Motor Functions

py4syn.utils.motor.createMotor(name='', PV='')

Create and add a motor to the mtrDB dictionary

Parameters:

name : string

Mnemonic of the motor

PV : string

The Epics PV for this Motor

Examples

>>> from py4syn.utils.motor import *
>>> mtop = 'mtop'
>>> mbot = 'mbot'
>>> createMotor(mtop,'SOL:DMC1:m3') # creates a motor using the mnemonic and PV.
>>> createMotor(mbot,'SOL:DMC1:m4')
>>> umv(mtop, 10) # move the motor mtop to the position 10.
>>> wa() # print the position of all motors registered.
>>> mtopPosition = wmr(mtop) # store the motor mtop position in the variable mtopPosition.

py4syn.utils.motor.createPseudoMotor(name='', description='', backFormula='', forwardDict={})

Create and add a pseudo-motor to the mtrDB dictionary

Parameters:

name : string

Mnemonic of the pseudo-motor

description : string

Description of the pseudo-motor

backFormula : string

Formula to define the pseudo-motor position based on other motors

Note

• Numpy and Math functions can be used on formulas, specially form numpy users must explicit declare it, e.g. numpy.linalg.solve(..)
• T refers to the motor Target position
• A refers to the motor Actual position

forwardDict : dictionary

A dictionary that contains a formula to be applied for each motor when the pseudo-motor is moved

Note

• Numpy and Math functions can be used on formulas, specially form numpy users must explicit declare it, e.g. numpy.linalg.solve(..)
• T refers to the motor Target position
• A refers to the motor Actual position

Examples

>>> from py4syn.utils.motor import *
>>>
>>> # Define the formula to calculate the Bragg Value
>>> braggBackFormula = "asin(1.977/A[energy])"
>>>
>>> # Define the relationship between thetaCrystal and bragg target value
>>> braggForwardDict = {"thetaCrystal": "T[bragg]"}
>>>
>>> # Define the formula to calculate the Energy Value
>>> energyBackFormula = "1.977/sin(A[thetaCrystal])"
>>>
>>> # Define the relationship between the needed motors and the energy target value
>>> energyForwardDict = {"bragg": "asin(1.977/T[energy])",
>>>                      "gap": "A[beamOffset]*tan(T[bragg])/ (sin(T[bragg])+(cos(T[bragg])*tan(T[bragg])))",
>>>                      "trans":"A[beamOffset]/(sin(T[bragg])+(cos(T[bragg])*tan(T[bragg])))"}
>>>
>>> # Define the formula to calculate the Beam Offset and the 
>>> beamOffsetBackFormula = "2*A[trans]*tan(A[bragg])*cos(A[bragg])"
>>>
>>> # Define the relationship between the needed motors and the beam offset 
>>> beamOffsetForwardDict = {"trans": "T[beamOffset]/(sin(A[bragg])+cos(A[bragg])*tan(A[bragg]))",
>>>                          "gap": "(T[beamOffset]*tan(A[bragg]))/(sin(A[bragg])+(cos(A[bragg])*tan(A[bragg])))"}
>>>
>>> # Crete a simple motor for the 2nd Crystal Translation
>>> createMotor("trans", "SOL:DMC1:m1")
>>>
>>> # Crete a simple motor for the 2nd Crystal Gap
>>> createMotor("gap", "SOL:DMC1:m3")
>>>
>>> # Crete a simple motor for the 1st Crystal Rotation
>>> createMotor("thetaCrystal", "SOL:DMC1:m4")
>>>
>>>
>>> # Create the Pseudo motor Bragg, Energy and BeamOffset with the respective formulas and relationships
>>> createPseudoMotor("bragg", "Bragg Angle (radians)", backFormula=braggBackFormula, forwardDict=braggForwardDict)
>>> createPseudoMotor("energy", "Energy (kev)", backFormula=energyBackFormula, forwardDict=energyForwardDict)
>>> createPseudoMotor("beamOffset", "Beam offset (mm)", backFormula=beamOffsetBackFormula, forwardDict=beamOffsetForwardDict)
>>>
>>> # Print all motor positions
>>> wa()
>>>
>>> # Move the motor Energy to the value 2.
>>> mv("energy", 4, wait=True)
>>>
>>> # Print all motor positions
>>> wa()

py4syn.utils.motor.lm()

Show the motors limits in dial and user coordinates

py4syn.utils.motor.lms()

Show the motors limits switch state

py4syn.utils.motor.mmv(**kargs)

Perform absolute movement in multiple motors at almost the same time

Parameters:

kargs : string

The motor name and desired position, e.g. x=10,y=10

py4syn.utils.motor.mmvr(**kargs)

Perform relative movement in multiple motors at almost the same time

Parameters:

kargs : string

The motor name and desired position, e.g. x=10,y=10

py4syn.utils.motor.mv(motor, position, wait=True)

Move the desired motor to an absolute position, can or not wait until movement ends,**don’t** show the position while moving.

Parameters:

motor : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

position : double

The desired absolute position

wait : bool

Optional parameter that indicates if this function must wait until the movement finishes. Default value is True

Note

• If wait is set to False the code will follow as the motor moves.

py4syn.utils.motor.mvr(motor, position, wait=True)

Move the desired motor to a relative position, can or not wait until movement ends,**don’t** show the position while moving.

Parameters:

motor : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

position : double

The desired relative position

wait : bool

Optional parameter that indicates if this function must wait until the movement finishes. Default value is True

Note

• If wait is set to False the code will follow as the motor moves.

py4syn.utils.motor.print_no_newline(s)

Print information without an new line

Parameters:

s : string

Text to be printed

py4syn.utils.motor.set(mtr, position)

Change the motor user coordinates

Parameters:

mtr : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

position : double

Desired position for user coordinates

py4syn.utils.motor.set_dial(mtr, position)

Change the motor dial coordinates

Parameters:

mtr : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

position : double

Desired position for dial coordinates

py4syn.utils.motor.set_lm(mtr, ll, hl)

Set the motor soft limits in user coordinates, will change DHLM and DLLM

Parameters:

mtr : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

ll : double

Low Soft Limit value

hl : double

High Soft Limit value

py4syn.utils.motor.stop()

Stops all motors in py4syn.mtrDB dictionary

py4syn.utils.motor.tw(mtr, step)

Move the desired motor relative, wait the movement end and ask if you need to move again

Parameters:

mtr : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

step : double

Desired relative step size

py4syn.utils.motor.ummv(**kargs)

Perform absolute movement in multiple motors at almost the same time and wait until movement finishes

Parameters:

kargs : string

The motor name and desired position, e.g. x=10,y=10

py4syn.utils.motor.ummvr(**kargs)

Perform relative movement in multiple motors at almost the same time and wait until movement finishes

Parameters:

kargs : string

The motor name and desired position, e.g. x=10,y=10

py4syn.utils.motor.umv(motor, position)

Move the desired motor to an absolute position, waiting until movement ends,and show the position while it happens.

Parameters:

motor : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

position : double

The desired absolute position

py4syn.utils.motor.umvr(motor, position)

Move the desired motor to a relative position, waiting until movement ends,and show the position while it happens.

Parameters:

motor : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

position : double

The desired relative position

py4syn.utils.motor.wa()

Show the motor positions in dial and user coordinates

py4syn.utils.motor.wm(mtr)

Show the position of one specific motor in dial and user coordinates

Parameters:

mtr : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

py4syn.utils.motor.wmr(mtr)

Return the motor position in user coordinates

Parameters:

mtr : string

Mnemonic of the motor used on the createMotor and createPseudoMotor functions

Returns:

`double`

Motor position in user coordinates