├── site ├── assets │ ├── javascripts │ │ └── lunr │ │ │ └── min │ │ │ ├── lunr.jp.min.js │ │ │ ├── lunr.vi.min.js │ │ │ ├── lunr.multi.min.js │ │ │ ├── lunr.th.min.js │ │ │ ├── lunr.zh.min.js │ │ │ ├── lunr.ja.min.js │ │ │ ├── lunr.hi.min.js │ │ │ ├── lunr.stemmer.support.min.js │ │ │ ├── lunr.sv.min.js │ │ │ ├── lunr.da.min.js │ │ │ ├── lunr.no.min.js │ │ │ ├── lunr.nl.min.js │ │ │ ├── lunr.de.min.js │ │ │ ├── lunr.du.min.js │ │ │ ├── lunr.ru.min.js │ │ │ ├── lunr.fi.min.js │ │ │ ├── lunr.hu.min.js │ │ │ ├── lunr.pt.min.js │ │ │ ├── lunr.fr.min.js │ │ │ ├── lunr.ro.min.js │ │ │ └── lunr.it.min.js │ ├── images │ │ └── favicon.png │ └── stylesheets │ │ ├── palette.cc9b2e1e.min.css.map │ │ └── palette.cc9b2e1e.min.css ├── pipython.png ├── sitemap.xml.gz ├── styles │ ├── fonts │ │ ├── Roboto │ │ │ ├── Roboto-Bold.ttf │ │ │ └── Roboto-Regular.ttf │ │ ├── Roboto_Mono │ │ │ └── RobotoMono-Regular.ttf │ │ └── Roboto_Slab │ │ │ └── RobotoSlab-Regular.ttf │ └── pi.css ├── files │ └── pi.svg └── sitemap.xml ├── PIPython ├── PIPython.zip └── README.PIPython ├── PIPython-2.10.2.1-INSTALL.tar.bz2 ├── OldVersions ├── PIPython-1.5.3.1-INSTALL.tar.bz2 ├── PIPython-2.0.0.5-INSTALL.tar.bz2 ├── PIPython-2.1.0.1-INSTALL.tar.bz2 ├── PIPython-2.1.1.2-INSTALL.tar.bz2 ├── PIPython-2.2.0.4-INSTALL.tar.bz2 ├── PIPython-2.2.1.1-INSTALL.tar.bz2 ├── PIPython-2.2.2.1-INSTALL.tar.bz2 ├── PIPython-2.3.0.3-INSTALL.tar.bz2 ├── PIPython-2.4.0.2-INSTALL.tar.bz2 ├── PIPython-2.5.0.1-INSTALL.tar.bz2 ├── PIPython-2.5.1.3-INSTALL.tar.bz2 ├── PIPython-2.6.0.1-INSTALL.tar.bz2 ├── PIPython-2.8.0.3-INSTALL.tar.bz2 ├── PIPython-2.9.0.4-INSTALL.tar.bz2 ├── PIPython-1.5.0.10-INSTALL.tar.bz2 ├── PIPython-2.10.0.2-INSTALL.tar.bz2 ├── PIPython-2.10.1.1-INSTALL.tar.bz2 └── PIPython-2.7.0.14-INSTALL.tar.bz2 ├── pi_make_install_package ├── index.html ├── pi_set_install_file_settings ├── samples ├── advanced │ ├── targets_from_csv.csv │ ├── connect_socket.py │ ├── connect_serial.py │ ├── targets_from_csv.py │ ├── TrajectorySample.py │ ├── wavegenerator_circle.py │ ├── wavegenerator_pnt.py │ ├── handle_string_answers.py │ └── wavegenerator_pnt.txt ├── connect_enumerate.py ├── connect_daisychain.py ├── quickstart.py ├── setparameter_gcs30.py ├── datarecorder.py ├── datarecorder_gcs30.py ├── simplemove_gcs30.py ├── simplemove.py └── E-873_10C885_sample.py ├── readme.rst ├── changelog.md └── readme.md /site/assets/javascripts/lunr/min/lunr.jp.min.js: -------------------------------------------------------------------------------- 1 | module.exports=require("./lunr.ja"); -------------------------------------------------------------------------------- /site/pipython.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PI-PhysikInstrumente/PIPython/HEAD/site/pipython.png -------------------------------------------------------------------------------- /site/sitemap.xml.gz: 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/index.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | Page Redirection 7 | 8 | 9 | If you are not redirected automatically, follow this link to the docs. 10 | 11 | 12 | -------------------------------------------------------------------------------- /pi_set_install_file_settings: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | # 3 | 4 | rm -fr `find -mindepth 2 -name "*.tar.bz2" | cut -f1 -d'-'` 5 | 6 | find */* -exec chmod a+rw "{}" ";" 7 | find -name INSTALL* -exec chmod a+x "{}" ";" -exec fromdos "{}" ";" 8 | find -name REMOVE* -exec chmod a+x "{}" ";" -exec fromdos "{}" ";" 9 | find -name UPDATE* -exec chmod a+x "{}" ";" -exec fromdos "{}" ";" 10 | find -name DEPENDENCIES* -exec fromdos "{}" ";" 11 | 12 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.vi.min.js: 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It can be used with Python 3.6+ on Windows, Linux and OS X 6 | and without the GCS DLL also on any other platform. 7 | 8 | Version: 2.8.0.1 9 | 10 | 11 | Quickstart 12 | ---------- 13 | 14 | Communicate to a PI device via *GCSDevice* which wraps the GCS commands 15 | and provides methods to connect to the device. Call *GCSDevice* with the 16 | controller name as argument:: 17 | 18 | from pipython.pidevice import GCSDevice 19 | gcs = GCSDevice('C-884') 20 | gcs.InterfaceSetupDlg() 21 | print(gcs.qIDN()) 22 | gcs.CloseConnection() 23 | 24 | 25 | Installation 26 | ------------ 27 | 28 | By using PIPython you agree to the license agreement, see the provided file:: 29 | 30 | eula.md 31 | 32 | Unzip the file PIPython.zip, open a command entry (Linux Console or Windows CMD window) and run:: 33 | 34 | python setup.py install 35 | 36 | For further reading open the *index.html* file in your browser and see the samples in the 37 | *samples* folder. 38 | 39 | We appreciate your feedback at:: 40 | 41 | service@pi.de 42 | -------------------------------------------------------------------------------- /samples/advanced/connect_socket.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """This example shows how to connect PIPython via socket.""" 4 | 5 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | from pipython.pidevice.gcscommands import GCSCommands 18 | from pipython.pidevice.gcsmessages import GCSMessages 19 | from pipython.pidevice.interfaces.pisocket import PISocket 20 | 21 | __signature__ = 0x51d08070e3f282f9d3a42dcfedf682ff 22 | 23 | IPADDR = '192.168.90.166' 24 | 25 | 26 | def main(): 27 | """Connect controller via socket on port 50000.""" 28 | with PISocket(host=IPADDR, port=50000) as gateway: 29 | print('interface: {}'.format(gateway)) 30 | messages = GCSMessages(gateway) 31 | with GCSCommands(messages) as pidevice: 32 | print('connected: {}'.format(pidevice.qIDN().strip())) 33 | 34 | 35 | if __name__ == '__main__': 36 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 37 | # PILogger.setLevel(DEBUG) 38 | main() 39 | -------------------------------------------------------------------------------- /samples/connect_enumerate.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """This example shows how to search for controllers.""" 4 | 5 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | from pipython import GCSDevice 18 | 19 | __signature__ = 0xcc5f7acd62f49355711f59f582013bc5 20 | 21 | def main(): 22 | """Search controllers on interface, show dialog and connect a controller.""" 23 | with GCSDevice() as pidevice: 24 | print('search for controllers...') 25 | #devices = pidevice.EnumerateTCPIPDevices() 26 | devices = pidevice.EnumerateUSB() 27 | for i, device in enumerate(devices): 28 | print('{} - {}'.format(i, device)) 29 | item = int(input('select device to connect: ')) 30 | #pidevice.ConnectTCPIPByDescription(devices[item]) 31 | pidevice.ConnectUSB(devices[item]) 32 | print('connected: {}'.format(pidevice.qIDN().strip())) 33 | 34 | 35 | if __name__ == '__main__': 36 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 37 | # PILogger.setLevel(DEBUG) 38 | main() 39 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.zh.min.js: -------------------------------------------------------------------------------- 1 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r(require("nodejieba")):r()(e.lunr)}(this,function(e){return function(r,t){if(void 0===r)throw new Error("Lunr is not present. 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KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | import sys 18 | 19 | from pipython.pidevice.gcscommands import GCSCommands 20 | from pipython.pidevice.gcsmessages import GCSMessages 21 | from pipython.pidevice.interfaces.piserial import PISerial 22 | 23 | __signature__ = 0xa6380f081e64110f19558090beb8fdcd 24 | 25 | 26 | def main(): 27 | """Connect controller via first serial port with 115200 baud.""" 28 | if sys.platform in ('linux', 'linux2', 'darwin'): 29 | port = '/dev/ttyS0' # use '/dev/ttyUSB0' for FTDI-USB connections 30 | else: 31 | port = 'COM1' 32 | with PISerial(port=port, baudrate=115200) as gateway: 33 | print('interface: {}'.format(gateway)) 34 | messages = GCSMessages(gateway) 35 | with GCSCommands(messages) as pidevice: 36 | print('connected: {}'.format(pidevice.qIDN().strip())) 37 | 38 | 39 | if __name__ == '__main__': 40 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 41 | # PILogger.setLevel(DEBUG) 42 | main() 43 | -------------------------------------------------------------------------------- /PIPython/README.PIPython: -------------------------------------------------------------------------------- 1 | **************************************************************************** 2 | * * 3 | * Physik Instrumente (PI) GmbH & Co. KG (www.pi.ws) * 4 | * * 5 | **************************************************************************** 6 | * * 7 | * Description: Howto update, install PIPython * 8 | * * 9 | * Author: Jens Kapp (JKa) * 10 | * SW Engineer * 11 | * Physik Instrumente (PI) GmbH & Co. KG * 12 | * Auf der Roemerstr. * 13 | * D-76228 Karlsruhe * 14 | * Germany * 15 | * * 16 | **************************************************************************** 17 | 18 | 19 | First, login as superuser 20 | 21 | >> user:> su 22 | >> Password: 23 | >> [root@]# 24 | 25 | To update an already existing PIPython: 26 | >> [root@]# ./INSTALL.PIPython-u 27 | 28 | To install PIPython: 29 | >> [root@]# ./INSTALL.PIPython 30 | 31 | To remove PIPython: 32 | >> [root@]# ./INSTALL.PIPython -r 33 | 34 | 35 | 36 | 37 | 38 | To increase our knowledge of different Linux distributions, we are always 39 | glad to receive feedback about how the software runs on your system. 40 | Are there any missing libraries or header files, do all scripts work on 41 | your system, ?... 42 | Please contact us (service@pi.de) and please do not forget 43 | to let us know which distribution you are working with. 44 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.ja.min.js: -------------------------------------------------------------------------------- 1 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.ja=function(){this.pipeline.reset(),this.pipeline.add(e.ja.trimmer,e.ja.stopWordFilter,e.ja.stemmer),r?this.tokenizer=e.ja.tokenizer:(e.tokenizer&&(e.tokenizer=e.ja.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.ja.tokenizer))};var t=new e.TinySegmenter;e.ja.tokenizer=function(i){var n,o,s,p,a,u,m,l,c,f;if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t.toLowerCase()):t.toLowerCase()});for(o=i.toString().toLowerCase().replace(/^\s+/,""),n=o.length-1;n>=0;n--)if(/\S/.test(o.charAt(n))){o=o.substring(0,n+1);break}for(a=[],s=o.length,c=0,l=0;c<=s;c++)if(u=o.charAt(c),m=c-l,u.match(/\s/)||c==s){if(m>0)for(p=t.segment(o.slice(l,c)).filter(function(e){return!!e}),f=l,n=0;n * { 2 | --md-primary-fg-color: #0051a0; 3 | --md-default-fg-color--light: #0051a0; 4 | --md-primary-fg-color--light: #86b1db; 5 | --md-primary-fg-color--dark: #003970; 6 | 7 | --md-accent-fg-color: #001d3a; 8 | --md-code-hl-color: #c2def9; 9 | 10 | 11 | --md-text-font-family: "Roboto"; 12 | --md-code-font-family: "Roboto Mono"; 13 | } 14 | 15 | /* Schrift Fließtext */ 16 | @font-face { 17 | font-family: "Roboto"; 18 | src: url("./fonts/Roboto/Roboto-Regular.ttf"); 19 | font-style: normal; 20 | font-weight: normal; 21 | } 22 | @font-face { 23 | font-family: "Roboto"; 24 | src: url("./fonts/Roboto/Roboto-Bold.ttf"); 25 | font-style: normal; 26 | font-weight: bold; 27 | } 28 | 29 | /* Schrift Code */ 30 | @font-face { 31 | font-family: "Roboto Mono"; 32 | src: url("./fonts/Roboto_Mono/RobotoMono-Regular.ttf"); 33 | font-style: normal; 34 | font-weight: normal; 35 | } 36 | 37 | /* Schrift Überschriften */ 38 | @font-face { 39 | font-family: "Roboto Slab"; 40 | src: url("./fonts/Roboto_Slab/RobotoSlab-Regular.ttf"); 41 | font-style: normal; 42 | font-weight: normal; 43 | } 44 | 45 | a . { 46 | font-weight: bold; 47 | } 48 | 49 | .md-typeset h1, .md-typeset h2, .md-typeset h3 { 50 | font-family: "Roboto Slab", Calibri, sans-serif; 51 | } 52 | 53 | .md-typeset h1 { 54 | font-size: 2.5em; 55 | margin: 0 0 0.75em 56 | } 57 | 58 | .md-typeset h2 { 59 | font-size: 1.6em; 60 | margin: 1.45em 0 0.5em; 61 | } 62 | 63 | html { 64 | font-size: 120% !important; 65 | } 66 | 67 | li.md-nav__item > a { 68 | font-weight: normal !important; 69 | } 70 | 71 | nav { 72 | padding-top: 0.5rem; 73 | } 74 | 75 | th { 76 | font-weight: bold; 77 | } 78 | 79 | .admonition { 80 | font-size: 0.8rem !important; 81 | box-shadow: 0 0.2rem 0.5rem rgb(0 0 0 / 15%), 0 0.025rem 0.05rem rgb(0 0 0 / 5%) !important; 82 | } 83 | 84 | .highlighttable .linenodiv pre { 85 | line-height: 1.05rem; 86 | position: relative; 87 | top: 0.1rem; 88 | } 89 | 90 | .md-header__button.md-logo img, .md-header__button.md-logo svg { 91 | width: 3rem; 92 | } 93 | 94 | .md-header__title { 95 | font-family: "Roboto Slab"; 96 | } 97 | 98 | .md-typeset .md-button--primary { 99 | background-color: var(--md-primary-fg-color); 100 | background-image: linear-gradient(to top, rgba(0,0,0,0.05), rgba(255,255,255,0.07)); 101 | border-radius: 3px; 102 | font-weight: normal; 103 | } 104 | 105 | .md-typeset code { 106 | font-size: 0.95em !important; 107 | } 108 | 109 | .md-typeset table:not([class]) { 110 | font-size: 0.8rem !important; 111 | } 112 | 113 | .md-typeset .tabbed-set>label { 114 | font-size: 0.8rem !important; 115 | padding: .6em 1em; 116 | } -------------------------------------------------------------------------------- /samples/advanced/targets_from_csv.py: -------------------------------------------------------------------------------- 1 | # !/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """Move all axes to targets read from CSV file 'DATAFILE'.""" 4 | 5 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | from time import sleep 18 | 19 | from pipython import GCSDevice, pitools 20 | 21 | __signature__ = 0x40283f3630b438e8a728570e3e36082f 22 | 23 | CONTROLLERNAME = 'C-884' 24 | STAGES = ['M-110K078', ] # connect stages to axes 25 | REFMODES = ['FRF', ] # reference the connected stages 26 | 27 | DATAFILE = 'targets_from_csv.csv' # Enter the absolute path to this file (targets_from_csv.csv) 28 | RELAXTIME = 200 # time in ms to wait after each motion command or 0 to wait for on target state 29 | SEPARATOR = ',' 30 | 31 | 32 | def main(): 33 | """Connect controller, setup stages and move all axes to targets read from CSV file 'DATAFILE'.""" 34 | with GCSDevice(CONTROLLERNAME) as pidevice: 35 | pidevice.ConnectTCPIP(ipaddress='172.16.244.33') 36 | # pidevice.ConnectUSB(serialnum='123456789') 37 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 38 | print('connected: {}'.format(pidevice.qIDN().strip())) 39 | print('initialize connected stages...') 40 | pitools.startup(pidevice, stages=STAGES, refmodes=REFMODES) 41 | movetotargets(pidevice) 42 | 43 | 44 | def movetotargets(pidevice): 45 | """Move all axes to targets read from CSV file 'DATAFILE'. 46 | Add further columns if there are more than 6 axes connected. 47 | @type pidevice : pipython.gcscommands.GCSCommands 48 | """ 49 | with open(DATAFILE, 'r') as fobj: 50 | for line in fobj: 51 | targets = line.split(SEPARATOR)[:pidevice.numaxes] 52 | print('targets: {}'.format(', '.join(targets))) 53 | targets = [float(x) for x in targets] 54 | pidevice.MOV(pidevice.axes, targets) 55 | sleep(RELAXTIME / 1000.) 56 | if not RELAXTIME: 57 | pitools.waitontarget(pidevice) 58 | print('done') 59 | 60 | 61 | if __name__ == '__main__': 62 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 63 | # PILogger.setLevel(DEBUG) 64 | main() 65 | -------------------------------------------------------------------------------- /samples/setparameter_gcs30.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """This example demonstrates how to read and write parameters with a GCS 3.0 device.""" 4 | 5 | # (c)2021 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | 18 | from pipython import GCSDevice 19 | 20 | __signature__ = 0x25ce29daf01c16560076e151708db74b 21 | 22 | def readparametervalue(device, memtype, cont_unit, func_unit, parameter_id): 23 | return device.qSPV(memtype, cont_unit, func_unit, parameter_id)[memtype][cont_unit][func_unit][parameter_id] 24 | 25 | def main(): 26 | """Connect to a PIPython device.""" 27 | 28 | # We recommend to use GCSDevice as context manager with "with". 29 | 30 | with GCSDevice() as pidevice: 31 | # Choose the interface which is appropriate to your cabling. 32 | 33 | pidevice.ConnectTCPIP(ipaddress='localhost') 34 | #pidevice.ConnectUSB(serialnum='104237344') 35 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 36 | 37 | # Each PI controller supports the qIDN() command which returns an 38 | # identification string with a trailing line feed character which 39 | # we "strip" away. 40 | 41 | print('connected: {}'.format(pidevice.qIDN().strip())) 42 | 43 | # Show the version info which is helpful for PI support when there 44 | # are any issues. 45 | 46 | if pidevice.HasqVER(): 47 | print('version info: {}'.format(pidevice.qVER().strip())) 48 | 49 | # read out maximum velocity for AXIS_1 and set velocity to 50% of maximum 50 | 51 | maxvelocity = readparametervalue(pidevice, "RAM", "AXIS_1", "TRAJ_1", "0x105") 52 | velocity = maxvelocity * 0.5 53 | pidevice.SPV("RAM", "AXIS_1", "TRAJ_1", "0x104", velocity) 54 | print('maximum velocity is {0}, set velocity to {1}'.format(maxvelocity, velocity)) 55 | 56 | 57 | if __name__ == '__main__': 58 | # To see what is going on in the background you can remove the following 59 | # two hashtags. Then debug messages are shown. This can be helpful if 60 | # there are any issues. 61 | 62 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 63 | # PILogger.setLevel(DEBUG) 64 | 65 | main() 66 | -------------------------------------------------------------------------------- /site/assets/stylesheets/palette.cc9b2e1e.min.css.map: -------------------------------------------------------------------------------- 1 | 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-------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """This example shows how to use the data recorder and how to plot and save the data.""" 4 | 5 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | """This sample requires the python package matplotlib to work""" 17 | 18 | try: 19 | from matplotlib import pyplot 20 | except ImportError: 21 | pyplot = None 22 | 23 | from pipython import GCSDevice, datarectools, pitools 24 | 25 | __signature__ = 0xca7f9fccc2eda0053abb09677a2b80ec 26 | 27 | CONTROLLERNAME = 'C-884' 28 | STAGES = ['M-111.1DG', ] # connect stages to axes 29 | REFMODES = ['FNL', ] # reference the connected stages 30 | 31 | NUMVALUES = 1024 # number of data sets to record as integer 32 | RECRATE = 2000 # number of recordings per second, i.e. in Hz 33 | 34 | 35 | def main(): 36 | """Connect device, set up stage and read and display datarecorder data.""" 37 | with GCSDevice(CONTROLLERNAME) as pidevice: 38 | pidevice.ConnectTCPIP(ipaddress='192.168.90.207') 39 | # pidevice.ConnectUSB(serialnum='123456789') 40 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 41 | print('connected: {}'.format(pidevice.qIDN().strip())) 42 | print('initialize connected stages...') 43 | pitools.startup(pidevice, STAGES, REFMODES) 44 | drec = datarectools.Datarecorder(pidevice) 45 | recorddata(drec) 46 | print('move stage on axis {}...'.format(pidevice.axes[0])) 47 | pidevice.MVR(pidevice.axes[0], 0.1) 48 | processdata(drec) 49 | 50 | 51 | def recorddata(drec): 52 | """Set up data recorder to record 2 tables for first axis after next motion command. 53 | @type drec : pipython.datarectools.Datarecorder 54 | """ 55 | drec.numvalues = NUMVALUES 56 | drec.samplefreq = RECRATE 57 | print('data recorder rate: {:.2f} Hz'.format(drec.samplefreq)) 58 | drec.options = (datarectools.RecordOptions.ACTUAL_POSITION_2, 59 | datarectools.RecordOptions.COMMANDED_POSITION_1) 60 | drec.sources = drec.gcs.axes[0] 61 | drec.trigsources = datarectools.TriggerSources.POSITION_CHANGING_COMMAND_1 62 | drec.arm() 63 | 64 | 65 | def processdata(drec): 66 | """Read out, plot and save data recorder data. 67 | @type drec : pipython.datarectools.Datarecorder 68 | """ 69 | if pyplot is None: 70 | print('matplotlib is not installed') 71 | return 72 | pyplot.plot(drec.timescale, drec.data[0], color='red') 73 | pyplot.plot(drec.timescale, drec.data[1], color='blue') 74 | pyplot.xlabel('time (s)') 75 | pyplot.ylabel(', '.join((drec.header['NAME0'], drec.header['NAME1']))) 76 | pyplot.title('Datarecorder data over time') 77 | pyplot.grid(True) 78 | pyplot.show() 79 | print('save GCSArray to file "gcsarray.dat"') 80 | pitools.savegcsarray('gcsarray.dat', drec.header, drec.data) 81 | 82 | 83 | if __name__ == '__main__': 84 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 85 | # PILogger.setLevel(DEBUG) 86 | main() 87 | -------------------------------------------------------------------------------- /samples/advanced/TrajectorySample.py: -------------------------------------------------------------------------------- 1 | __signature__ = 0xc5bbd81b94ebdc676b4dea739c7fe2c3 2 | #!/usr/bin python 3 | # -*- coding: utf-8 -*- 4 | """This example shows how to realize a cyclic circular motion with trajectories.""" 5 | 6 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 7 | # Software products that are provided by PI are subject to the 8 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 9 | # and may incorporate and/or make use of third-party software components. 10 | # For more information, please read the General Software License Agreement 11 | # and the Third Party Software Note linked below. 12 | # General Software License Agreement: 13 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 14 | # Third Party Software Note: 15 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 16 | 17 | 18 | from math import cos, sin, pi 19 | 20 | from pipython import GCSDevice, pitools 21 | from pipython.datarectools import getservotime 22 | 23 | CONTROLLERNAME = 'C-867.2U2' 24 | STAGES = [] # connect stages to axes 25 | REFMODE = [] # reference the connected stages 26 | 27 | PERIOD = 5.0 # duration of one sine period in seconds as float 28 | CENTERPOS = (0.0, 0.0) # center position of the circular motion as float for both axes 29 | AMPLITUDE = (10.0, 10.0) # amplitude (i.e. diameter) of the circular motion as float for both axes 30 | BUFFERMIN = 200 # minimum number of points in buffer until motion is started 31 | 32 | 33 | def main(): 34 | """Connect controller, setup stages and start trajectories.""" 35 | with GCSDevice(CONTROLLERNAME) as pidevice: 36 | #pidevice.ConnectRS232(comport=1, baudrate=115200) 37 | pidevice.ConnectUSB(serialnum='0116023162') 38 | # pidevice.ConnectTCPIP(ipaddress='192.168.178.42') 39 | print('connected: {}'.format(pidevice.qIDN().strip())) 40 | print('maximum buffer size: {}'.format(pidevice.qSPA(1, 0x22000020)[1][0x22000020])) 41 | print('initialize connected stages...') 42 | # pitools.startup(pidevice, stages=STAGES, refmode=REFMODE) 43 | runprofile(pidevice) 44 | 45 | 46 | def runprofile(pidevice): 47 | """Move to start position, set up and run trajectories and wait until they are finished. 48 | @type pidevice : pipython.gcscommands.GCSCommands 49 | """ 50 | assert 2 == len(pidevice.axes[:2]), 'this sample requires two connected axes' 51 | trajectories = (1, 2) 52 | numpoints = pidevice.qSPA(1, 0x22000020)[1][0x22000020] # maximum buffer size 53 | xvals = [2 * pi * float(i) / float(numpoints) for i in range(numpoints)] 54 | xtrajectory = [CENTERPOS[0] + AMPLITUDE[0] / 2.0 * sin(xval) for xval in xvals] 55 | ytrajectory = [CENTERPOS[1] + AMPLITUDE[1] / 2.0 * cos(xval) for xval in xvals] 56 | print('move axes {} to their start positions {}'.format(pidevice.axes[:2], (xtrajectory[0], ytrajectory[0]))) 57 | pidevice.MOV(pidevice.axes[:2], (xtrajectory[0], ytrajectory[0])) 58 | pitools.waitontarget(pidevice, pidevice.axes[:2]) 59 | servotime = getservotime(pidevice) 60 | tgtvalue = int(float(PERIOD) / float(numpoints) / servotime) 61 | print('set %d servo cycles per point -> period of %.2f seconds' % (tgtvalue, tgtvalue * servotime * numpoints)) 62 | pidevice.TGT(tgtvalue) 63 | print('trajectory timing: {}'.format(pidevice.qTGT())) 64 | print('clear existing trajectories') 65 | pidevice.TGC(trajectories) 66 | pointnum = 0 67 | print('\r%s' % (' ' * 40)), 68 | while pointnum < numpoints: 69 | if pidevice.qTGL(1)[1] < BUFFERMIN: 70 | pidevice.TGA(trajectories, (xtrajectory[pointnum], ytrajectory[pointnum])) 71 | pointnum += 1 72 | print('\rappend point {}/{}'.format(pointnum, numpoints)), 73 | if BUFFERMIN == pointnum: 74 | print('\nstarting trajectories') 75 | pidevice.TGS(trajectories) 76 | if numpoints == pointnum: 77 | print('\nfinishing trajectories') 78 | pidevice.TGF(trajectories) 79 | pitools.waitontrajectory(pidevice, trajectories) 80 | print('done') 81 | 82 | 83 | if __name__ == '__main__': 84 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 85 | # PILogger.setLevel(DEBUG) 86 | main() 87 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.sv.min.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Lunr languages, `Swedish` language 3 | * https://github.com/MihaiValentin/lunr-languages 4 | * 5 | * Copyright 2014, Mihai Valentin 6 | * http://www.mozilla.org/MPL/ 7 | */ 8 | /*! 9 | * based on 10 | * Snowball JavaScript Library v0.3 11 | * http://code.google.com/p/urim/ 12 | * http://snowball.tartarus.org/ 13 | * 14 | * Copyright 2010, Oleg Mazko 15 | * http://www.mozilla.org/MPL/ 16 | */ 17 | 18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. 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KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | from time import sleep 18 | 19 | from pipython import GCSDevice, pitools 20 | 21 | __signature__ = 0xadc2596931d0068f159c92c682574882 22 | 23 | CONTROLLERNAME = 'C-887' # This sample is only valid for the C-887 controller 24 | STAGES = None # set something like ('M-122.2DD', 'M-122.2DD') if your stages need CST 25 | REFMODES = ['FRF', ] # reference first axis or hexapod 26 | 27 | NUMPOINTS = 1000 # number of points for one sine period as integer 28 | STARTPOS = (0.0, 0.0) # start position of the circular motion as float for both axes 29 | AMPLITUDE = (1.0, 1.0) # amplitude of the circular motion as float for both axes 30 | NUMCYLES = 10 # number of cycles for wave generator output 31 | TABLERATE = 10 # duration of a wave table point in multiples of servo cycle times as integer 32 | 33 | 34 | def main(): 35 | """Connect controller, setup stages and start wave generator.""" 36 | with GCSDevice(CONTROLLERNAME) as pidevice: 37 | pidevice.ConnectTCPIP(ipaddress='192.168.178.42') 38 | # pidevice.ConnectUSB(serialnum='108014631') 39 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 40 | print('connected: {}'.format(pidevice.qIDN().strip())) 41 | print('initialize connected stages...') 42 | pitools.startup(pidevice, stages=STAGES, refmodes=REFMODES) 43 | runwavegen(pidevice) 44 | 45 | 46 | def runwavegen(pidevice): 47 | """Configure two wave forms, move to start position and start the wave generators. 48 | @type pidevice : pipython.gcscommands.GCSCommands 49 | """ 50 | assert 2 == len(pidevice.axes[:2]), 'this sample requires two connected axes' 51 | wavegens = (1, 2) 52 | wavetables = (1, 2) 53 | print('define sine and cosine waveforms for wave tables {}'.format(wavetables)) 54 | pidevice.WAV_SIN_P(table=wavetables[0], firstpoint=0, numpoints=NUMPOINTS, append='X', 55 | center=NUMPOINTS / 2, amplitude=AMPLITUDE[0], offset=STARTPOS[0], seglength=NUMPOINTS) 56 | pidevice.WAV_SIN_P(table=wavetables[1], firstpoint=NUMPOINTS / 4, numpoints=NUMPOINTS, append='X', 57 | center=NUMPOINTS / 2, amplitude=AMPLITUDE[1], offset=STARTPOS[1], seglength=NUMPOINTS) 58 | pitools.waitonready(pidevice) 59 | if pidevice.HasWSL(): # you can remove this code block if your controller does not support WSL() 60 | print('connect wave generators {} to wave tables {}'.format(wavegens, wavetables)) 61 | pidevice.WSL(wavegens, wavetables) 62 | if pidevice.HasWGC(): # you can remove this code block if your controller does not support WGC() 63 | print('set wave generators {} to run for {} cycles'.format(wavegens, NUMCYLES)) 64 | pidevice.WGC(wavegens, [NUMCYLES] * len(wavegens)) 65 | if pidevice.HasWTR(): # you can remove this code block if your controller does not support WTR() 66 | # Note that the WTR command has controller-specific implementations. 67 | # Refer to the controller manual for supported parameter values. 68 | print('set wave table rate to {} for wave generators {}'.format(TABLERATE, wavegens)) 69 | pidevice.WTR(wavegens, [TABLERATE] * len(wavegens), interpol=[0] * len(wavegens)) 70 | startpos = (STARTPOS[0], STARTPOS[1] + AMPLITUDE[1] / 2.0) 71 | print('move axes {} to their start positions {}'.format(pidevice.axes[:2], startpos)) 72 | pidevice.MOV(pidevice.axes[:2], startpos) 73 | pitools.waitontarget(pidevice, pidevice.axes[:2]) 74 | print('start wave generators {}'.format(wavegens)) 75 | pidevice.WGO(wavegens, mode=[1] * len(wavegens)) 76 | while any(list(pidevice.IsGeneratorRunning(wavegens).values())): 77 | print('.', end='') 78 | sleep(1.0) 79 | print('\nreset wave generators {}'.format(wavegens)) 80 | pidevice.WGO(wavegens, mode=[0] * len(wavegens)) 81 | print('done') 82 | 83 | 84 | if __name__ == '__main__': 85 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 86 | # PILogger.setLevel(DEBUG) 87 | main() 88 | -------------------------------------------------------------------------------- /samples/advanced/wavegenerator_pnt.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """This example helps you to define arbitrary waveforms read out from a file.""" 4 | 5 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | from time import sleep 18 | 19 | from pipython import GCSDevice, pitools 20 | 21 | __signature__ = 0x3ca8b29e8dce284b4c380701e26b337c 22 | 23 | CONTROLLERNAME = 'C-887' # This sample ist only valid vor C-887 controller 24 | STAGES = None # connect stages to axes 25 | REFMODES = None # reference the connected stages 26 | 27 | DATAFILE = r'wavegenerator_pnt.txt' 28 | NUMCYLES = 2 # number of cycles for wave generator output 29 | TABLERATE = 100 # duration of a wave table point in multiples of servo cycle times as integer 30 | 31 | 32 | def main(): 33 | """Connect controller, setup wave generator, move axes to startpoint and start wave generator.""" 34 | with GCSDevice(CONTROLLERNAME) as pidevice: 35 | pidevice.ConnectTCPIP(ipaddress='192.168.178.42') 36 | # pidevice.ConnectUSB(serialnum='000000004') 37 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 38 | print('connected: %s' % pidevice.qIDN().strip()) 39 | print('initialize connected stages...') 40 | pitools.startup(pidevice, stages=STAGES, refmodes=REFMODES) 41 | runwavegen(pidevice) 42 | 43 | 44 | def runwavegen(pidevice): 45 | """Read wave data, set up wave generator and run them. 46 | @type pidevice : pipython.gcscommands.GCSCommands 47 | """ 48 | wavedata = readwavedata() 49 | axes = pidevice.axes[:len(wavedata)] 50 | assert len(wavedata) == len(axes), 'this sample requires {} connected axes'.format(len(wavedata)) 51 | wavetables = range(1, len(wavedata) + 1) 52 | wavegens = range(1, len(wavedata) + 1) 53 | if pidevice.HasWCL(): # you can remove this code block if your controller does not support WCL() 54 | print('clear wave tables {}'.format(wavetables)) 55 | pidevice.WCL(wavetables) 56 | for i, wavetable in enumerate(wavetables): 57 | print('write wave points of wave table {} and axis {}'.format(wavetable, axes[i])) 58 | pitools.writewavepoints(pidevice, wavetable, wavedata[i], bunchsize=10) 59 | if pidevice.HasWSL(): # you can remove this code block if your controller does not support WSL() 60 | print('connect wave tables {} to wave generators {}'.format(wavetables, wavegens)) 61 | pidevice.WSL(wavegens, wavetables) 62 | if pidevice.HasWGC(): # you can remove this code block if your controller does not support WGC() 63 | print('set wave generators {} to run for {} cycles'.format(wavegens, NUMCYLES)) 64 | pidevice.WGC(wavegens, [NUMCYLES] * len(wavegens)) 65 | if pidevice.HasWTR(): # you can remove this code block if your controller does not support WTR() 66 | print('set wave table rate to {} for wave generators {}'.format(TABLERATE, wavegens)) 67 | pidevice.WTR(wavegens, [TABLERATE] * len(wavegens), interpol=[0] * len(wavegens)) 68 | startpos = [wavedata[i][0] for i in range(len(wavedata))] 69 | print('move axes {} to start positions {}'.format(axes, startpos)) 70 | pidevice.MOV(axes, startpos) 71 | pitools.waitontarget(pidevice, axes) 72 | print('start wave generators {}'.format(wavegens)) 73 | pidevice.WGO(wavegens, mode=[1] * len(wavegens)) 74 | while any(list(pidevice.IsGeneratorRunning(wavegens).values())): 75 | print('.', end='') 76 | sleep(1.0) 77 | print('\nreset wave generators {}'.format(wavegens)) 78 | pidevice.WGO(wavegens, mode=[0] * len(wavegens)) 79 | print('done') 80 | 81 | 82 | def readwavedata(): 83 | """Read DATAFILE, must have a column for each wavetable. 84 | @return : Datapoints as list of lists of values. 85 | """ 86 | print('read wave points from file {}'.format(DATAFILE)) 87 | data = None 88 | with open(DATAFILE) as datafile: 89 | for line in datafile: 90 | items = line.strip().split() 91 | if data is None: 92 | print('found {} data columns in file'.format(len(items))) 93 | data = [[] for _ in range(len(items))] 94 | for i, item in enumerate(items): 95 | data[i].append(item) 96 | return data 97 | 98 | 99 | if __name__ == '__main__': 100 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 101 | # PILogger.setLevel(DEBUG) 102 | main() 103 | -------------------------------------------------------------------------------- /samples/advanced/handle_string_answers.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | """This example shows how to send string commands and handle the answer.""" 4 | 5 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | from pipython import GCSDevice 18 | from pipython.pidevice import gcscommands 19 | 20 | __signature__ = 0x131230192bfd7ae19ee76c614dfdefa6 21 | 22 | def one_item_one_value(): 23 | """Sample for a command that answers with one item (e.g. axis) and one value.""" 24 | with GCSDevice() as pidevice: 25 | answer = pidevice.ReadGCSCommand('FOO? 1 2 3') 26 | # This will return: 27 | # 1 = 1.23 28 | # 2 = 2.00 29 | # 3 = 3.45 30 | 31 | # There is a helper function to get a dict of this answer. 32 | 33 | gcscommands.getdict_oneitem(answer, items=None) 34 | # Answer: {'1': '1.23', '2': '2.00', '3': '3.45'} 35 | # Remember, all keys and values are strings because the function 36 | # does not now how to convert. 37 | 38 | gcscommands.getdict_oneitem(answer, items=None, itemconv=int) 39 | # Answer: {1: '1.23', 2: '2.00', 3: '3.45'} 40 | # Now the keys are int. 41 | 42 | gcscommands.getdict_oneitem(answer, items=None, itemconv=int, valueconv=(float,)) 43 | # Answer: {1: 1.23, 2: 2.0, 3: 3.45} 44 | # Now the keys are int and the values are float. 45 | # Remember the 'valueconv' argument must be a list or a tuple! 46 | 47 | gcscommands.getdict_oneitem(answer, items=None, itemconv=int, valueconv=(True,)) 48 | # Answer: {1: 1.23, 2: 2.0, 3: 3.45} 49 | # With "True" as conversion function it will be converted as far as possible, i.e. 50 | # str, float, int is chosen automatically. The "2.0" is converted to float because 51 | # there is a "." in the string. An answer of "2" would have been converted to int. 52 | 53 | 54 | def one_item_two_values(): 55 | """Sample for a command that answers with one item (e.g. axis) and two values.""" 56 | with GCSDevice() as pidevice: 57 | answer = pidevice.ReadGCSCommand('FOO? 1 2 3') 58 | # This will return: 59 | # 1 = 1.23 4 60 | # 2 = 2.00 5 61 | # 3 = 3.45 6 62 | 63 | gcscommands.getdict_oneitem(answer, items=None) 64 | # Answer: {'1': ['1.23', '4'], '2': ['2.00', '5'], '3': ['3.45', '6']} 65 | # Remember, all keys and values are strings because the function 66 | # does not now how to convert. 67 | 68 | gcscommands.getdict_oneitem(answer, items=None, itemconv=int, valueconv=(float, int)) 69 | # Answer: {'1': [1.23, 4], '2': [2.00, 5], '3': [3.45, 6]} 70 | # Now the keys are int, the first values are float and the second values are int. 71 | 72 | 73 | def one_item_multi_values(): 74 | """Sample for a command that answers with one item (e.g. axis) and a different number of values.""" 75 | with GCSDevice() as pidevice: 76 | answer = pidevice.ReadGCSCommand('FOO? 1 2 3') 77 | # This will return: 78 | # 1 = 1.23 4 7 8 79 | # 2 = 2.00 5 9 80 | # 3 = 3.45 6 81 | 82 | gcscommands.getdict_oneitem(answer, items=None, itemconv=int, valueconv=(float, int)) 83 | # Answer: {'1': [1.23, 4, 7, 8], '2': [2.00, 5, 9], '3': [3.45, 6]} 84 | # Now the keys are int, the first values are float and the second and following values are int. 85 | 86 | 87 | def two_items_one_value(): 88 | """Sample for a command that answers with two items (e.g. axis and option) and one value.""" 89 | with GCSDevice() as pidevice: 90 | answer = pidevice.ReadGCSCommand('FOO? 1 2 1 4 2 6') 91 | # This will return: 92 | # 1 2 = 1.23 93 | # 1 4 = 2.00 94 | # 2 6 = 3.45 95 | 96 | # There is a helper function to get a dict of this answer. 97 | 98 | gcscommands.getdict_twoitems(answer, items1=None, items2=None, itemconv=[], valueconv=[]) 99 | # Answer: {'1': {'2': '1.23', '4': '2.00'}, '2': {'6': '3.45'}} 100 | # Remember, all keys and values are strings because the function 101 | # does not now how to convert. 102 | 103 | gcscommands.getdict_twoitems(answer, items1=None, items2=None, itemconv=[int, str], valueconv=(float,)) 104 | # Answer: {1: {'2': 1.23, '4': 2.00}, 2: {'6': 3.45}} 105 | # Now the keys are int and str and the values are float. Remember, itemconv must not be a tuple! 106 | 107 | 108 | if __name__ == '__main__': 109 | print('this sample is not executable') 110 | -------------------------------------------------------------------------------- /samples/datarecorder_gcs30.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | 4 | """This example shows how to use the data recorder and how to plot and save the data.""" 5 | 6 | # (c) 2021 Physik Instrumente (PI) GmbH & Co. KG 7 | # Software products that are provided by PI are subject to the 8 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 9 | # and may incorporate and/or make use of third-party software components. 10 | # For more information, please read the General Software License Agreement 11 | # and the Third Party Software Note linked below. 12 | # General Software License Agreement: 13 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 14 | # Third Party Software Note: 15 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 16 | 17 | """This sample requires the python package matplotlib to work""" 18 | 19 | from pipython import GCSDevice, datarectools, pitools 20 | 21 | try: 22 | from matplotlib import pyplot 23 | except ImportError: 24 | pyplot = None 25 | 26 | 27 | 28 | __signature__ = 0xa325f76851b9413c83ef115ebab6c83 29 | 30 | CONTROLLERNAME = 'E-880' # 'C-884' will also work 31 | STAGES = None 32 | REFMODES = ['FRF', 'FRF'] 33 | 34 | 35 | NUMVALUES = 1024 # number of data sets to record as integer 36 | RECORD_RATE = 1 # number of servo cycles between two recorded values 37 | 38 | DATA_RECORDER_ID_1 = 'REC_1' 39 | TRACE_ID_1 = 1 40 | TRACE_ID_2 = 2 41 | 42 | PARAMETER_1 = [ 'AXIS_1', '-', '0x102' ] 43 | PARAMETER_2 = [ 'AXIS_1', '-', '0x103' ] 44 | 45 | TRIGGER_NAME = 'MOV' 46 | TRIGGER_OPTIONS_1 = 'AXIS_1' 47 | TRIGGER_OPTIONS_2 = '0' 48 | 49 | def main(): 50 | """Connect device, set up stage and read and display datarecorder data.""" 51 | 52 | # We recommend to use GCSDevice as context manager with "with". 53 | # The CONTROLLERNAME decides which PI GCS DLL is loaded. If your controller works 54 | # with the PI_GCS2_DLL (as most controllers actually do) you can leave this empty. 55 | 56 | with GCSDevice(CONTROLLERNAME) as pidevice: 57 | # Choose the interface according to your cabling. 58 | pidevice.ConnectTCPIP(ipaddress='localhost') 59 | # pidevice.ConnectUSB(serialnum='123456789') 60 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 61 | 62 | # Each PI controller supports the qIDN() command which returns an 63 | # identification string with a trailing line feed character which 64 | # we "strip" away. 65 | print('connected: {}'.format(pidevice.qIDN().strip())) 66 | 67 | # Show the version info which is helpful for PI support when there 68 | # are any issues. 69 | if pidevice.HasqVER(): 70 | print('version info:\n{}'.format(pidevice.qVER().strip())) 71 | 72 | # In the module pipython.pitools there are some helper 73 | # functions to make using a PI device more convenient. The "startup" 74 | # function will initialize your system. There are controllers that 75 | # cannot discover the connected stages hence we set them with the 76 | # "stages" argument. The desired referencing method (see controller 77 | # user manual) is passed as "refmode" argument. All connected axes 78 | # will be stopped if they are moving and their servo will be enabled. 79 | print('initialize connected stages...') 80 | pitools.startup(pidevice, stages=STAGES, refmodes=REFMODES) 81 | 82 | drec = datarectools.Datarecorder(pidevice, DATA_RECORDER_ID_1) 83 | 84 | print('Servo time [s]: {}'.format(drec.servotime)) 85 | recorddata(drec) 86 | 87 | print('move stage on axis {}...'.format(pidevice.axes[0])) 88 | pitools.movetomiddle(pidevice, pidevice.axes[0]) 89 | 90 | processdata(drec) 91 | 92 | 93 | def recorddata(drec): 94 | """Set up data recorder to record 2 tables for first axis after next motion command. 95 | @type drec : pipython.datarectools.Datarecorder 96 | """ 97 | drec.number_of_values = NUMVALUES 98 | drec.record_rate = RECORD_RATE 99 | print('data recorder rate: {:.2f} Hz'.format(drec.record_rate)) 100 | 101 | drec.traces = { TRACE_ID_1: PARAMETER_1, TRACE_ID_2: PARAMETER_2 } 102 | drec.trigger = [ TRIGGER_NAME, TRIGGER_OPTIONS_1, TRIGGER_OPTIONS_2 ] 103 | drec.arm() 104 | 105 | 106 | def processdata(drec): 107 | """Read out, plot and save data recorder data. 108 | @type drec : pipython.datarectools.Datarecorder 109 | """ 110 | if pyplot is None: 111 | print('matplotlib is not installed') 112 | return 113 | pyplot.plot(drec.timescale, drec.data[0], color='red') 114 | pyplot.plot(drec.timescale, drec.data[1], color='blue') 115 | pyplot.xlabel('time (s)') 116 | pyplot.ylabel(', '.join((drec.header['NAME0'], drec.header['NAME1']))) 117 | pyplot.title('Datarecorder data over time') 118 | pyplot.grid(True) 119 | pyplot.show() 120 | print('save GCSArray to file "gcsarray.dat"') 121 | pitools.savegcsarray('gcsarray.dat', drec.header, drec.data) 122 | 123 | 124 | if __name__ == '__main__': 125 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 126 | # PILogger.setLevel(DEBUG) 127 | main() 128 | -------------------------------------------------------------------------------- /samples/simplemove_gcs30.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding: utf-8 -*- 3 | 4 | """This example helps you to get used to PIPython.""" 5 | 6 | # (c)2021 Physik Instrumente (PI) GmbH & Co. KG 7 | # Software products that are provided by PI are subject to the 8 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 9 | # and may incorporate and/or make use of third-party software components. 10 | # For more information, please read the General Software License Agreement 11 | # and the Third Party Software Note linked below. 12 | # General Software License Agreement: 13 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 14 | # Third Party Software Note: 15 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 16 | 17 | 18 | from pipython import GCSDevice, pitools 19 | from collections import OrderedDict 20 | 21 | __signature__ = 0x78f311ef9154cfabb67422d50367fa8a 22 | 23 | CONTROLLERNAME = 'E-880' # 'C-884' will also work 24 | STAGES = None 25 | REFMODES = ['FRF', 'FRF'] 26 | 27 | def readparametervalue(device, memtype, cont_unit, func_unit, parameter_id): 28 | return device.qSPV(memtype, cont_unit, func_unit, parameter_id)[memtype][cont_unit][func_unit][parameter_id] 29 | 30 | def getminpos(device): 31 | minpos = OrderedDict() 32 | for axis in device.axes: 33 | minpos[axis] = readparametervalue(device, "RAM", axis, "-", "0x121") 34 | return minpos 35 | 36 | def getmaxpos(device): 37 | maxpos = OrderedDict() 38 | for axis in device.axes: 39 | maxpos[axis] = readparametervalue(device, "RAM", axis, "-", "0x122") 40 | return maxpos 41 | 42 | def main(): 43 | """Connect, setup system and move stages and display the positions in a loop.""" 44 | 45 | # We recommend to use GCSDevice as context manager with "with". 46 | # The CONTROLLERNAME decides which PI GCS DLL is loaded. If your controller works 47 | # with the PI_GCS2_DLL (as most controllers actually do) you can leave this empty. 48 | 49 | with GCSDevice(CONTROLLERNAME) as pidevice: 50 | # Choose the interface according to your cabling. 51 | 52 | pidevice.ConnectTCPIP(ipaddress='localhost') 53 | # pidevice.ConnectUSB(serialnum='123456789') 54 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 55 | 56 | # Each PI controller supports the qIDN() command which returns an 57 | # identification string with a trailing line feed character which 58 | # we "strip" away. 59 | 60 | print('connected: {}'.format(pidevice.qIDN().strip())) 61 | 62 | # Show the version info which is helpful for PI support when there 63 | # are any issues. 64 | 65 | if pidevice.HasqVER(): 66 | print('version info:\n{}'.format(pidevice.qVER().strip())) 67 | 68 | # In the module pipython.pitools there are some helper 69 | # functions to make using a PI device more convenient. The "startup" 70 | # function will initialize your system. There are controllers that 71 | # cannot discover the connected stages hence we set them with the 72 | # "stages" argument. The desired referencing method (see controller 73 | # user manual) is passed as "refmode" argument. All connected axes 74 | # will be stopped if they are moving and their servo will be enabled. 75 | 76 | print('initialize connected stages...') 77 | pitools.startup(pidevice, stages=STAGES, refmodes=REFMODES) 78 | 79 | # Now we query the allowed motion range of all connected stages. 80 | # GCS commands often return an (ordered) dictionary 81 | # with axes/channels as "keys" and the according values as "values". 82 | 83 | rangemin = getminpos(pidevice) 84 | rangemax = getmaxpos(pidevice) 85 | 86 | # The GCS commands qTMN() and qTMX() used above are query commands. 87 | # They don't need an argument and will then return all available 88 | # information, e.g. the limits for _all_ axes. With setter commands 89 | # however you have to specify the axes/channels. GCSDevice provides 90 | # a property "axes" which returns the names of all connected axes. 91 | # So lets move our stages... 92 | 93 | for axis in pidevice.axes: 94 | for target in (rangemin[axis], rangemax[axis]): 95 | print('move axis {} to {:.2f}'.format(axis, target)) 96 | pidevice.MOV(axis, target) 97 | 98 | # To check the "on target state" of an axis there is the GCS command 99 | # qONT(). But it is more convenient to just call "waitontarget". 100 | 101 | pitools.waitontarget(pidevice, axes=axis) 102 | 103 | # GCS commands usually can be called with single arguments, with 104 | # lists as arguments or with a dictionary. 105 | # If a query command is called with an argument the keys in the 106 | # returned dictionary resemble the arguments. If it is called 107 | # without an argument the keys are always strings. 108 | 109 | position = pidevice.qPOS(axis)[axis] # query single axis 110 | print('current position of axis {} is {:.2f}'.format(axis, position)) 111 | 112 | print('done') 113 | 114 | 115 | if __name__ == '__main__': 116 | # To see what is going on in the background you can remove the following 117 | # two hashtags. Then debug messages are shown. This can be helpful if 118 | # there are any issues. 119 | 120 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 121 | # PILogger.setLevel(DEBUG) 122 | main() 123 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.nl.min.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Lunr languages, `Dutch` language 3 | * https://github.com/MihaiValentin/lunr-languages 4 | * 5 | * Copyright 2014, Mihai Valentin 6 | * http://www.mozilla.org/MPL/ 7 | */ 8 | /*! 9 | * based on 10 | * Snowball JavaScript Library v0.3 11 | * http://code.google.com/p/urim/ 12 | * http://snowball.tartarus.org/ 13 | * 14 | * Copyright 2010, Oleg Mazko 15 | * http://www.mozilla.org/MPL/ 16 | */ 17 | 18 | !function(r,e){"function"==typeof define&&define.amd?define(e):"object"==typeof exports?module.exports=e():e()(r.lunr)}(this,function(){return function(r){if(void 0===r)throw new Error("Lunr is not present. 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-*- 3 | """This example helps you to get used to PIPython.""" 4 | 5 | # (c)2016 Physik Instrumente (PI) GmbH & Co. KG 6 | # Software products that are provided by PI are subject to the 7 | # General Software License Agreement of Physik Instrumente (PI) GmbH & Co. KG 8 | # and may incorporate and/or make use of third-party software components. 9 | # For more information, please read the General Software License Agreement 10 | # and the Third Party Software Note linked below. 11 | # General Software License Agreement: 12 | # http://www.physikinstrumente.com/download/EULA_PhysikInstrumenteGmbH_Co_KG.pdf 13 | # Third Party Software Note: 14 | # http://www.physikinstrumente.com/download/TPSWNote_PhysikInstrumenteGmbH_Co_KG.pdf 15 | 16 | 17 | from pipython import GCSDevice, pitools 18 | 19 | __signature__ = 0x986c0f898592ce476e1c88820b09bf94 20 | 21 | CONTROLLERNAME = 'C-884.DB' # 'C-884' will also work 22 | STAGES = ['M-111.1DG', 'M-122.2DD', 'NOSTAGE', 'NOSTAGE'] 23 | REFMODES = ['FNL', 'FRF'] 24 | 25 | 26 | # CONTROLLERNAME = 'E-709' 27 | # STAGES = None # this controller does not need a 'stages' setting 28 | # REFMODES = None 29 | 30 | # CONTROLLERNAME = 'C-887' 31 | # STAGES = None # this controller does not need a 'stages' setting 32 | # REFMODES = 'FRF' 33 | 34 | # CONTROLLERNAME = 'Hydra' 35 | # STAGES = ['6233-9-2203', 'NOSTAGE'] 36 | # REFMODES = ['FNL',] 37 | 38 | # CONTROLLERNAME = 'C-863.11' 39 | # STAGES = ['M-111.1DG',] # connect stages to axes 40 | # REFMODES = ['FNL',] # reference the connected stages 41 | 42 | 43 | def main(): 44 | """Connect, setup system and move stages and display the positions in a loop.""" 45 | 46 | # We recommend to use GCSDevice as context manager with "with". 47 | # The CONTROLLERNAME decides which PI GCS DLL is loaded. If your controller works 48 | # with the PI_GCS2_DLL (as most controllers actually do) you can leave this empty. 49 | 50 | with GCSDevice(CONTROLLERNAME) as pidevice: 51 | # Choose the interface according to your cabling. 52 | 53 | pidevice.ConnectTCPIP(ipaddress='192.168.90.207') 54 | # pidevice.ConnectUSB(serialnum='123456789') 55 | # pidevice.ConnectRS232(comport=1, baudrate=115200) 56 | 57 | # Controllers like C-843 and E-761 are connected via PCI. 58 | # pidevice.ConnectPciBoard(board=1) 59 | 60 | # Each PI controller supports the qIDN() command which returns an 61 | # identification string with a trailing line feed character which 62 | # we "strip" away. 63 | 64 | print('connected: {}'.format(pidevice.qIDN().strip())) 65 | 66 | # Show the version info which is helpful for PI support when there 67 | # are any issues. 68 | 69 | if pidevice.HasqVER(): 70 | print('version info:\n{}'.format(pidevice.qVER().strip())) 71 | 72 | # In the module pipython.pitools there are some helper 73 | # functions to make using a PI device more convenient. The "startup" 74 | # function will initialize your system. There are controllers that 75 | # cannot discover the connected stages hence we set them with the 76 | # "stages" argument. The desired referencing method (see controller 77 | # user manual) is passed as "refmode" argument. All connected axes 78 | # will be stopped if they are moving and their servo will be enabled. 79 | 80 | print('initialize connected stages...') 81 | pitools.startup(pidevice, stages=STAGES, refmodes=REFMODES) 82 | 83 | # Now we query the allowed motion range of all connected stages. 84 | # GCS commands often return an (ordered) dictionary 85 | # with axes/channels as "keys" and the according values as "values". 86 | 87 | rangemin = pidevice.qTMN() 88 | rangemax = pidevice.qTMX() 89 | 90 | # The GCS commands qTMN() and qTMX() used above are query commands. 91 | # They don't need an argument and will then return all available 92 | # information, e.g. the limits for _all_ axes. With setter commands 93 | # however you have to specify the axes/channels. GCSDevice provides 94 | # a property "axes" which returns the names of all connected axes. 95 | # So lets move our stages... 96 | 97 | for axis in pidevice.axes: 98 | for target in (rangemin[axis], rangemax[axis]): 99 | print('move axis {} to {:.2f}'.format(axis, target)) 100 | pidevice.MOV(axis, target) 101 | 102 | # To check the "on target state" of an axis there is the GCS command 103 | # qONT(). But it is more convenient to just call "waitontarget". 104 | 105 | pitools.waitontarget(pidevice, axes=axis) 106 | 107 | # GCS commands usually can be called with single arguments, with 108 | # lists as arguments or with a dictionary. 109 | # If a query command is called with an argument the keys in the 110 | # returned dictionary resemble the arguments. If it is called 111 | # without an argument the keys are always strings. 112 | 113 | position = pidevice.qPOS(axis)[axis] # query single axis 114 | # position = pidevice.qPOS()[str(axis)] # query all axes 115 | print('current position of axis {} is {:.2f}'.format(axis, position)) 116 | 117 | print('done') 118 | 119 | 120 | if __name__ == '__main__': 121 | # To see what is going on in the background you can remove the following 122 | # two hashtags. Then debug messages are shown. This can be helpful if 123 | # there are any issues. 124 | 125 | # from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 126 | # PILogger.setLevel(DEBUG) 127 | main() 128 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.de.min.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Lunr languages, `German` language 3 | * https://github.com/MihaiValentin/lunr-languages 4 | * 5 | * Copyright 2014, Mihai Valentin 6 | * http://www.mozilla.org/MPL/ 7 | */ 8 | /*! 9 | * based on 10 | * Snowball JavaScript Library v0.3 11 | * http://code.google.com/p/urim/ 12 | * http://snowball.tartarus.org/ 13 | * 14 | * Copyright 2010, Oleg Mazko 15 | * http://www.mozilla.org/MPL/ 16 | */ 17 | 18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. 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PISocket(host='192.168.90.116') 15 | # <<<<<<<<<<<<<<<<<<<<< 16 | 17 | # USB Connect 18 | # >>>>>>>>>>>>>>>>>>>>> 19 | #gateway = PIUSB() 20 | #gateway.connect('987654321', 0x1024) 21 | # <<<<<<<<<<<<<<<<<<<<< 22 | 23 | messages = GCSMessages(gateway) 24 | gcs = GCSCommands(messages) 25 | 26 | 27 | ####################### 28 | # C-885 Motion Master # 29 | ####################### 30 | 31 | # To Communicate with the C-885 motion master it is possible to use the GCS-Python functions or 32 | # to send a GCS String 33 | 34 | # PIPython function 35 | print(gcs.qIDN()) 36 | # answer e.g: 37 | # '(c)2015 - 2018 Physik Instrumente (PI) GmbH & Co. KG, C-885.M1 TCP-IP Master,987654321,1.0.1.0' 38 | 39 | # GCS String 40 | print(gcs.read('*IDN?')) 41 | # answer e.g: 42 | # '(c)2015 - 2018 Physik Instrumente (PI) GmbH & Co. KG, C-885.M1 TCP-IP Master,987654321,1.0.1.0' 43 | 44 | 45 | # The identifiers of all axes in the system are unique. Call 'SAI?' to find out which identifiers are valid 46 | axes_of_master = gcs.qSAI() 47 | # answer e.g: 48 | # 1 49 | # 3 50 | 51 | print(gcs.qPOS(axes_of_master)) 52 | # answer e.g: 53 | # 1=-0.0004680 54 | # 3=-2.2942890 55 | 56 | 57 | 58 | ################################## 59 | # Sub module (e.g. E-873.10C855) # 60 | ################################## 61 | 62 | # To Communicate with a sub module (e.g. E-87210C855) it is only possible to ust the GCS-Strings 63 | # The address of the sub module has to precede the GCS command. 64 | # In the answer you will find a preceding '0' and the number of the sub module form where the answer 65 | # comes from. 66 | print(gcs.read('2 *IDN?')) 67 | # answer e.g: 68 | # '0 2 (c)2016 Physik Instrumente (PI) GmbH & Co. KG, E-873.10C885, 117007101, 02.016' 69 | 70 | 71 | # The identifier of the axes in a sub module are relative to the sub module. This means the identifiers of the axes 72 | # are not the same as the identifiers of the axis at the C-855 motion module, even if they are physically 73 | # the same. To find out the identifiers of the axis in a sub module call e.g. '2 SAI?' 74 | 75 | axes_of_sub_module_2 = gcs.read('2 SAI?').split(' ')[2].replace('\n' , '') 76 | # answer e.g: 77 | # 0 2 X 78 | # This means the identifier of the axis of the sub module is 'X' and not '1' as it is when commanding the motion master 79 | 80 | axes_of_sub_module_3 = gcs.read('3 SAI?').split(' ')[2].replace('\n' , '') 81 | # answer e.g: 82 | # 0 3 X 83 | # This means the identifier of the axis of the sub module is 'X' and not '3' as it is when commanding the motion master 84 | 85 | # The following commands are reading the position form the same physically axes as the 86 | # C-855 motion master sample above (gcs.read('POS? 1 3')). 87 | 88 | print(gcs.read('2 POS? %s' % axes_of_sub_module_2)) 89 | # answer e.g: 90 | # 0 2 X=-0.0004680 91 | 92 | print(gcs.read('3 POS? %s' % axes_of_sub_module_3)) 93 | # answer e.g: 94 | # 0 3 X=-2.2942890 95 | 96 | 97 | 98 | #For Linear Stage Q-545 99 | #1. Home Macros will turn on servo, find reference position, define home position, search forward limit switch, 100 | # then reverse limit switch, then move to home position, report error code 101 | 102 | # The Command HIN is not supported by the controller 103 | gcs.send('2 SVO %s 1' % axes_of_sub_module_2) 104 | 105 | gcs.send('2 FRF %s' % axes_of_sub_module_2) 106 | ontarget=0 107 | while not ontarget: 108 | ontarget=int(gcs.read('2 ONT? %s' % axes_of_sub_module_2).split('=')[1].replace('\n' , '')) 109 | 110 | gcs.send('2 DFH %s' % axes_of_sub_module_2) 111 | 112 | print(gcs.read('2 POS? %s' % axes_of_sub_module_2)) 113 | 114 | gcs.send('2 VEL %s 6.5' % axes_of_sub_module_2) 115 | 116 | # The Command FPL is not supported by the controller. Call TMX and mov to the the returned position instead. 117 | max_position= gcs.read('2 TMX? %s' % axes_of_sub_module_2).split('=')[1].replace('\n' , '') 118 | gcs.send('2 MOV %s %s' % (axes_of_sub_module_2, max_position)) 119 | ontarget=0 120 | while not ontarget: 121 | ontarget=int(gcs.read('2 ONT? %s' % axes_of_sub_module_2).split('=')[1].replace('\n' , '')) 122 | 123 | print(gcs.read('2 TMX? %s' % axes_of_sub_module_2)) 124 | 125 | # The Command FNL is not supported by the controller. Call TMN and mov to the the returned position instead. 126 | min_position= gcs.read('2 TMN? %s' % axes_of_sub_module_2).split('=')[1].replace('\n' , '') 127 | gcs.send('2 MOV %s %s' % (axes_of_sub_module_2, min_position)) 128 | ontarget=0 129 | while not ontarget: 130 | ontarget=int(gcs.read('2 ONT? %s' % axes_of_sub_module_2).split('=')[1].replace('\n' , '')) 131 | 132 | print(gcs.read('2 TMN? %s' % axes_of_sub_module_2)) 133 | 134 | gcs.send('2 GOH %s' % axes_of_sub_module_2) 135 | ontarget=0 136 | while not ontarget: 137 | ontarget=int(gcs.read('2 ONT? %s' % axes_of_sub_module_2).split('=')[1].replace('\n' , '')) 138 | 139 | print(gcs.read('2 POS? %s' % axes_of_sub_module_2)) 140 | 141 | print(gcs.read('2 ERR?')) 142 | 143 | 144 | # 145 | #2.Move Macros is simple, Check the error status, current position, and move to target position and check 146 | # the move status and report error code 147 | # 148 | print(gcs.read('2 ERR?')) 149 | print(gcs.read('2 POS? %s' % axes_of_sub_module_2)) 150 | 151 | gcs.send('2 MOV %s 5' % axes_of_sub_module_2) 152 | ontarget=0 153 | while not ontarget: 154 | ontarget=int(gcs.read('2 ONT? %s' % axes_of_sub_module_2).split('=')[1].replace('\n' , '')) 155 | 156 | print(gcs.read('2 POS? %s' % axes_of_sub_module_2)) 157 | print(gcs.read('2 ERR?')) 158 | 159 | 160 | 161 | gateway.close() 162 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.du.min.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Lunr languages, `Dutch` language 3 | * https://github.com/MihaiValentin/lunr-languages 4 | * 5 | * Copyright 2014, Mihai Valentin 6 | * http://www.mozilla.org/MPL/ 7 | */ 8 | /*! 9 | * based on 10 | * Snowball JavaScript Library v0.3 11 | * http://code.google.com/p/urim/ 12 | * http://snowball.tartarus.org/ 13 | * 14 | * Copyright 2010, Oleg Mazko 15 | * http://www.mozilla.org/MPL/ 16 | */ 17 | 18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. 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0.034 231 | 0.023 0.036 232 | 0.022 0.037 233 | 0.021 0.038 234 | 0.020 0.040 235 | 0.019 0.041 236 | 0.018 0.043 237 | 0.017 0.044 238 | 0.016 0.046 239 | 0.015 0.047 240 | 0.014 0.048 241 | 0.013 0.050 242 | 0.013 0.052 243 | 0.012 0.053 244 | 0.011 0.055 245 | 0.010 0.056 246 | 0.009 0.058 247 | 0.009 0.059 248 | 0.008 0.061 249 | 0.007 0.063 250 | 0.007 0.064 251 | 0.006 0.066 252 | 0.005 0.067 253 | 0.005 0.069 254 | 0.004 0.071 255 | 0.004 0.072 256 | 0.003 0.074 257 | 0.003 0.076 258 | 0.003 0.078 259 | 0.002 0.079 260 | 0.002 0.081 261 | 0.002 0.083 262 | 0.001 0.084 263 | 0.001 0.086 264 | 0.001 0.088 265 | 0.001 0.090 266 | 0.000 0.091 267 | 0.000 0.093 268 | 0.000 0.095 269 | 0.000 0.097 270 | 0.000 0.098 271 | 0.000 0.100 272 | 0.000 0.102 273 | 0.000 0.103 274 | 0.000 0.105 275 | 0.000 0.107 276 | 0.000 0.109 277 | 0.001 0.110 278 | 0.001 0.112 279 | 0.001 0.114 280 | 0.001 0.116 281 | 0.002 0.117 282 | 0.002 0.119 283 | 0.002 0.121 284 | 0.003 0.122 285 | 0.003 0.124 286 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0.194 342 | 0.067 0.195 343 | 0.069 0.195 344 | 0.071 0.196 345 | 0.072 0.196 346 | 0.074 0.197 347 | 0.076 0.197 348 | 0.078 0.197 349 | 0.079 0.198 350 | 0.081 0.198 351 | 0.083 0.198 352 | 0.084 0.199 353 | 0.086 0.199 354 | 0.088 0.199 355 | 0.090 0.199 356 | 0.091 0.200 357 | 0.093 0.200 358 | 0.095 0.200 359 | 0.097 0.200 360 | 0.098 0.200 361 | -------------------------------------------------------------------------------- /changelog.md: -------------------------------------------------------------------------------- 1 | # Feature Version History 2 | 3 | ### PIPython 2.10.2 4 | - fix ubs connection error for E-816 controller 5 | - add "PITools" to PIPython Manual 6 | 7 | ### PIPython 2.10.1 8 | - fix 'segmentation fault' which occurred on Linux while unloading the GCSDll class 9 | 10 | ### PIPython 2.10.0 11 | - add GCSCommands.STF() 12 | - add new status bits returned by GCSCommands.STV(). 13 | 14 | ### PIPython 2.9.0 15 | - add support for open loop control mode in pitools 16 | - fix bug in simplemove sample. 17 | 18 | ### PIPython 2.8.0 19 | - add pitools.getmaxtravelrange() 20 | - add pitools.getmintravelrange() 21 | 22 | ### PIPython 2.7.0 23 | - add GCSCommands.qIPR() 24 | - add GCSCommands.RES() 25 | - add PILogger 26 | 27 | 28 | ### PIPython 2.6.0 29 | - add support for GCS 3.0 controllers 30 | - add data recorder tools for controllers with GCS 3.0 syntax 31 | 32 | 33 | ### PIPython 2.5.1 34 | - fix missing files in pitools 35 | 36 | 37 | ### PIPython 2.5.0 38 | - Support for GCS30 UMF Controllers 39 | 40 | 41 | ### PIPython 2.4.0 42 | - add GCSCommands.qUSG() 43 | - add GCSCommands.SPV() 44 | - add GCSCommands.qSPV() 45 | - add GCSCommands.CPA() 46 | - add GCSCommands.UCL() 47 | - add GCSCommands.qUCL() 48 | - add GCSCommands.REC_STAT() 49 | - add GCSCommands.qREC_STAT() 50 | - add GCSCommands.REC_TRACE() 51 | - add GCSCommands.qREC_TRACE() 52 | - add GCSCommands.REC_TRG() 53 | - add GCSCommands.qREC_TRG() 54 | - add GCSCommands.REC_RATE() 55 | - add GCSCommands.qREC_RATE() 56 | - add GCSCommands.REC_START() 57 | - add GCSCommands.REC_STOP() 58 | - add GCSCommands.qREC_NUM() 59 | - add GCSCommands.qREC_DAT() 60 | - add GCSCommands.qLOG() 61 | 62 | 63 | ### PIPython 2.3.0 64 | - Internal refactoring 65 | 66 | 67 | ### PIPython 2.2.2 68 | - fix: No module named gcs30.gcs30commands_helpers 69 | 70 | 71 | ### PIPython 2.2.1 72 | - fix missing argument in isgcs30 73 | 74 | 75 | ### PIPython 2.2.0 76 | - Support for PI_SetConnectTimeout() and PI_EnableBaudRateScan() 77 | 78 | 79 | ### PIPython 2.1.1 80 | - fix timing probles while reading the data recorder with pythom3 81 | 82 | 83 | ### PIPython 2.1.0 84 | - pipython.datarectools.Datarecorder: maxnumvalues now also reads the maximum number 85 | of data recorder points from the 'HDR?' answer. 86 | - fix pipython.pitools.pitoopls.itemstostr. If 'data' is an integer of 0 or a float of 0.0 87 | 'itemstostr' now returns the string '0' or '0.0' instead of 'None' 88 | 89 | 90 | ### PIPython 2.0.0 91 | - New package structure 92 | - support for WriteConfigurationFromDatabaseToControllerAndSave() 93 | 94 | 95 | ### PIPython 1.5.2 96 | - Linux: fix string decoding in piusb 97 | 98 | 99 | ### PIPython 1.5.1 100 | - fix parameter value conversion of hex parameter values 101 | 102 | 103 | ### PIPython 1.5.0 104 | - add GCSCommands.POL() 105 | - add GCSCommands.STD() 106 | - add GCSCommands.RTD() 107 | - add GCSCommands.qRTD() 108 | - add GCSCommands.qLST() 109 | - add GCSCommands.DTL() 110 | 111 | 112 | ### PIPython 1.4.0 113 | 114 | - fix string decoding in GCSDll() 115 | - add pitools.getservo() 116 | - pitools.waitonreferencing() does not call waitontarget() 117 | - in pitools call waitonready() with the "polldelay" argument 118 | - fix signature of GCSCommands.qTWS() 119 | - GCSCommands.CCL() will reset the list of supported GCS commands 120 | - interfaces.pisocket.PISocket() uses socket.TCP_NODELAY 121 | - add "ATZ" as "referencing command" to pitools.DeviceStartup() 122 | - add GCSMessages.logfile property 123 | - rename license.md to eula.md 124 | - add datarectools.get_hdr_options() 125 | - add Datarecorder.recopts property 126 | - add Datarecorder.trigopts property 127 | - all timeout default values are set to 300 seconds 128 | 129 | 130 | ### PIPython 1.3.9 131 | 132 | - add pitools.waitonmacro() 133 | - catch GCS error 2 (unknown command) after EAX during startup 134 | - GCS commands arguments can be sets, too 135 | - DDL(tables, offsets, values) -> DDL(table, offsets, values) 136 | - add GCSDevice.isavailable 137 | - convert parameter values according to types in qHPA answer 138 | - fix signature of GCSCommands.qJLT() 139 | 140 | 141 | ### PIPython 1.3.8 142 | 143 | - add interfaces.piusb 144 | - add pitools.readgcsarray() 145 | - add pitools.waitonwavegen() 146 | - add pitools.moveandwait() 147 | - add piparams.applyconfig() 148 | - pitools.startup() defines and references stages only if necessary 149 | - add GCSCommands.allaxes 150 | - add GCSDevice.hasref() 151 | - add GCSDevice.haslim() 152 | - add GCSDevice.canfrf() 153 | - add GCSDevice.canfnl() 154 | - add GCSDevice.canfpl() 155 | - add pitools.waitonphase() 156 | - add pitools.setservo() 157 | - controller specific startup sequence 158 | 159 | 160 | ### PIPython 1.3.7 161 | 162 | - add pitools.movetomiddle() 163 | - add pipython.fastaligntools 164 | - PI_GCS2_DLL is used by default 165 | - add pitools.savegcsarray() 166 | - add pitools.itemstostr() 167 | 168 | 169 | ### PIPython 1.3.6 170 | 171 | - add controller C-886, E-872 172 | - GCSDevice supports external Gateway 173 | 174 | 175 | ### PIPython 1.3.5 176 | 177 | - add DLL functions for PIStages3 178 | - "wait on" functions support polldelay times 179 | - fix GCSCommands.SGA() 180 | - fix GCSCommands.qSPA() 181 | - fix GCSCommands.qSEP() 182 | - add optional argument "noraise" for StopAll(), HLT(), STP() 183 | - add pitools.waitonfastalign() 184 | - add pitools.waitonautozero() 185 | - add GCS Error codes 186 | 187 | 188 | ### PIPython 1.3.4 189 | 190 | - add pipython.interfaces.piserial 191 | - "wait on" functions support predelay and postdelay times 192 | - add GCSCommands.TSP() 193 | - setup writes key for PIUpdateFinder always into 32 bit part of registry 194 | - change formatting of numbers in GCS strings 195 | - GCSDll supports "K" devices 196 | - GCSMessages.bufstate will not write to log 197 | - rename ReadGCSData() -> read_gcsdata() 198 | - add controller C-663.12 199 | - add parameters for E-873.3QTU, C-663.10C885 200 | - add GCS Error codes 201 | - bugfixing 202 | 203 | 204 | ### PIPython 1.3.3 205 | 206 | - add GCSCommands.SGP() 207 | - add GCSCommands.qSGP() 208 | - add GCSCommands.WAV_SIN() 209 | - add GCSCommands.WAV_POL() 210 | - add GCSCommands.WAV_TAN() 211 | - add GCSCommands.WAV_SWEEP() 212 | - add GCSCommands.checkerror() 213 | - add GCSCommands.DEL() 214 | - add new controllers 215 | - add controller parameters 216 | - fix for handling unicode in Python 3 217 | - bugfixing of some GCS commands 218 | 219 | 220 | ### PIPython 1.3.2 221 | 222 | - add GCSCommands.FSF() 223 | - add GCSCommands.qFSF() 224 | - add GCSCommands.qFSR() 225 | - add pitools.getaxeslist() 226 | - add pitools.ontarget() 227 | - add pitools.waitonwalk() 228 | - add pitools.waitonoma() 229 | - add pitools.waitontrajectory() 230 | - fix DLL function prefix 231 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.ru.min.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Lunr languages, `Russian` language 3 | * https://github.com/MihaiValentin/lunr-languages 4 | * 5 | * Copyright 2014, Mihai Valentin 6 | * http://www.mozilla.org/MPL/ 7 | */ 8 | /*! 9 | * based on 10 | * Snowball JavaScript Library v0.3 11 | * http://code.google.com/p/urim/ 12 | * http://snowball.tartarus.org/ 13 | * 14 | * Copyright 2010, Oleg Mazko 15 | * http://www.mozilla.org/MPL/ 16 | */ 17 | 18 | !function(e,n){"function"==typeof define&&define.amd?define(n):"object"==typeof exports?module.exports=n():n()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. 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meille meillä meiltä meissä meistä meitä mihin miksi mikä mille millä miltä minkä minkä minua minulla minulle minulta minun minussa minusta minut minuun minä minä missä mistä mitkä mitä mukaan mutta ne niiden niihin niiksi niille niillä niiltä niin niin niinä niissä niistä niitä noiden noihin noiksi noilla noille noilta noin noina noissa noista noita nuo nyt näiden näihin näiksi näille näillä näiltä näinä näissä näistä näitä nämä ole olemme olen olet olette oli olimme olin olisi olisimme olisin olisit olisitte olisivat olit olitte olivat olla olleet ollut on ovat poikki se sekä sen siihen siinä siitä siksi sille sillä sillä siltä sinua sinulla sinulle sinulta sinun sinussa sinusta sinut sinuun sinä sinä sitä tai te teidän teidät teihin teille teillä teiltä teissä teistä teitä tuo tuohon tuoksi tuolla tuolle tuolta tuon tuona tuossa tuosta tuota tähän täksi tälle tällä tältä tämä tämän tänä tässä tästä tätä vaan vai vaikka yli".split(" ")),i.Pipeline.registerFunction(i.fi.stopWordFilter,"stopWordFilter-fi")}}); -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.hu.min.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Lunr languages, `Hungarian` language 3 | * https://github.com/MihaiValentin/lunr-languages 4 | * 5 | * Copyright 2014, Mihai Valentin 6 | * http://www.mozilla.org/MPL/ 7 | */ 8 | /*! 9 | * based on 10 | * Snowball JavaScript Library v0.3 11 | * http://code.google.com/p/urim/ 12 | * http://snowball.tartarus.org/ 13 | * 14 | * Copyright 2010, Oleg Mazko 15 | * http://www.mozilla.org/MPL/ 16 | */ 17 | 18 | !function(e,n){"function"==typeof define&&define.amd?define(n):"object"==typeof exports?module.exports=n():n()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. 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It can be used with Python 3.6+ on Windows, Linux and OS X 5 | and without the GCS DLL also on any other platform. 6 | 7 | ## Installation 8 | 9 | By using PIPython you agree to the license agreement, see the provided file: 10 | 11 | eula.md 12 | 13 | ### From local folder 14 | 15 | Unzip the file PIPython.zip, open a command entry (Linux Console or Windows CMD window) and run: 16 | 17 | python setup.py install 18 | 19 | For further reading open the *index.html* file in your browser and see the samples in the 20 | *samples* folder. 21 | 22 | ### From GitHub 23 | 24 | [PIPython on GitHub](https://github.com/PI-PhysikInstrumente/PIPython) 25 | 26 | git clone git@github.com:PI-PhysikInstrumente/PIPython.git 27 | python setup.py install 28 | 29 | ### From pypi.org 30 | 31 | pip install PIPython 32 | 33 | ### Feedback 34 | 35 | We appreciate your feedback at: 36 | 37 | service@pi.de 38 | 39 | ## Quickstart 40 | 41 | Communicate to a PI device via `GCSDevice` which wraps the GCS DLL functions 42 | and provides methods to connect to the device. Call `GCSDevice` with the 43 | controller name as argument. 44 | 45 | ~~~python 46 | from pipython import GCSDevice 47 | pidevice = GCSDevice('C-884') 48 | pidevice.InterfaceSetupDlg() 49 | print pidevice.qIDN() 50 | pidevice.CloseConnection() 51 | ~~~ 52 | 53 | `GCSDevice` is a context manager which closes the connection if an exception 54 | raises inside the `with` statement. 55 | 56 | ~~~python 57 | from pipython import GCSDevice 58 | with GCSDevice('C-884') as pidevice: 59 | pidevice.InterfaceSetupDlg() 60 | print(pidevice.qIDN()) 61 | ~~~ 62 | 63 | See also the provided samples in the `samples` subdirectory. Be aware that some controllers may not work with every sample and vice versa. See [Available commands](#available-commands) and look out for comments in the samples. Start with `quickstart.py`. 64 | 65 | 66 | 67 | ## Requirements 68 | 69 | ### Required packages 70 | 71 | Download these python packages with pip install: 72 | 73 | - PyUSB 74 | - PySocket 75 | - PySerial 76 | 77 | With pipython.interfaces.piusb you can connect a USB device without using the GCS DLL. 78 | This works only with Linux and requires LibUSB which usually is provided by the OS. 79 | 80 | 81 | ### Available commands 82 | 83 | Some GCS commands are only available for certain types of PI devices. For example, the `qPOS()` and `MOV()` commands are only available for devices working in closed-loop operation. Available GCS commands can be found in the manual or technical note of the controller. For a given device, to query for all available commands or for a specific command, use the `qHLP()` or `Has()` commands, respectively. 84 | 85 | 86 | ## Arguments 87 | 88 | From now on `pidevice` refers to a connected `GCSDevice` instance. 89 | 90 | 91 | ### Setter functions 92 | 93 | Usually you can call a setter function with 94 | - a dictionary of axes/channels and values 95 | - a list for axes/channels and a list of the values 96 | - a single item for axis/channel and a single value 97 | 98 | ~~~python 99 | gcs.MOV({'X': 1.23, 'Y': 2.34}) 100 | gcs.MOV(['X', 'Y'], [1.23, 2.34]) 101 | gcs.MOV('X', 1.23) 102 | ~~~ 103 | 104 | For channels and numeric axis names you can omit the quotes. 105 | 106 | ~~~python 107 | gcs.MOV({1: 1.23, 2: 2.34}) 108 | gcs.MOV([1, 2], [1.23, 2.34]) 109 | gcs.MOV(1, 1.23) 110 | ~~~ 111 | 112 | 113 | ### Getter functions 114 | 115 | #### GCS 2.0 116 | 117 | Usually getter commands can be called with 118 | 119 | - a list of axes/channels. 120 | - a single item for axis/channel, without quotes if numeric 121 | - without any arguments which will return the answer for all available axes/channels 122 | 123 | ~~~python 124 | gcs.qPOS(['X', 'Y']) 125 | gcs.qPOS('X') 126 | gcs.qPOS(1) 127 | gcs.qPOS() 128 | ~~~ 129 | 130 | 131 | #### GCS 3.0 132 | 133 | Usually getter commands can be called with 134 | 135 | - a single axis 136 | - without any arguments which will return the answer for all available axes 137 | 138 | ~~~python 139 | gcs.qPOS('AXIS_1') 140 | gcs.qPOS() 141 | ~~~ 142 | 143 | ## Return values 144 | 145 | Axes or channel related answers are returned as (ordered) dictionary. 146 | 147 | ~~~python 148 | pidevice.qPOS() 149 | >>>{'X': 1.23, 'Y': 2.34} 150 | ~~~ 151 | 152 | 153 | If you do not provide arguments you always have to use strings as keys. 154 | 155 | ~~~python 156 | pos = pidevice.qPOS() 157 | print(pos['1']) 158 | ~~~ 159 | 160 | The following sample will move all `axes` to `targets` and waits until the motion has finished. 161 | It shows how to use only the values from the returned dictionary. 162 | 163 | ~~~python 164 | from time import sleep 165 | ... 166 | pidevice.MOV(axes, targets) 167 | while not all(list(pidevice.qONT(axes).values())): 168 | sleep(0.1) 169 | ~~~ 170 | 171 | #### GCS 2.0 172 | 173 | If you provide arguments their types are preserved and you can use these as keys. 174 | 175 | ~~~python 176 | pos = pidevice.qPOS([1, 2, 3]) 177 | print(pos[1]) 178 | ~~~ 179 | 180 | #### GCS 3.0 181 | 182 | If you provide arguments their types are preserved and you can use these as keys. 183 | 184 | ~~~python 185 | pos = pidevice.qPOS('AXIS_1') # only one axis is possible 186 | print(pos['AXIS_1']) 187 | ~~~ 188 | 189 | 190 | ## Some hints... 191 | 192 | 193 | ### Helpers 194 | 195 | In `pipython.pitools` you will find some helper funtions for your convenience. See the provided 196 | samples for how to use them. The sample above can then be written as: 197 | 198 | ~~~python 199 | from pipython import pitools 200 | ... 201 | pidevice.MOV(axes, targets) 202 | pitools.waitontarget(pidevice, axes) 203 | ~~~ 204 | 205 | 206 | ### Enable debug logging 207 | 208 | To log debug messages on the console just enter these lines prior to calling `GCSDevice`. 209 | 210 | ~~~python 211 | from pipython import PILogger, DEBUG, INFO, WARNING, ERROR, CRITICAL 212 | 213 | PILogger.setLevel(DEBUG) 214 | ~~~ 215 | 216 | 217 | ### GCSError and error check 218 | 219 | By default an "ERR?" command is sent after each command to query if an error 220 | occurred on the device which then will be raised as `GCSError` exception. If communication 221 | speed is an issue you can disable error checking. 222 | 223 | ~~~python 224 | pidevice.errcheck = False 225 | ~~~ 226 | 227 | To handle a catched `GCSError` exception you can use the defines provided by 228 | `gcserror` instead of pure numeric values. Remember the difference between `GCSError` which 229 | is the exception class and `gcserror` which is the according module. 230 | 231 | ~~~python 232 | from pipython import GCSDevice, GCSError, gcserror 233 | with GCSDevice('C-884') as pidevice: 234 | try: 235 | pidevice.MOV('X', 1.23) 236 | except GCSError as exc: 237 | if exc == gcserror.E_1024_PI_MOTION_ERROR: 238 | print('There was a motion error, please check the mechanics.') 239 | else: 240 | raise 241 | ~~~ 242 | 243 | The exception class `GCSError` will translate the error code into a readable message. 244 | 245 | ~~~python 246 | from pipython import GCSError, gcserror 247 | raise GCSError(gcserror.E_1024_PI_MOTION_ERROR) 248 | >>>GCSError: Motion error: position error too large, servo is switched off automatically (-1024) 249 | ~~~ 250 | 251 | #### GCS 3.0 252 | 253 | - to reset the error state of 1 or more axes 254 | ~~~python 255 | for axis in device.axes: 256 | if axis_has_error(device): 257 | while check_axis_status_bit(device, axis, AXIS_STATUS_FAULT_REACTION_ACTIVE): 258 | pass 259 | print('reset axis error: ', axis) 260 | device.RES(axis) 261 | ~~~ 262 | 263 | 264 | ### Big data 265 | 266 | Commands like `qDRR()` for GCS 2.0 syntax, or `qREC_DAT()` for GCS 3.0 syntax 267 | which read a large amount of GCS data return immediately with 268 | the header dictionary containing information about the data. Then they will start 269 | a background task that carries on reading data from the device into an internal buffer. The 270 | `bufstate` property returns the progress of the reading as floating point number in the range 271 | 0 to 1 and turns to `True` when reading has finished. Hence, when using it in a loop check for 272 | `is not True`. (Remember, this is not the same as `!= True`.) 273 | 274 | #### GCS 2.0 275 | 276 | ~~~python 277 | header = pidevice.qDRR(1, 1, 8192) 278 | while pidevice.bufstate is not True: 279 | print('read data {:.1f}%...'.format(pidevice.bufstate * 100)) 280 | sleep(0.1) 281 | data = pidevice.bufdata 282 | ~~~ 283 | 284 | #### GCS 3.0 285 | 286 | ~~~python 287 | header = pidevice.qREC_DAT('REC_1', 'ASCII', 1, 1, 8192) 288 | while pidevice.bufstate is not True: 289 | print('read data {:.1f}%...'.format(pidevice.bufstate * 100)) 290 | sleep(0.1) 291 | data = pidevice.bufdata 292 | ~~~ 293 | 294 | 295 | ### Textual interface 296 | 297 | Besides the functions implemented in GCSCommands you can send GCS commands as strings to the 298 | controller. Use `read()` for commands returning an answer, `read_gcsdata()` for commands returning 299 | GCS data and `send()` for non-answering commands. 300 | 301 | ~~~python 302 | print(pidevice.read('POS?')) 303 | print(pidevice.read_gcsdata('DRR? 1 100 1')) 304 | pidevice.send('MOV X 1.23') 305 | ~~~ 306 | 307 | They return the raw string or GCS data from the controller. If `errorcheck` is enabled the 308 | error state is queried from the device automatically. We recommend to use the provided 309 | functions instead of sending raw strings. 310 | 311 | In line with the C++ GCS DLL the functions `ReadGCSCommand()` and `GcsCommandset()` are also 312 | available. They will never query an error from the device. 313 | 314 | ~~~python 315 | print(pidevice.ReadGCSCommand('POS?')) 316 | pidevice.GcsCommandset('MOV X 1.23') 317 | ~~~ 318 | -------------------------------------------------------------------------------- /site/assets/javascripts/lunr/min/lunr.fr.min.js: -------------------------------------------------------------------------------- 1 | /*! 2 | * Lunr languages, `French` language 3 | * https://github.com/MihaiValentin/lunr-languages 4 | * 5 | * Copyright 2014, Mihai Valentin 6 | * http://www.mozilla.org/MPL/ 7 | */ 8 | /*! 9 | * based on 10 | * Snowball JavaScript Library v0.3 11 | * http://code.google.com/p/urim/ 12 | * http://snowball.tartarus.org/ 13 | * 14 | * Copyright 2010, Oleg Mazko 15 | * http://www.mozilla.org/MPL/ 16 | */ 17 | 18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. 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