pcdsdevices.epics_motor.BeckhoffAxisPLCEPS

class pcdsdevices.epics_motor.BeckhoffAxisPLCEPS(prefix='', *, name, kind=None, read_attrs=None, configuration_attrs=None, parent=None, **kwargs)

Extended BeckhoffAxisPLC with relevant EPS fields.

This is to be used in BeckhoffAxisEPS for cases when the motor has EPS considerations. Otherwise, these fields are not active in PLC logic and are distracting or confusing.

Ophyd Device Components

Attribute	Class	Suffix	Docs	Kind	Notes
status	PytmcSignal	sErrorMessage	PLC error or warning	normal	Inherited from BeckhoffAxisPLC
err_bool	PytmcSignal	bError	True if there is some sort of error.	normal	Inherited from BeckhoffAxisPLC
err_code	PytmcSignal	nErrorId	Current NC error code	normal	Inherited from BeckhoffAxisPLC
cmd_err_reset	PytmcSignal	bReset	Command to reset an active error	normal	Inherited from BeckhoffAxisPLC
enc_count	PytmcSignal	nEncoderCount	Raw encoder count for this motor.	normal	Inherited from BeckhoffAxisPLC
posdiff	PytmcSignal	fPosDiff	Difference between trajectory setpoint and readback.	normal	Inherited from BeckhoffAxisPLC
hardware_enable	PytmcSignal	bHardwareEnable	TRUE if motor has its hardware enable.	normal	Inherited from BeckhoffAxisPLC
cmd_home	PytmcSignal	bHomeCmd	Start TwinCAT homing routine.	normal	Inherited from BeckhoffAxisPLC
home_pos	PytmcSignal	fHomePosition	Numeric position of home.	config	Inherited from BeckhoffAxisPLC
user_enable	PytmcSignal	bUserEnable	Power enable/disable	config	Inherited from BeckhoffAxisPLC
eps_forward	EPS	stEPSF:	EPS forward enables.	normal
eps_backward	EPS	stEPSB:	EPS backward enables.	normal
eps_power	EPS	stEPSP:	EPS power enables.	normal

Methods

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.

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.

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.

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.

Attributes

configuration_attrs

connected

hints

kind

subscriptions: ClassVar[FrozenSet[str]] = frozenset({'acq_done'})