pcdsdevices.epics\_motor.BeckhoffAxisPLC ======================================== .. currentmodule:: pcdsdevices.epics_motor .. autoclass:: BeckhoffAxisPLC .. list-table:: Ophyd Device Components :header-rows: 1 :widths: auto * - Attribute - Class - Suffix - Docs - Kind - Notes * - status - :class:`~pcdsdevices.signal.PytmcSignal` - ``sErrorMessage`` - PLC error or warning - normal - * - err_bool - :class:`~pcdsdevices.signal.PytmcSignal` - ``bError`` - True if there is some sort of error. - normal - * - err_code - :class:`~pcdsdevices.signal.PytmcSignal` - ``nErrorId`` - Current NC error code - normal - * - cmd_err_reset - :class:`~pcdsdevices.signal.PytmcSignal` - ``bReset`` - Command to reset an active error - normal - * - enc_count - :class:`~pcdsdevices.signal.PytmcSignal` - ``nEncoderCount`` - Raw encoder count for this motor. - normal - * - posdiff - :class:`~pcdsdevices.signal.PytmcSignal` - ``fPosDiff`` - Difference between trajectory setpoint and readback. - normal - * - hardware_enable - :class:`~pcdsdevices.signal.PytmcSignal` - ``bHardwareEnable`` - TRUE if motor has its hardware enable. - normal - * - cmd_home - :class:`~pcdsdevices.signal.PytmcSignal` - ``bHomeCmd`` - Start TwinCAT homing routine. - normal - * - home_pos - :class:`~pcdsdevices.signal.PytmcSignal` - ``fHomePosition`` - Numeric position of home. - config - * - user_enable - :class:`~pcdsdevices.signal.PytmcSignal` - ``bUserEnable`` - Power enable/disable - config - .. rubric:: Methods .. automethod:: configure .. automethod:: describe .. automethod:: get .. automethod:: read .. automethod:: read_configuration .. automethod:: stop .. automethod:: summary .. automethod:: trigger .. rubric:: Attributes .. autoattribute:: configuration_attrs .. autoattribute:: connected .. autoattribute:: hints .. autoattribute:: kind .. autoattribute:: subscriptions