pcdsdevices.epics_motor.SmarActEtherCAT

class pcdsdevices.epics_motor.SmarActEtherCAT(*args, **kwargs)

SmarAct MCS2 stage driven through a Beckhoff EtherCAT DS402 PLC.

This combines the SmarAct-specific configuration and diagnostics with the BeckhoffAxis motor record, PLC error handling, and homing. The DS402 interface exposes fewer objects than the serial MCS2 IOC, so unsupported components (module temperature, default range, and the need-calibration readback) are removed, and the remaining components are re-pointed to their pytmc record names.

Ophyd Device Components
Attribute	Class	Suffix	Docs	Kind	Notes
user_readback (UpdateComponent)	`EpicsSignalROEditMD`	`.RBV`	Component attribute Component(EpicsSignalRO, '.RBV', auto_monitor=True, kind='hinted')	hinted	Inherited from `SmarAct`
user_setpoint (UpdateComponent)	`EpicsSignalEditMD`	`.VAL`	Component attribute Component(EpicsSignal, '.VAL', limits=True, auto_monitor=True, kind='normal')	normal	Inherited from `SmarAct`
user_offset	`EpicsSignal`	`.OFF`		config	Inherited from `SmarAct`
user_offset_dir	`EpicsSignal`	`.DIR`		config	Inherited from `SmarAct`
offset_freeze_switch	`EpicsSignal`	`.FOFF`		omitted	Inherited from `SmarAct`
set_use_switch	`EpicsSignal`	`.SET`		omitted	Inherited from `SmarAct`
velocity	`EpicsSignal`	`.VELO`		config	Inherited from `SmarAct`
acceleration	`EpicsSignal`	`.ACCL`		config	Inherited from `SmarAct`
motor_egu	`EpicsSignal`	`.EGU`		config	Inherited from `SmarAct`
motor_is_moving	`EpicsSignalRO`	`.MOVN`		normal	Inherited from `SmarAct`
motor_done_move	`EpicsSignalRO`	`.DMOV`		omitted	Inherited from `SmarAct`
high_limit_switch	`EpicsSignalRO`	`.HLS`		normal	Inherited from `SmarAct`
low_limit_switch	`EpicsSignalRO`	`.LLS`		normal	Inherited from `SmarAct`
high_limit_travel (UpdateComponent)	`EpicsSignal`	`.HLM`	Component attribute Component(EpicsSignal, '.HLM', auto_monitor=True, kind='omitted')	config	Inherited from `SmarAct`
low_limit_travel (UpdateComponent)	`EpicsSignal`	`.LLM`	Component attribute Component(EpicsSignal, '.LLM', auto_monitor=True, kind='omitted')	config	Inherited from `SmarAct`
direction_of_travel	`EpicsSignal`	`.TDIR`		normal	Inherited from `SmarAct`
motor_stop	`EpicsSignal`	`.STOP`		normal	Inherited from `SmarAct`
disabled	`EpicsSignal`	`.DISP`		omitted	Inherited from `SmarAct`
description	`EpicsSignal`	`.DESC`		normal	Inherited from `SmarAct`
dial_position	`EpicsSignalRO`	`.DRBV`		normal	Inherited from `SmarAct`
velocity_base	`EpicsSignal`	`.VBAS`		omitted	Inherited from `SmarAct`
velocity_max	`EpicsSignal`	`.VMAX`		config	Inherited from `SmarAct`
msta_raw	`EpicsSignalRO`	`.MSTA`		omitted	Inherited from `SmarAct`
plc (FCpt)	`BeckhoffAxisPLC`	`{prefix}{_plc_suffix}`	PLC error handling and aux functions.	normal	Inherited from `BeckhoffAxis`
motor_spmg	`EpicsSignal`	`.SPMG`	Stop, Pause, Move, Go	config	Inherited from `BeckhoffAxis`
pos_type	`EpicsSignal`	`:PTYPE_RBV`		config	Inherited from `SmarAct`
do_calib	`PytmcSignal`	`:DO_CALIB`	Calibrate command	config	Inherited from `SmarAct`
log_scale_offset	`PytmcSignal`	`:LSCO`	Logical Scale Offset	omitted	Inherited from `SmarAct`
log_scale_inv	`PytmcSignal`	`:LSCI`	Logical Scale Inversion	omitted	Inherited from `SmarAct`
dist_code_inv	`PytmcSignal`	`:DCIN`	Distance code inverted (0x2029)	config	Inherited from `SmarAct`
channel_temp	`PytmcSignal`	`:CHANTEMP`	Channel temperature (0x2026)	normal	Inherited from `SmarAct`
channel_state_raw	`PytmcSignal`	`:chanState:STATE`	Channel state bitmask represented as raw int	omitted	Inherited from `SmarAct`
open_loop	`SmarActEtherCATOpenLoop`			omitted	Inherited from `SmarAct`
movement_type	`PytmcSignal`	`:MOVE_TYPE`	Movement type (0x2003)	config
base_unit	`PytmcSignal`	`:BASE_UNIT`	Base unit (0x2005)	config
base_resolution	`PytmcSignal`	`:BASE_RES`	Base resolution (0x2006)	config
pos_control_opt	`PytmcSignal`	`:POS_CTRL_OPT`	Positioner control options (0x2027)	config
actuator_mode	`PytmcSignal`	`:ACT_MODE`	Actuator mode (0x2028)	config
motor_load_protection	`PytmcSignal`	`:MOTOR_LOAD_PROT`	Motor load protection threshold (0x202B)	config
diag_closed_loop_freq_max	`PytmcSignal`	`:DIAG_CLF_MAX`	Diagnostic closed-loop frequency, max (0x202A:1)	normal
diag_closed_loop_freq_avg	`PytmcSignal`	`:DIAG_CLF_AVG`	Diagnostic closed-loop frequency, avg (0x202A:2)	normal
channel_state	`SmarActChannelState`	`:chanState`	Decoded channel state flags	normal
step_egu	`PytmcSignal`	`:STEP_EGU`	Step scale factor	config
hold_time	`PytmcSignal`	`:HOLD_TIME`	Closed-loop hold time	config
max_close_loop_freq	`PytmcSignal`	`:MAX_CLF`	Maximum closed-loop frequency	config
calibration_opt	`PytmcSignal`	`:CAL_OPT`	Calibration options	config
sensor_mode	`PytmcSignal`	`:SENSOR_MODE`	Sensor power mode	config
referencing_opt	`PytmcSignal`	`:REF_OPT`	Referencing options	config
reference_type	`PytmcSignal`	`:REF_TYPE`	Reference type	config
safe_direction	`PytmcSignal`	`:SAFE_DIR`	Safe direction (0x200C). For positioners referenced by a mechanical end stop, homing and calibration ignore the requested start direction and use this plus the logical scale inversion. FORWARD=0, BACKWARD=1. This is an R(W)* object, writable only in the Pre-Op ESM state, so the PLC applies a new setpoint only while the drive is in Pre-Op. Stored in NVRAM; re-calibrate after changing.	config
motor_load	`PytmcSignal`	`:MOTOR_LOAD`	Motor load	normal
channel_type	`PytmcSignal`	`:CHAN_TYPE`	Channel type	config
op_mode_req	`PytmcSignal`	`:OPMODE_REQ`	DS402 operation mode request	config
home_mode	`PytmcSignal`	`:HOME_MODE`	Vendor homing mode	config

Methods

camonitor()

Shows a live-updating motor position in the terminal.

This will be the value that is returned by the position attribute.

This method ends cleanly at a ctrl+c or after a call to end_monitor_thread(), which may be useful when this is called in a background thread.

check_limit_switches()

Check the limits switches.

Returns:: limit_switch_indicator (str) – Indicate which limit switch is activated.

clear_error(): Clear any active motion errors on this axis.

clear_limits(): Set both low and high limits to 0.

configure(d: Dict[str, Any]) → Tuple[Dict[str, Any], Dict[str, Any]]

Configure the device for something during a run

This default implementation allows the user to change any of the configuration_attrs. Subclasses might override this to perform additional input validation, cleanup, etc.

Parameters:

d (dict) – The configuration dictionary. To specify the order that the changes should be made, use an OrderedDict.

Returns:

(old, new) tuple of dictionaries
Where old and new are pre- and post-configure configuration states.

describe() → OrderedDictType[str, Dict[str, Any]]

Provide schema and meta-data for read().

This keys in the OrderedDict this method returns must match the keys in the OrderedDict return by read().

This provides schema related information, (ex shape, dtype), the source (ex PV name), and if available, units, limits, precision etc.

Returns:: data_keys (OrderedDict) – The keys must be strings and the values must be dict-like with the event_model.event_descriptor.data_key schema.

disable()

Disables the motor.

When disabled, all EPICS puts to the base record will be dropped.

enable()

Enables the motor.

When disabled, all EPICS puts to the base record will be dropped.

end_monitor_thread(): Stop a camonitor() or wm_update() that is running in another thread.

get(**kwargs)

Get the value of all components in the device

Keyword arguments are passed onto each signal.get(). Components beginning with an underscore will not be included.

get_high_limit(): Get high limit.

get_lim(flag)

Returns the travel limit of motor

flag > 0: returns high limit
flag < 0: returns low limit
flag == 0: returns None

Included here for compatibility with similar with SPEC command.

Parameters:

high (float) – Limit of travel in the positive direction.
low (float) – Limit of travel in the negative direction.

get_low_limit(): Get the low limit.

home(direction=None, wait=True, **kwargs)

Perform the configured homing function.

This is set on the controller. Unlike other kinds of axes, only the single pre-programmed homing routine can be used, so the direction argument has no effect.

move(position: float, wait: bool = True, **kwargs) → MoveStatus

Move to a specified position, optionally waiting for motion to complete.

Parameters:

position – Position to move to
moved_cb (callable) – Call this callback when movement has finished. This callback must accept one keyword argument: ‘obj’ which will be set to this positioner instance.
timeout (float, optional) – Maximum time to wait for the motion. If None, the default timeout for this positioner is used.

Returns:

status (MoveStatus)

Raises:

TimeoutError – When motion takes longer than timeout
ValueError – On invalid positions
RuntimeError – If motion fails other than timing out

mv(position, timeout=None, wait=False, log=True)

Absolute move to a position.

Parameters:

position – Desired end position.
timeout (float, optional) – If provided, the mover will throw an error if motion takes longer than timeout to complete. If omitted, the mover’s default timeout will be use.
wait (bool, optional) – If True, wait for motion completion before returning. Defaults to False.
log (bool, optional) – If True, logs the move at INFO level.

mv_ginput(timeout=None)

Moves to a location the user clicks on.

If there are existing plots, this will be the position on the most recently active plot. If there are no existing plots, an empty plot will be created with the motor’s limits as the range.

mvr(delta, timeout=None, wait=False, log=True)

Relative move from this position.

Parameters:

delta (float) – Desired change in position.
timeout (float, optional) – If provided, the mover will throw an error if motion takes longer than timeout to complete. If omitted, the mover’s default timeout will be use.
wait (bool, optional) – If True, wait for motion completion before returning. Defaults to False.
log (bool, optional) – If True, logs the move at INFO level.

post_elog_status(): Post device status to the primary elog, if possible.

read() → OrderedDictType[str, Dict[str, Any]]

Read data from the device.

This method is expected to be as instantaneous as possible, with any substantial acquisition time taken care of in trigger().

The OrderedDict returned by this method must have identical keys (in the same order) as the OrderedDict returned by describe().

By convention, the first key in the return is the ‘primary’ key and maybe used by heuristics in bluesky.

The values in the ordered dictionary must be dict (-likes) with the keys {'value', 'timestamp'}. The 'value' may have any type, the timestamp must be a float UNIX epoch timestamp in UTC.

Returns:: data (OrderedDict) – The keys must be strings and the values must be dict-like with the keys {'value', 'timestamp'}

read_configuration() → OrderedDictType[str, Dict[str, Any]]

Dictionary mapping names to value dicts with keys: value, timestamp

To control which fields are included, change the Component kinds on the device, or modify the configuration_attrs list.

screen()

Open a screen for controlling the device.

Default behavior is the typhos screen, but this method can be overridden for more specialized screens.

set(new_position: Any, *, timeout: float = None, moved_cb: Callable = None, wait: bool = False) → StatusBase

Set a value and return a Status object

Parameters:

new_position (object) – The input here is whatever the device requires (this should be over-ridden by the implementation. For example a motor would take a float, a shutter the strings {‘Open’, ‘Close’}, and a goineometer (h, k, l) tuples
timeout (float, optional) – Maximum time to wait for the motion. If None, the default timeout for this positioner is used.
moved_cb (callable, optional) –
Deprecated

Call this callback when movement has finished. This callback must accept one keyword argument: ‘obj’ which will be set to this positioner instance.
wait (bool, optional) –
Deprecated

If the method should block until the Status object reports it is done.

Defaults to False

Returns:

status (StatusBase) – Status object to indicate when the motion / set is done.

set_current_position(pos)

Configure the motor user position to the given value

Override ophyd’s method temporarily for error handling.

Parameters:: pos (number) – Position to set.

classmethod set_defaults(*, connection_timeout=10.0)

Set class-wide defaults for device communications

This may be called only before any instances of Device are made.

This setting applies to the class it is called on and all its subclasses. For example,

>>> Device.set_defaults(...)

will apply to any Device subclass.

Parameters:: connection_timeout (float, optional) – Time (seconds) allocated for establishing a connection with the IOC.
Raises:: RuntimeError – If called after EpicsSignalBase has been instantiated for the first time.

set_high_limit(value)

Limit of travel in the positive direction.

Parameters:: value (float) – High limit value to be set.
Raises:: ValueError – When motor in motion or position outside of limit.

set_lim(low, high)

Sets the low and high travel limits of motor

No action taken if motor is moving.
Low limit is set to lesser of (low, high)
High limit is set to greater of (low, high)

Included here for compatibility with similar with SPEC command.

Parameters:

high (float) – Limit of travel in the positive direction.
low (float) – Limit of travel in the negative direction.

set_low_limit(value)

Set the low limit.

Parameters:: value (float) – Limit of travel in the negative direction.
Raises:: ValueError – When motor in motion or position outside of limit.

set_position(position)

Alias for set_current_position.

Will fail if the motor does not have set_current_position.

status() → str: Returns a str with the current pv values for the device.

stop(*, success=False): Stop the Device and all (instantiated) subdevices

summary()

trigger() → StatusBase

Trigger the device and return status object.

This method is responsible for implementing ‘trigger’ or ‘acquire’ functionality of this device.

If there is an appreciable time between triggering the device and it being able to be read (via the read() method) then this method is also responsible for arranging that the StatusBase object returned by this method is notified when the device is ready to be read.

If there is no delay between triggering and being readable, then this method must return a StatusBase object which is already completed.

Returns:: status (StatusBase) – StatusBase object which will be marked as complete when the device is ready to be read.

tweak(scale=0.1)

Control this motor using the arrow keys.

Use left arrow to step negative and right arrow to step positive. Use up arrow to increase step size and down arrow to decrease step size. Press q or ctrl+c to quit.

Parameters:: scale (float) – starting step size, default = 0.1

umv(position, timeout=None, log=True, newline=True)

Move to a position, wait, and update with a progress bar.

Parameters:

position (float) – Desired end position.
timeout (float, optional) – If provided, the mover will throw an error if motion takes longer than timeout to complete. If omitted, the mover’s default timeout will be use.
log (bool, optional) – If True, logs the move at INFO level.
newline (bool, optional) – If True, inserts a newline after the updates.

umvr(delta, timeout=None, log=True, newline=True)

Relative move from this position, wait, and update with a progress bar.

Parameters:

delta (float) – Desired change in position.
timeout (float, optional) – If provided, the mover will throw an error if motion takes longer than timeout to complete. If omitted, the mover’s default timeout will be use.
log (bool, optional) – If True, logs the move at INFO level.
newline (bool, optional) – If True, inserts a newline after the updates.

wait(timeout=None)

wm(): Get the mover’s current positon (where motor).

wm_update()

Shows a live-updating motor position in the terminal.

This will be the value that is returned by the position attribute.

This method ends cleanly at a ctrl+c or after a call to end_monitor_thread(), which may be useful when this is called in a background thread.

Attributes

configuration_attrs

connected

connection_timeout

def_range_max = None

def_range_min = None

egu

Engineering units str if available, otherwise ‘’

Use the monitored/cached value rather than checking EPICS.

high_limit

hints

home_forward = None

home_reverse = None

homed: Get the home status of the motor as reported by the MSTA field.

kind

limits: Override the limits attribute

low_limit

module_temp = None

moving

Whether or not the motor is moving

Returns:: moving (bool)

msta: Returns the msta fields as a dictionary.

needs_calib = None

position

The current position of the motor in its engineering units

Returns:: position (float)

precision: The precision of the readback PV, as reported by EPICS

settle_time: Amount of time to wait after moves to report status completion

subscriptions: ClassVar[FrozenSet[str]] = frozenset({'_req_done', 'acq_done', 'done_moving', 'readback', 'start_moving'})

timeout: Amount of time to wait before to considering a motion as failed

tolerated_alarm = 0