aptmotor.APTMotor Class Reference

Class to control Thorlabs APT motor. More...

Public Member Functions
def	__init__ (self, path_dll, serialnumber, hwtype, label='', unit='m')
def	getNumberOfHardwareUnits (self)
	Returns the number of connected external hardware (HW) units that are available to be interfaced.
def	getSerialNumberByIdx (self, index)
	Returns the Serial Number of the specified index.
def	setSerialNumber (self, SerialNum)
	Sets the Serial Number of the specified index.
def	initializeHardwareDevice (self)
def	getHardwareInformation (self)
	Get information from the hardware.
def	get_stage_axis_info (self)
	Get parameter configuration of the stage. More...
def	set_stage_axis_info (self, pos_min, pos_max, pitch, unit=1)
	Set parameter configuration of the stage. More...
def	getHardwareLimitSwitches (self)
def	setHardwareLimitSwitches (self, switch_reverse, switch_forward)
	Set the Switch Configuration of the axis. More...
def	getVelocityParameters (self)
	Retrieve the velocity parameter with the currently used acceleration. More...
def	get_velocity (self)
	Get the current velocity setting.
def	setVelocityParameters (self, minVel, acc, maxVel)
	Set the velocity and acceleration parameter. More...
def	set_velocity (self, maxVel)
	Set the maximal velocity for the motor movement. More...
def	getVelocityParameterLimits (self)
	Get the current maximal velocity and acceleration parameter. More...
def	get_home_parameter (self)
	Get the home paramete.
def	set_home_parameter (self, home_dir, switch_dir, home_vel, zero_offset)
	Set the home parameters. More...
def	get_pos (self)
	Obtain the current absolute position of the stage. More...
def	move_rel (self, relDistance)
	Moves the motor a relative distance specified. More...
def	move_abs (self, absPosition)
	Moves the motor to the Absolute position specified. More...
def	mcRel (self, relDistance, moveVel=0.5e-3)
	Moves the motor a relative distance specified at a controlled velocity. More...
def	mcAbs (self, absPosition, moveVel=0.5)
	Moves the motor to the Absolute position specified at a controlled velocity. More...
def	move_bc_rel (self, relDistance)
	Moves the motor a relative distance specified, correcting for backlash. More...
def	mbAbs (self, absPosition)
	Moves the motor to the Absolute position specified. More...
def	get_status (self)
	Get the status bits of the current axis. More...
def	identify (self)
	Causes the motor to blink the Active LED. More...
def	cleanUpAPT (self)
	Releases the APT object. More...
def	abort (self)
	Abort the movement. More...
def	go_home (self)
def	set_backlash (self, backlash)
	Set the provided backlash for the apt motor. More...
def	get_backlash (self)
	Ask for the currently set backlash in the controller for the axis. More...

Public Attributes
	aptdll
	Connected
	verbose
	label
	SerialNum

Static Public Attributes
dictionary	hwtype_dict = {}
dictionary	error_code = {}
dictionary	status_code = {}

Detailed Description

Class to control Thorlabs APT motor.

This class wrapps the low level commands from a dll library in python methods.

Member Function Documentation

abort()

def aptmotor.APTMotor.abort

(

self

)

Abort the movement.

cleanUpAPT()

def aptmotor.APTMotor.cleanUpAPT

(

self

)

Releases the APT object.

Use when exiting the program.

get_backlash()

def aptmotor.APTMotor.get_backlash

(

self

)

Ask for the currently set backlash in the controller for the axis.

Returns

float: backlash in m or degree, depending on the axis config.

get_pos()

def aptmotor.APTMotor.get_pos

(

self

)

Obtain the current absolute position of the stage.

Returns

float: the value of the axis either in m or in degree.

get_stage_axis_info()

def aptmotor.APTMotor.get_stage_axis_info

(

self

)

Get parameter configuration of the stage.

Returns

list: with the 4 entries: float Minimum position in m or degree float Maximum position in m or degree int 1=m and 2=degree float The angular distance to the next teeth in the stepper motor. That determines basically the precision of the movement of the stepper motor.

This method will handle the conversion to the non SI unit mm.

get_status()

def aptmotor.APTMotor.get_status

(

self

)

Get the status bits of the current axis.

Returns

tuple(int, dict): the current status as an integer and the dictionary explaining the current status.

getVelocityParameterLimits()

def aptmotor.APTMotor.getVelocityParameterLimits

(

self

)

Get the current maximal velocity and acceleration parameter.

Returns

list: with 2 entries: float maximum acceleration in m/s^2 or degree/s^2 float maximal velocity in m/s or degree/s

getVelocityParameters()

def aptmotor.APTMotor.getVelocityParameters

(

self

)

Retrieve the velocity parameter with the currently used acceleration.

Returns

list: with 4 entries: float minimal velocity in m/s or degree/s float currently set acceleration in m/s^2 or degree/s^2 float maximal velocity in m/s or degree/s

identify()

def aptmotor.APTMotor.identify

(

self

)

Causes the motor to blink the Active LED.

mbAbs()

def aptmotor.APTMotor.mbAbs	(		self,
			absPosition
	)

Moves the motor to the Absolute position specified.

Parameters

float

absPosition: Position desired in m or degree

mcAbs()

def aptmotor.APTMotor.mcAbs	(		self,
			absPosition,
			moveVel = 0.5
	)

Moves the motor to the Absolute position specified at a controlled velocity.

Parameters

float	absPosition: Position desired in m or degree.
float	moveVel: Motor velocity, m/s or degree/s

mcRel()

def aptmotor.APTMotor.mcRel	(		self,
			relDistance,
			moveVel = 0.5e-3
	)

Moves the motor a relative distance specified at a controlled velocity.

Parameters

float	relDistance: Relative position desired in m or in degree
float	moveVel: Motor velocity, m/s or in degree/s

move_abs()

def aptmotor.APTMotor.move_abs	(		self,
			absPosition
	)

Moves the motor to the Absolute position specified.

Parameters

float

absPosition: absolute Position desired, in m or degree.

move_bc_rel()

def aptmotor.APTMotor.move_bc_rel	(		self,
			relDistance
	)

Moves the motor a relative distance specified, correcting for backlash.

Parameters

float

relDistance: Relative position desired in m or in degree

Note

Be careful in using this method. If interactive mode is on, then the stage reacts immediately on both input for the relative movement, which prevents the proper execution of the first command!

move_rel()

def aptmotor.APTMotor.move_rel	(		self,
			relDistance
	)

Moves the motor a relative distance specified.

Parameters

float

relDistance: Relative position desired, in m or in degree.

set_backlash()

def aptmotor.APTMotor.set_backlash	(		self,
			backlash
	)

Set the provided backlash for the apt motor.

Parameters

float

backlash: the backlash in m or degree for the used stage.

set_home_parameter()

def aptmotor.APTMotor.set_home_parameter	(		self,
			home_dir,
			switch_dir,
			home_vel,
			zero_offset
	)

Set the home parameters.

Parameters

int	home_dir: direction to the home position, 1 = Move forward 2 = Move backward
int	switch_dir: Direction of the switch limit: 4 = Use forward limit switch for home datum 1 = Use forward limit switch for home datum.
float	home_vel = default velocity
float	zero_offset: the distance or offset (in mm or degrees) of the limit switch from the Home position.

set_stage_axis_info()

def aptmotor.APTMotor.set_stage_axis_info	(		self,
			pos_min,
			pos_max,
			pitch,
			unit = 1
	)

Set parameter configuration of the stage.

Parameters

float	pos_min: minimal position of the axis in m or degree.
float	pos_max: maximal position of the axis in m or degree.
float	pitch: the pitch determines the full step angle of a stepper magnet motor. That is the resolution of the stepper motor.
int	unit: unit of the axis, possible values: 1 = m 2 = degree

This method will handle the conversion to the non SI unit mm.

set_velocity()

def aptmotor.APTMotor.set_velocity	(		self,
			maxVel
	)

Set the maximal velocity for the motor movement.

Parameters

float

maxVel: maximal velocity of the stage in m/s or degree/s.

setHardwareLimitSwitches()

def aptmotor.APTMotor.setHardwareLimitSwitches	(		self,
			switch_reverse,
			switch_forward
	)

Set the Switch Configuration of the axis.

Parameters

int	switch_reverse: sets the switch in reverse movement
int	switch_forward: sets the switch in forward movement

The following values are allowed: 0x01 or 1: Ignore switch or switch not present. 0x02 or 2: Switch makes on contact. 0x03 or 3: Switch breaks on contact. 0x04 or 4: Switch makes on contact - only used for homes (e.g. limit switched rotation stages). 0x05 or 5: Switch breaks on contact - only used for homes (e.g. limit switched rotations stages). 0x06 or 6: For PMD based brushless servo controllers only - uses index mark for homing.

setVelocityParameters()

def aptmotor.APTMotor.setVelocityParameters	(		self,
			minVel,
			acc,
			maxVel
	)

Set the velocity and acceleration parameter.

Parameters

flaot	minVel: the minimum velocity at which to start and end a move in m/s or degree/s
float	acc: the rate at which the velocity climbs from minimum to maximum, and slows from maximum to minimum current acceleration in m/s^2 or degree/s^2
float	maxVel: the maximum velocity at which to perform a move in m/s or degree/s

Note

The minVel parameter value is locked at zero and cannot be adjusted.

---

The documentation for this class was generated from the following file:

• hardware/motor/aptmotor.py