delta_tau

Brief: Class to control Delta Tau PMAC Motion Contoller.

Public member functions:

• C++ constructor
  delta_tau()
• C++ destructor
   delta_tau()
• Initializes communication with PMAC2.
  int initialize(log_err *log_err)
• Closes communication with PMAC2.
  int close(log_err *log_err)
• Reads actual motor position in units of encoder counts and returns it together with servo timer value. Position units 1unit=0.3nm.
  int read_position(DELTA_TAU_MOTOR motor, F64 &position, I32 &timer,
  log_err *log_err)
• Reads actual motor position in micrometers (um) and returns it together with servo timer value.
  int read_position_um(DELTA_TAU_MOTOR motor, F64 &position, I32 &timer, log_err *log_err)
• Reads commanded motor position in units of encoder counts and returns it together with servo timer value. Position units 1unit=0.3nm. Commanded position is not what we provide with NI board!
  int read_commanded_position(DELTA_TAU_MOTOR motor, F64 &position, I32 &timer, log_err *log_err)
• Read stepper motor (ZSTG) encoder (encoder 4). Units 1count=0.074um.
  int read_zstg_encoder(F64 &position, I32 &timer, log_err *log_err)
• Make a step move. Reads commanded, actual position and previous DAC values in 3 arrays. To be used for feedback parameter adjustment. Arrays have to defined as:

                   double *position_array0;
                   double *position_array1;
                   double *position_array2;
  

  Step defines step size in encoder counts, nNumSamples returns the number of sampled positions.
  int make_step_move(DELTA_TAU_MOTOR motor, I32 step, F64 **dPData0, F64 **dPData1, F64 **dPData2, UINT &nNumSamples, log_err *log_err)
• Gather master position data from NI board (encoders 5 and 6) and actual motor positions for motor n. Arrays have to defined as:

                   double *position_array_master;
                   double *position_array_slave;
  

  Master encoder defines which encoder to use - upper (2) or lower (1) bits from NI board. Time defines how many milliseconds we gather data, nNumSamples returns the number of sampled positions.
  int gather_master_slave_positions(DELTA_TAU_MOTOR motor,
  I16 master_encoder, F64 **master_position, F64 **slave_position,
  I32 time, UINT &nNumSamples, log_err *log_err)

• Open feedback loop for piezo motor. Motor stays at the same position.
  int open_loop_piezo(DELTA_TAU_MOTOR motor, log_err *log_err)
• Open feedback loop for stepper motor. Motor stays at the same position.
  int open_loop_stepper(DELTA_TAU_MOTOR motor, log_err *log_err)
• Close feedback loop for any motor around position given by the second parameter. LOOP CLOSED AFTER MOVEMENT!
  int motor_move(DELTA_TAU_MOTOR motor, I32 position, log_err *log_err)
• Issues move command and returns without waiting for motor to reach the position.
  int motor_move_nowait(DELTA_TAU_MOTOR motor, I32 position,
  log_err *log_err)
• Move to micron and close loop around new position.
  int moveto_micron(DELTA_TAU_MOTOR motor, F64 micron, log_err *log_err)
• Issues move command and returns without waiting for motor to reach the position.
  int moveto_micron_nowait(DELTA_TAU_MOTOR motor, F64 micron,
  log_err *log_err)
• Move by laser interferometer encoder value and close loop.
  int moveby_encoder(DELTA_TAU_MOTOR motor, I32 moveby_encoder,
  log_err *log_err)
• Issues move command and returns without waiting for motor to reach the position.
  int moveby_encoder_nowait(DELTA_TAU_MOTOR motor, I32 moveby_encoder,
  log_err *log_err)
• Returns TRUE(1) if servo loop is opened for motor n and FALSE(0) when it's closed in variable open in variable open.
  int motor_opened_loop_query(DELTA_TAU_MOTOR motor, I16 &open,
  log_err *log_err)
• Returns TRUE(1) if position following is enabled (Ix06=1) in variable enabled.
  int following_enabled_query(DELTA_TAU_MOTOR motor, I16 &enabled,
  log_err *log_err)
• Negative limit query. This routine returns TRUE(1) when motor position is less than the software negative position limit (Ix14), or when the hardware limit in this end has tripped(+LIM), otherwise FALSE in variable status.
  int negative_limit_query(DELTA_TAU_MOTOR motor, I16 &status,
  log_err *log_err)
• Positive limit query. This routine returns TRUE when motor position is greater than the software positive position limit (Ix13), or when the hardware limit in this end has tripped(-LIM), otherwise FALSE in variable status.
  int positive_limit_query(DELTA_TAU_MOTOR motor, I16 &status,
  log_err *log_err)
• Is motor in position? query.
  int motor_inposition_query(DELTA_TAU_MOTOR motor, I16 &status, log_err *log_err)
• Move piezo to zero position and make the position reading of that motor equal to zero.
  int home_piezo(DELTA_TAU_MOTOR motor, log_err *log_err)
• To home ZSTG motor is moved to negative limit and than homed.
  int home_stepper(DELTA_TAU_MOTOR motor, log_err *log_err)
• Home all three motors XPZT, YPZT, and ZSTG.
  int home_all(log_err *log_err)
• Adjust feedback parameter (proportional gain) for motor n.
  int set_feedback_proportional(DELTA_TAU_MOTOR motor, I32 proportional, log_err *log_err)
• Adjust feedback parameter (derivative gain) for motor n.
  int set_feedback_derivative(DELTA_TAU_MOTOR motor, I32 derivative,
  log_err *log_err)
• Adjust feedback parameter (integral gain) for motor n.
  int set_feedback_integral(DELTA_TAU_MOTOR motor, I32 integral, log_err *log_err)
• Save changed feedback parameters.
  int save_variables(log_err *log_err)
• Read feedback parameter (proportional gain) for motor n.
  int get_feedback_proportional(DELTA_TAU_MOTOR motor, I32 &proportional, log_err *log_err)
• Read feedback parameter (derivative gain) for motor n.
  int get_feedback_derivative(DELTA_TAU_MOTOR motor, I32 &derivative,
  log_err *log_err)
• Read feedback parameter (integral gain) for motor n.
  int get_feedback_integral(DELTA_TAU_MOTOR motor, I32 &integral, log_err *log_err)
• For both position limits if set to 0 means that software limits are disabled.
  Get software positive end position limit for motor n.
  int get_softlimit_positive(DELTA_TAU_MOTOR motor, F64 &softlimit_positive, log_err *log_err)
• Set software positive end position limit for motor n.
  int set_softlimit_positive(DELTA_TAU_MOTOR motor, F64 &softlimit_positive, log_err *log_err)
• Get software negative end position limit for motor n.
  int get_softlimit_negative(DELTA_TAU_MOTOR motor, F64 &softlimit_negative, log_err *log_err)
• Set software negative position limit for motor n.
  int set_softlimit_negative(DELTA_TAU_MOTOR motor, F64 &softlimit_negative, log_err *log_err)
• Get max acceleration for motor.
  int get_limit_acc_cpsps(DELTA_TAU_MOTOR motor, F64 &acc_cpsps,
  log_err *log_err)
• Set max acceleration for motor.
  int set_limit_acc_cpsps(DELTA_TAU_MOTOR motor, F64 &acc_cpsps,
  log_err *log_err)
• Get default velocity for motor.
  int get_default_velocity_cps(DELTA_TAU_MOTOR motor, F64 &vel_cps, log_err *log_err)
• Set default velocity for motor.
  int set_default_velocity_cps(DELTA_TAU_MOTOR motor, F64 &vel_cps, log_err *log_err)
• Return last read motor positions without talking to the motors.
  int list_motor_positions_um(F64 &motor1_position_um,
  F64 &motor2_position_um, F64 &motor3_position_um, log_err *log_err)
• Returns the last known position in microns of the motor. Does not query the controller.
  F64 micron(DELTA_TAU_MOTOR motor, log_err *log_err)
• For scan setup routines I will assume that ENCODER 5 is set to look at lower 16 bits of PCI-6534, and ENCODER 6 is set to look at higher 16 bits of PCI-6534!!!
  Piezo scan. For scan type descriptions refer to Table1.2 of stxm5.tex document.
  int scan_set_piezo(log_err *log_err)
  int scan_set_focus(SCAN_MOTOR motor, log_err *log_err)
  int scan_set_contrast(SCAN_MOTOR motor, log_err *log_err)
  int scan_set_stepper(log_err *log_err)
  int scan_set_spectrum(log_err *log_err)
• Kill motor - disables output for that motor.
  int kill_motor(DELTA_TAU_MOTOR motor, log_err *log_err)