ZaberLinearActuator¶

class asgard_alignment.ZaberMotor.ZaberLinearActuator(name, semaphore_id, axis)¶

Bases: Motor

Attributes Summary

`IS_BLOCKING`
`LOWER_LIMIT`
`UPPER_LIMIT`

Methods Summary

`init`()	Don't do anything, the motor is already initialised by the constructor Might need to home after power cycle
`is_at_limit`()	Check if the motor is at the limit
`is_init_success`()	Check if the initialisation was successful
`is_motion_done`()	Check if the motion is done
`is_reset_success`()	Check if the reset was successful
`is_stop_success`()	Check if the stop was successful
`move_abs`(position)	Move the motor to the absolute position
`move_absolute`(new_pos[, units])	Move the motor to the absolute position
`move_relative`(new_pos[, units])	Move the motor to the relative position
`read_position`([units])
`read_state`()	Read the state of the motor
`stop_now`()	Stop the motor immediately

Attributes Documentation

IS_BLOCKING = False¶

LOWER_LIMIT = 0¶

UPPER_LIMIT = 10000¶

Methods Documentation

init()¶: Don’t do anything, the motor is already initialised by the constructor Might need to home after power cycle

is_at_limit()¶

Check if the motor is at the limit

Returns:¶

bool: True if the motor is at the limit, False otherwise

is_init_success()¶

Check if the initialisation was successful

Returns:¶

bool: True if the initialisation was successful, False otherwise

is_motion_done()¶

Check if the motion is done

Returns:¶

bool: True if the motion is done, False otherwise

is_reset_success()¶

Check if the reset was successful

Returns:¶

bool: True if the reset was successful, False otherwise

is_stop_success()¶

Check if the stop was successful

Returns:¶

bool: True if the stop was successful, False otherwise

move_abs(position)¶

Move the motor to the absolute position

Parameters:¶

position: float: The position to move to

Returns:¶

None

move_absolute(new_pos, units=Units.LENGTH_MICROMETRES)¶

Move the motor to the absolute position

Parameters:¶

new_pos: float: The position to move to
units: zaber_motion.Units: The units of the position, default is micrometres

Returns:¶

None

move_relative(new_pos, units=Units.LENGTH_MICROMETRES)¶

Move the motor to the relative position

Parameters:¶

new_pos: float: The position to move to, relative to the current position
units: zaber_motion.Units: The units of the position, default is micrometres

Returns:¶

None

read_position(units=Units.LENGTH_MICROMETRES)¶

read_state()¶

Read the state of the motor

Returns:¶

str: The state of the motor

stop_now()¶: Stop the motor immediately

Returns:¶

None

IS_BLOCKING = False¶

LOWER_LIMIT = 0¶

UPPER_LIMIT = 10000¶

disable()¶: The DISABLE command can be used to request the MCU to power off devices.

enable()¶: The ENABLE command can be used to request the MCU to power on devices.

init()¶: Don’t do anything, the motor is already initialised by the constructor Might need to home after power cycle

is_at_limit()¶

Check if the motor is at the limit

Returns:¶

bool: True if the motor is at the limit, False otherwise

is_init_success()¶

Check if the initialisation was successful

Returns:¶

bool: True if the initialisation was successful, False otherwise

is_motion_done()¶

Check if the motion is done

Returns:¶

bool: True if the motion is done, False otherwise

is_reset_success()¶

Check if the reset was successful

Returns:¶

bool: True if the reset was successful, False otherwise

is_stop_success()¶

Check if the stop was successful

Returns:¶

bool: True if the stop was successful, False otherwise

move_abs(position)¶

Move the motor to the absolute position

Parameters:¶

position: float: The position to move to

Returns:¶

None

move_absolute(new_pos, units=Units.LENGTH_MICROMETRES)¶

Move the motor to the absolute position

Parameters:¶

new_pos: float: The position to move to
units: zaber_motion.Units: The units of the position, default is micrometres

Returns:¶

None

move_relative(new_pos, units=Units.LENGTH_MICROMETRES)¶

Move the motor to the relative position

Parameters:¶

new_pos: float: The position to move to, relative to the current position
units: zaber_motion.Units: The units of the position, default is micrometres

Returns:¶

None

online()¶: Upon reception, the ICS back-end server of the MCU shall power on all the controlled devices and have them ready to accept SETUP commands.

ping()¶: The PING command is used to check the status of the controller, sending a dummy command such as *IDN? and making sure there is a reply

read_position(units=Units.LENGTH_MICROMETRES)¶

read_state()¶

Read the state of the motor

Returns:¶

str: The state of the motor

setup(value)¶: Command to move a device to a given position. The position is given in the value field.

standby()¶: Upon reception, the ICS back-end server of the MCU shall move some of the controlled devices to a safe “parking” position (if required) and power off all the controlled devices.

stop()¶: The STOP command is issued by the ICS on wag to immediately stop the motion (initiated by a SETUP command) of devices.

stop_now()¶: Stop the motor immediately

Returns:¶

None