linux |
Devices: |
Motor-Controller Newport SMC100CC/PP |
Author: |
M. Hoppe, M. Gronle, ITO, University Stuttgart |
Requires: |
Plugin SerialIO |
2.3.1. Overview
The plugin implements the Motioncontroller Newport SMC100cc/pp. It can manage up to 32 controllers that are all connected to the same comport and communicate internally over RS485. The connection to the computer is via RS232.
NewportSMC100 is an itom-plugin, which can be used to communicate with the Newport controllers SMC100CC and SMC100PP. It has been tested with two connected controllers SMC100CC. This system needs a serial port, which differs depending on the controller type. The parameters of the serial port (besides port number) are set automatically during initialization.
2.3.2. Initialization
The following parameters are mandatory or optional for initializing an instance of this plugin:
- serial: Union[itom.dataIO, itom.actuator]
An opened serial port (the right communcation parameters will be set by this piezo-controller).
Only plugin “SerialIO” is allowed
- numAxes: int
number of connected axes
Value range: [1, 31], Default: 1
- keepSerialConfig: int, optional
If 1 the current configuration of the given serial port is kept, else 0 [default].
Value range: [0, 1], Default: 0
2.3.3. Parameters
These parameters are available and can be used to configure the PIPiezoCtrl instance. Many of them are directly initialized by the parameters of the constructor. During the runtime of an instance, the value of these parameters is obtained by the method getParam, writeable parameters can be changed using setParam.
- name: {str}, read-only
name of the plugin
- comPort: {int}, read-only
port number of used COM port (not implemented yet) For further information search the info of the corresponding SerialIO plugin.
- ctrlId: {str}, read-only
device information string
- current_status: {intArray}, read-only
This intArray stores the status of each controller. While no error occures, the controller should be notReferenced (LED = orange) Referenced (LED = green) ConfigMode (LED = red [blinking])
- numaxis: {int}, read-only
return the number of axes, here always 1
- async: {int} [0,1]
Defines if the code continues while a controller is processing a task.
- accel: {doubleArray}
Array of the accelerations of each axis. Notice that if the acceleration is too high, errors can occure because of physical boundaries. These boundaries might be changeable due the serialport. For further information refer to the datasheet.
- calib_mode: {intArray} [0,4]
Defines the calibration mode, each axis performs when exec_calib is called with an 1 for the corresponding axis. 0 use MZ switch and encoder Index. 1 use current position as HOME. 2 use MZ switch only. 3 use EoR- switch and encoder Index. 4 use EoR- switch only.
- config_state: {intArray} [0,1]
Defines wheather an axis switches to config mode. Notice that if an axis is in referenced state a reset is automatically performed to set the axis to notRef state and further into config state.
- speed: {doubleArray}
Array of the velocity of each axis.
- exec_calib: {intArray} [0,1]
By setting this parameter with either a 1 or a 0 for each axis, all axis marked with 1 are calibrated.
2.3.4. Example
Create new Instance:
serialPort = dataIO("SerialIO", 3, 57600, endline="\r\n")
plugin = actuator("NewPortSMC100", serialPort, 2)
del serialPort #can be deleted since plugin still holds a reference
Switch acceleration, velocity and calib_mode
# switch 2 controller to config mode
plugin.setParam("config_state", [1,1])
# plugin.setParam("config_state", [1,0]) => switch ctrl0 to config and if ctrl1 is on config, leave config
# set velocity
plugin.setParam("speed", [5.0,7.0])
# set acceleration
plugin.setParam("accel", [2.0,3.0])
# set calib_mode
plugin.setParam("calib_mode", [2,2])
# leave config mode
plugin.setParam("config_state", [0,0])
# calibrate
plugin.calib(0,1) #calibrate first and second axis
# Controller calibrate and move to referenced state
2.3.5. Known Issues
In special cases an error occures that leaves the controller in notReferenced state with an error. The LED is constantly red. In this case you have to read the error buffer by sending xTE and xTS where x is the controller number. Notice that the hardware numbers from 1..32 not 0..31 as itom does. Afterwards you can switch into the config mode using xPW1. Choose another calibration mode xHTy, leave the config mode xPW0 and recalibrate the controller with xOR. Further you can send reset commands to the controller (xRS) or unplug the powersupply.