pcdsdevices.epics_motor.SmarAct

class pcdsdevices.epics_motor.SmarAct(*args, **kwargs)

Class for encoded SmarAct motors controlled via the MCS2 controller.

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 EpicsMotorInterface
user_setpoint (UpdateComponent)	EpicsSignalEditMD	.VAL	Component attribute Component(EpicsSignal, '.VAL', limits=True, auto_monitor=True, kind='normal')	normal	Inherited from EpicsMotorInterface
user_offset	EpicsSignal	.OFF		config	Inherited from EpicsMotorInterface
user_offset_dir	EpicsSignal	.DIR		config	Inherited from EpicsMotorInterface
offset_freeze_switch	EpicsSignal	.FOFF		omitted	Inherited from EpicsMotorInterface
set_use_switch	EpicsSignal	.SET		omitted	Inherited from EpicsMotorInterface
velocity	EpicsSignal	.VELO		config	Inherited from EpicsMotorInterface
acceleration	EpicsSignal	.ACCL		config	Inherited from EpicsMotorInterface
motor_egu	EpicsSignal	.EGU		config	Inherited from EpicsMotorInterface
motor_is_moving	EpicsSignalRO	.MOVN		normal	Inherited from EpicsMotorInterface
motor_done_move	EpicsSignalRO	.DMOV		omitted	Inherited from EpicsMotorInterface
high_limit_switch	EpicsSignalRO	.HLS		normal	Inherited from EpicsMotorInterface
low_limit_switch	EpicsSignalRO	.LLS		normal	Inherited from EpicsMotorInterface
high_limit_travel (UpdateComponent)	EpicsSignal	.HLM	Component attribute Component(EpicsSignal, '.HLM', auto_monitor=True, kind='omitted')	config	Inherited from EpicsMotorInterface
low_limit_travel (UpdateComponent)	EpicsSignal	.LLM	Component attribute Component(EpicsSignal, '.LLM', auto_monitor=True, kind='omitted')	config	Inherited from EpicsMotorInterface
direction_of_travel	EpicsSignal	.TDIR		normal	Inherited from EpicsMotorInterface
motor_stop	EpicsSignal	.STOP		normal	Inherited from EpicsMotorInterface
home_forward	EpicsSignal	.HOMF		normal	Inherited from EpicsMotorInterface
home_reverse	EpicsSignal	.HOMR		normal	Inherited from EpicsMotorInterface
disabled	EpicsSignal	.DISP		omitted	Inherited from EpicsMotorInterface
description	EpicsSignal	.DESC		normal	Inherited from EpicsMotorInterface
dial_position	EpicsSignalRO	.DRBV		normal	Inherited from EpicsMotorInterface
velocity_base	EpicsSignal	.VBAS		omitted	Inherited from EpicsMotorInterface
velocity_max	EpicsSignal	.VMAX		config	Inherited from EpicsMotorInterface
msta_raw	EpicsSignalRO	.MSTA		omitted	Inherited from EpicsMotorInterface
pos_type	EpicsSignal	:PTYPE_RBV		config
needs_calib	EpicsSignalRO	:NEED_CALIB		config
do_calib	EpicsSignal	:DO_CALIB.PROC		config
log_scale_offset	EpicsSignal	:LSCO	Logical Scale Offset	omitted
def_range_min	EpicsSignal	:DRMIN	Default Range Minimum	omitted
def_range_max	EpicsSignal	:DRMAX	Default Range Maximum	omitted
log_scale_inv	EpicsSignal	:LSCI_RBV	Default Range Minimum	omitted
dist_code_inv	EpicsSignal	:DCIN_RBV	Distance Code Inversion	omitted
channel_temp	EpicsSignalRO	:CHANTEMP	Temperature at the channel’s amplifier	normal
module_temp	EpicsSignalRO	:MODTEMP	Temperature of the MCS2 Module in the rack	normal
open_loop	SmarActOpenLoop			omitted

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_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, wait=True, **kwargs)

Perform the default homing function in the desired direction

Parameters:

direction (HomeEnum) – Direction in which to perform the home search.

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 = None, moved_cb: Callable | None = 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.

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

egu

Engineering units str if available, otherwise ‘’

Use the monitored/cached value rather than checking EPICS.

high_limit

hints

homed

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

kind

limits

Override the limits attribute

low_limit

moving

Whether or not the motor is moving

Returns:

moving (bool)

msta

Returns the msta fields as a dictionary.

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