Controller layer¶

class icepap.controller.IcePAPController(host, port=5000, timeout=3, auto_axes=False, **kwargs)¶

IcePAP motor controller class.

abort(axes)¶

Abort multiple axis movement (IcePAP user manual pag. 129).

Parameters: axes – [str/int]

add_alias(alias, axis)¶

Set a alias for an axis. The axis can have more than one alias.

Parameters

alias – str
axis – int

add_aliases(aliases)¶

Set alias for mutiple axes.

Parameters: aliases – {str: int}

add_pmux(source, dest='', pos=True, aux=True, hard=False)¶

Configures a position signal multiplexer configuration (IcePAP user manual, page 107).

Parameters

source – Source node
dest – Target node
pos – Connect the Position signals
aux – Connect the Auxiliary signals
hard – Enabling/Disabling hard flag connection.

property axes¶

Get the axes numbers.

Returns: [int]

check_version()¶

Compares the current version installed with the supported versions specified in the versions module.

Returns: system version number, -1 if not consistent.

clear_pmux(dest='')¶

Clear the multiplexer configuration. You can pass a destination with an optional signal or just the signals to remove (IcePAP user manual, page 107).

Parameters: dest – node to remove

ctrlrst(axes)¶

Reset control position register for multiple axis.

Parameters: axes – [str/int]

disconnect()¶: Method to close the communication with the IcePAP :return:

property drivers¶

Get the drivers IcePAPAxis objects.

Returns: [IcePAPAxis]

esync(axes)¶

Synchronize internal position register for multiple axis.

Parameters: axes – [str/int]

get_acctime(axes, atype='NOMINAL')¶

Get multiple velocities (IcePAP user manual pag. 141).

Parameters: axes – [str/int]
Returns: [float]

get_aliases()¶

Get the aliases of the system. One axis can have move than one alias.

Returns: {int:[str]}

get_enc(axes, register='AXIS')¶

Get multiple encoder.

Parameters

axes – [str/int]
register – str

Returns

[float]

get_fpos(axes, register='AXIS')¶

Fast read of multiple positions (IcePAP user manual pag. 73).

Parameters

axes – [str/int]
register – str

Returns

[float]

get_fstatus(axes)¶

Fast read of multiple status (IcePAP user manual pag. 74).

Parameters: axes – [str/int]
Returns: [int]

get_homestat(axes)¶

Get home search status.

Parameters: axes – [str/int]
Returns: [(str,int)] list of Status, Direction per motor

get_pmux()¶

Returns a list of the current signals sources used as axis indexers (IcePAP user manual, page 107).

Returns: list of multiplexer configurations.

get_pos(axes, register='AXIS')¶

Get multiple position.

Parameters

axes – [str/int]
register – str

Returns

[float]

get_power(axes)¶

Get axes power state.

Parameters: axes – [str/int]
Returns: [bool]

get_prog_status()¶

Request the state of the firmware programing operations (IcePAP user manual, page 112).

Returns: { OFF | ACTIVE <progress> | DONE | ERROR }

get_rid(rack_nrs)¶

Get the rack hardware identification string (IcePAP user manual pag. 118).

Parameters: rack_nrs – int/[int]
Returns: [str]

get_rtemp(rack_nrs)¶

Get the rack temperatures (IcePAP user manual pag. 123).

Parameters: rack_nrs – int/[int]
Returns: [float]

get_states(axes)¶

Fast read of the multiples status

Parameters: axes – [str/int]
Returns: [State]

get_status(axes)¶

Read of multiple status (IcePAP user manual pag. 128).

Parameters: axes – [str/int]
Returns: [int]

get_velocity(axes, vtype='NOMINAL')¶

Get multiple velocities (IcePAP user manual pag. 141).

Parameters: axes – [str/int]
Returns: [float]

items()¶

Get the axes and drivers IcePAPAxis objects.

Returns: [(axis, IcePAPAxis),]

property mode¶

Get the system mode (IcePAP user manual pag. 91).

Returns: str

move(axes_pos, group=True, strict=False)¶

Start absolute movement for axes motor. The method allows aliases.

Parameters

axes_pos – [(str/int, int)]
group – bool
strict – bool

movep(pos, axes, group=True, strict=False)¶

Start axes movement to parameter value.

Parameters

pos – float
axes – [str/int]
group – bool
strict – bool

pmove(pos, axes, group=False, strict=False)¶

Start parameter movement.

Parameters

pos – float
axes – [str/int]
group – bool
strict – bool

print_commands()¶: Get the allowed commands (IcePAP user manual pag. 75).

prog(component, force=False)¶

Firmware programming command. This command uses the firmware code previously stored in the flash memory of the system master board (IcePAP user manual, page 112).

Parameters

component – { board adress | DRIVERS | CONTROLLERS| ALL }
force – Force overwrite regardless of being idential versions.

reboot()¶: System reboot (IcePAP user manual pag. 115).

reset(rack_nr=None)¶: Reset system or rack (IcePAP user manual pag. 117).

rmove(axes_pos, group=True, strict=False)¶

Start relative movement for axes motor. The method allows aliases.

Parameters

axes_pos – [(str/int,int)]
group – bool
strict – bool

send_cmd(cmd)¶

Communication function used to send any command to the IcePAP controller.

Parameters: cmd – string command following the Programming Interface.
Returns: None or list of string without the command and the CRLF.

set_acctime(axes_acc)¶

Set multiple velocities (Icepap user manual pag. 141).

Parameters: axes_acc – [(str/int, float)]

set_enc(axes_pos, register='AXIS')¶

Set multiple encoder.

Parameters

axes_pos – [(str/int,int)]
register – str

set_pos(axes_pos, register='AXIS')¶

Set multiple positions.

Parameters

axes_pos – [(str/int,int)]
register – str

set_power(axes, power_on=True)¶

Set axes power state.

Parameters

axes – [str/int]
power_on – bool

set_velocity(axes_vel)¶

Set multiple velocities (Icepap user manual pag. 141).

Parameters: axes_vel – [(str/int, float)]

sprog(component=None, force=False, saving=False)¶

Firmware programming command. This command assumes that the firmware code will be transferred as a binary data block (IcePAP user manual, page 112).

Parameters

component – { NONE | board adress | DRIVERS | CONTROLLERS| ALL }
force – Force overwrite regardless of being idential versions.
saving – Saves firmware into master board flash.

stop(axes)¶

Stop multiple axis movement (IcePAP user manual pag. 129).

Parameters: axes – [str/int]

update_axes()¶

Method to check if the axes created are presents. In case of no, the method will remove the IcePAPAxis object and its aliases.

Note: The axis can be present but not alive

Returns

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 ver_saved¶

Returns the firmware version stored in the master flash memory.

Returns: dict{}