Axis layer

class icepap.axis.IcePAPAxis(ctrl, axis_nr)

The IcePAP axis class contains the common IcePAP ASCii API for any IcePAP axis. The methods here implemented correspond to those at the axis level.

abort()

Abort the current movement (IcePAP user manual pag. 46).

property acctime

Get the acceleration time (see get_acceleration method).

Returns

float

property acctime_default

Get the default acceleration time (see get_acceleration method).

Returns

float

property acctime_steps

Get the acceleration in steps distances (see get_acceleration method).

Returns

float

property active

Get if the axis is active (IcePAP user manual pag. 47).

Returns

bool

property addr

Get the axis number (IcePAP user manual pag. 49).

Returns

int

property alarm

Get if the axis is in alarm condition (IcePAP user manual pag. 50).

Returns

[bool, str]

property auxps

Get if the auxiliary power supply is ON (IcePAP user manual pag. 52).

Returns

bool

Blink the driver status led for a given amount of time (Icepap user manual pag. 53).

Parameters

secs – number of second to blink.

cjog(vel)

Set jog velocity in configuration mode.

Parameters

vel – float

clear_ecam_table()

Clean the electronic cam table (Icepap user manual pag. 65).

clear_list_table()

Clean the position list table (Icepap user manual pag. 87).

clear_parametric_table()

Clean the parametric trajectory table.

cmove(pos)

Start absolute movement in configuration mode (IcePAP user manual pag.58).

Parameters

pos – float

property config

Get the identifier of the last valid configuration. To change the configuration use set_config method (IcePAP user manual pag. 59).

Returns

str

property cswitch

Get the limit switches configuration (IcePAP user manual pag. 60).

Returns

str

ctrlrst()

Reset control encoder value.

property ecam

Get the electronic cam mode (IcePAP user manual pag. 64).

Returns

str

property enc

Read the axis nominal position pointer (IcePAP user manual pag. 108).

Returns

int

property enc_absenc

Read the absenc register (IcePAP user manual pag. 108).

Returns

int

property enc_ctrlenc

Read the ctrlenc register (IcePAP user manual pag. 108).

Returns

int

property enc_encin

Read the encin register (IcePAP user manual pag. 108).

Returns

int

property enc_inpos

Read the inpos register (IcePAP user manual pag. 108).

Returns

int

property enc_motor

Read the motor register (IcePAP user manual pag. 108).

Returns

int

property enc_shftenc

Read the shftenc register (IcePAP user manual pag. 108).

Returns

int

property enc_sync

Read the sync register (IcePAP user manual pag. 108).

Returns

int

property enc_tgtenc

Read the tgtenc register (IcePAP user manual pag. 108).

Returns

int

esync()

Synchronize internal position registers.

get_acceleration(atype='')

Read the acceleration time (IcePAP user manual pag. 48).

Returns

float [seconds]

get_cfg(parameter='')

Get the current configuration for one or all parameters (IcePAP user manual pag. 54).

Parameters

parameter – str (optional)

Returns

dict

get_cfginfo(parameter='')

Get the configuration type for one or all parameters.

Parameters

parameter – str (optional)

Returns

dict

get_ecam_table(dtype='FLOAT')

Get the position table loaded on the electronic cam table (IcePAP user manual pag. 65).

Parameters

dtype – str

Returns

[float]

get_enc(register)

Read the position register in encoder step (IcePAP user manual pag. 68).

Parameters

register – str

Returns

int

get_home_encoder(register='AXIS')

Return the home value latched on encoder register. (IcePAP user manual page 82, v1.0c).

Parameters

register – str

Returns

int

get_home_position(register='AXIS')

Return the home value latched on the position register. (IcePAP user manual page 83, v1.0c).

Parameters

register – str

Returns

int

get_list_table(dtype='FLOAT')

Get the position list table (IcePAP user manual pag. 87).

Parameters

dtype – str

Returns

[float]

get_parametric_table()

Get the parametric table.

Returns

[[float]] ([parameter], [position], [slope])

get_parval(parameter)

Get the motor position for a parameter value.

Parameters

parameter – float

Returns

float

get_pos(register)

Read the position register in axis units (IcePAP user manual pag. 108).

Parameters

register – str

Returns

int

get_srch_encoder(register='AXIS')

Return the search value latched on encoder register. (IcePAP user manual page 130, v1.0c).

Parameters

register – str

Returns

int

get_srch_position(register='AXIS')

Return the search value latched on the position register. (IcePAP user manual page 131, v1.0c).

Parameters

register – str

Returns

int

get_velocity(vtype='')

Get the velocity (IcePAP user manual pag. 143).

Parameters

vtype – str

Returns

float [steps per second]

home(mode=1)

Start home signal search sequence (Icepap user manual pag. 76).

Parameters

mode – int [-1, 0, 1]

property homestat

Return the homing procedure status (IcePAP user manual pag. 79).

Returns

[str(state), int(direction)]

property id

Get hardware ID and the serial number (Icepap user manual pag. 80).

Returns

(str HW ID, str SN)

property indexer

Get the indexer signal source used for the axis indexer (IcePAP user manual pag. 81).

Returns

str

property infoa

Get the InfoA configuration (Icepap user manual pag. 82).

Returns

(str, str) [Signal, Polarity]

property infob

Get the InfoB configuration (Icepap user manual pag. 82).

Returns

(str, str) [Signal, Polarity]

property infoc

Get the InfoC configuration (Icepap user manual pag. 82).

Returns

(str, str) [Signal, Polarity]

jog(veloctiy)

Start the jog mode at the given velocity (IcePAP user manual pag. 85).

Parameters

veloctiy – float

property jog_velocity

Get the current jog velocity.

Returns

float

meas(parameter)

Return a measured value for the parameter (IcePAP user manual pag. 89).

Parameters

parameter – str

Returns

float

property meas_i

Measured value of the motor current (IcePAP user manual pag. 89).

Returns

float

property meas_ia

Measured value of the phase a current (IcePAP user manual pag. 89).

Returns

float

property meas_ib

Measured value of the phase b current (IcePAP user manual pag. 89).

Returns

float

property meas_ic

Measured value of the phase c current (IcePAP user manual pag. 89).

Returns

float

property meas_r

Measured value of the motor resistance (IcePAP user manual pag. 89).

Returns

float

property meas_ra

Measured value of the phase a resistance (IcePAP user manual pag. 89).

Returns

float

property meas_rb

Measured value of the phase b resistance (IcePAP user manual pag. 89).

Returns

float

property meas_rc

Measured value of the phase c resistance (IcePAP user manual pag. 89).

Returns

float

property meas_rt

Measured value of the power supply temperature (IcePAP user manual pag. 89).

Returns

float

property meas_t

Measured value of the board temperature (IcePAP user manual pag. 89).

Returns

float

property meas_vcc

Measured value of the main power supply (IcePAP user manual pag. 89).

Returns

float

property meas_vm

Measured value of the motor voltage (IcePAP user manual pag. 89).

Returns

float

property mode

Return the current mode of the axis: CONFIG, OPER, PROG, TEST, FAIL (IcePAP user manual pag. 91).

Returns

str

move(position)

Start absolute movement (IcePAP user manual pag. 92).

Parameters

position – int

movel(lpos)

Start postion list movement (IcePAP user manual pag. 93).

Parameters

lpos – int

movep(pos)

Start axis movement to a parameter value.

Parameters

pos – float

property name

Get the axis name (Icepap user manual pag. 95).

Returns

str

property outpaux

Get the OutPAux configuration (Icepap user manual pag. 97).

Returns

(str, str) [Signal, Polarity]

property outpos

Get the OutPos configuration (Icepap user manual pag. 98)

Returns

(str, str) [Signal, Polarity]

property paracct

Get the parametric acceleration time (IcePAP user manual pag. 99).

Returns

float

property parpos

Get the position on parametric units (IcePAP user manual pag. 103).

Returns

float

property parvel

Get the parametric axis velocity (IcePAP user manual pag. 104).

Returns

float

property pcloop

Read if the position close loop is enabled (IcePAP user manual pag. 105).

Returns

bool

pmove(pos)

Start parametric movement (IcePAP user manual pag. 106).

Parameters

pos – float

property pos

Read the axis nominal position pointer (IcePAP user manual pag. 108).

Returns

int

property pos_absenc

Read the absenc register (IcePAP user manual pag. 108).

Returns

int

property pos_ctrlenc

Read the ctrlenc register (IcePAP user manual pag. 108).

Returns

int

property pos_encin

Read the encin register (IcePAP user manual pag. 108).

Returns

int

property pos_inpos

Read the inpos register (IcePAP user manual pag. 108).

Returns

int

property pos_motor

Read the motor register (IcePAP user manual pag. 108).

Returns

int

property pos_shftenc

Read the shftenc register (IcePAP user manual pag. 108).

Returns

int

property pos_sync

Read the sync register (IcePAP user manual pag. 108).

Returns

int

property pos_tgtenc

Read the tgtenc register (IcePAP user manual pag. 108).

Returns

int

property post

Get the result of the power-on self test. Zero means there were not errors (IcePAP user manual pag. 110).

Returns

int

property power

Get if the axis is ON (IcePAP user manual pag. 111).

Returns

bool

print_commands()

Get the allows commands (IcePAP user manual pag. 75).

ptrack(signal, mode='FULL')

Start parametric tracking mode (IcePAP user manual pag. 114).

Parameters

  • signal – str

  • mode – str

rmove(position)

Start absolute relative movement (IcePAP user manual pag. 140).

Parameters

position – int

send_cmd(cmd)

Wrapper to add the axis number.

Parameters

cmd – Command without axis number

Returns

[str]

set_acceleration(value)

Set the acceleration time (IcePAP user manual pag. 48).

Parameters

value – float

set_cfg(*args)

Set the configuration of a parameter or change to Default/Expert configuration (IcePAP user manual pag. 54).

set_cfg(‘Active’, ‘YES’, ‘NVOLT’, ‘48’,…)

Parameters

args – str: parameter, value or (‘Default’)

set_config(config='')

Set configuration (IcePAP user manual pag. 59).

Parameters

config – str

set_ecam_table(lpos, source='AXIS', dtype='FLOAT')

Load the position list to the electronic cam table. The maximum memory size of the table is 81908 bytes. After to load the electronic cam is ON (IcePAP user manual pag. 65).

Parameters

  • lpos – [float]

  • source – str

  • dtype – str

set_enc(register, value)

Set the position register in encoder step (IcePAP user manual pag. 68).

Parameters

  • register – str

  • value – int

set_list_table(lpos, cyclic=False, dtype='FLOAT')

Load a position list table (Icepap user manual pag. 87).

Parameters

  • lpos – [float]

  • cyclic – bool

  • dtype – str

set_parametric_table(lparam, lpos, lslope=None, mode='SPLINE', param_type='FLOAT', pos_type='DWORD', slope_type='FLOAT')

Method to set the parametric trajectory data (IcePAP user manual pag. 100).

Parameters

  • lparam – [float]

  • lpos – [int]

  • lslope – [float]

  • mode – str [Linear, Spline, Cyclic]’

  • param_type – str (Global Definitions in icepap.vdatalib)

  • pos_type – str (Global Definitions in icepap.vdatalib)

  • slope_type – str (Global Definitions in icepap.vdatalib)

set_pos(register, value)

Set the position register in axis units (IcePAP user manual pag. 108).

Parameters

  • register – str

  • value – int

set_velocity(value)

Set the velocity (IcePAP user manual pag. 143).

Parameters

value – float

Returns

float [steps per second]

srch(signal, edge_type, direction)

Start search sequence. (IcePAP user manual page 129, v1.0c).

Parameters

  • signal – str [‘LIM-‘, ‘LIM+’, ‘HOME’, ‘ENCAUX’, ‘INPAUX’]

  • edge_type – str [‘POSEDGE’, ‘NEGEDGE’]

  • direction – int [-1, 1]

property srchstat

Return the homing procedure status. (IcePAP user manual page 132, v1.0c).

Returns

[str(state), int(direction)]

property state

Read the axis status and return a util.State object.

Returns

State

property state_5vpower

Check if the auxiliary power is On.

Returns

bool

property state_alive

Check if the alive flag is active.

Returns

bool

property state_disable_code

Return the disable code.

Returns

int

property state_disable_str

Return the disable string.

Returns

str

property state_disabled

Check if the disable flag is active.

Returns

bool

property state_indexer_code

Return the indexer code.

Returns

int

property state_indexer_str

Return the indexer string.

Returns

str

property state_info_code

Return the info code.

Returns

int

property state_inhome

Chekc if the home flag is active.

Returns

bool

property state_limit_negative

Check if the flag limit_negative is active.

Returns

bool

property state_limit_positive

Check if the flag limit_positive is active.

Returns

bool

property state_mode_code

Return the current mode.

Returns

int

property state_mode_str

Return the current mode.

Returns

str

property state_moving

Check if the moving flag is active.

Returns

bool

property state_outofwin

Check if the outofwin flag is active.

Returns

bool

property state_poweron

Check if the flag poweron is active.

Returns

bool

property state_present

Check if the present flag is active.

Returns

bool

property state_ready

Check if the ready flag is active.

Returns

bool

property state_settling

Check if the settling flag is active.

Returns

bool

property state_stop_code

Return the stop code.

Returns

int

property state_stop_str

Return the stop string.

Returns

str

property state_verserr

Check if the vererr flag is active.

Returns

bool

property state_warning

Check if the warning flag is active.

Returns

bool

property status

Return axis status word 32-bits (IcePAP user manual pag. 128).

Returns

int

stop()

Stop the current movement with a normal deceleration ramp (IcePAP user manual pag. 129).

property stopcode

Return axis stop code word 16-bits (IcePAP user manual pag. 130).

Returns

int

property syncaux

Get the SyncAux configuration (Icepap user manual pag. 82).

Returns

(str, str) [Signal, Polarity]

property syncpos

Get the SyncPos configuration (Icepap user manual pag. 134).

Returns

(str, str) [Signal, Polarity]

track(signal, mode='FULL')

Start position tracking mode (IcePAP user manual pag. 139).

Parameters

  • signal – str

  • mode – str

umove(position)

Start absolute updated movement (IcePAP user manual pag. 140).

Parameters

position – int

property velocity

Read the nominal velocity (see get_velocity method).

Returns

float

property velocity_current

Read the default velocity (see get_velocity method).

Returns

float

property velocity_default

Read the default velocity (see get_velocity method).

Returns

float

property velocity_max

Read the maximum velocity (see get_velocity method).

Returns

float

property velocity_min

Read the minimum velocity (see get_velocity method).

Returns

float

property ver

Get the version of the all driver modules: Driver, DSP, FPGA, PCB, IO (IcePAP user manual pag. 144).

Returns

dict{module: (ver, date)}

property vstatus

Return the axis status as multi-line verbose answer (IcePAP user manual pag. 146).

Returns

str

property vstopcode

Return the message corresponding to the last motion’s stop code (IcePAP user manual pag. 147).

Returns

str

property warning

Return a list of string describing warning conditions (IcePAP user manual pag. 150).

Returns

[str]

property wtemp

Get the set temperature warning value (IcePAP user manual pag. 151).

Returns

float