Updated Plugins

Author: Itom Build Server

mainsite_hidden/source_plugins/plugins/actuators/FaulhaberMCS.rst

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+===================
+ FaulhaberMCS
+===================
+
+=============== ========================================================================================================
+**Summary**:    :pluginsummary:`FaulhaberMCS`
+**Type**:       :plugintype:`FaulhaberMCS`
+**License**:    :pluginlicense:`FaulhaberMCS`
+**Platforms**:  Windows, Linux
+**Devices**:    Faulhaber MCS 3242 BX4 ET
+**Author**:     :pluginauthor:`FaulhaberMCS`
+=============== ========================================================================================================
+
+Overview
+========
+
+.. pluginsummaryextended::
+    :plugin: FaulhaberMCS
+
+Initialization
+==============
+
+The following parameters are mandatory or optional for initializing an instance of this plugin:
+
+    .. plugininitparams::
+        :plugin: FaulhaberMCS
+
+
+Parameters
+==========
+
+These parameters are available and can be used to configure the ``FaulhaberMCS`` instance.
+Many of them are directly initialized by the parameters of the constructor.
+During the runtime of an instance, the value of these parameters is obtained by
+the method *getParam*, writeable parameters can be changed using *setParam*.
+
+**acceleration**: int
+    Acceleration in 1/s². Register '0x6083.00'.
+
+    *Value range: [1, 30000], Default: 4250*
+**async**: int, read-only
+    Asynchronous move (1), synchronous (0) [default]. Only synchronous operation is
+    implemented.
+
+    *Value range: [0, 1], Default: 0*
+**current**: int, read-only
+    Actual value of the current in relative scaling. Register '0x6078.00'.
+
+    *Value range: [-32768, 32767], Default: 10*
+**deceleration**: int
+    Deceleration in 1/s². Register '0x6084.00'.
+
+    *Value range: [1, 30000], Default: 1280*
+**deviceID**: int
+    Explicit device ID. Register '0x2400.08'
+
+    *Value range: [0, 65535], Default: 0*
+**deviceName**: str, read-only
+    Name of device. Register '0x1008.00'.
+
+    *Match: "", Default: "MCS 3242 BX4 ET"*
+**fault**: int, read-only
+    1: Error present, 0: No error present (Bit 3).
+
+    *Value range: [0, 1], Default: 0*
+**firmware**: str, read-only
+    Firmware version. Register '0x100A.00'
+
+    *Match: "", Default: "0111.02N"*
+**fluxGainControl**: int
+    Flux control gain parameter [mOm]. Register '0x2342.01'.
+
+    *Value range: [-1, 0], Default: 1835*
+**fluxIntegralTimeControl**: int
+    Flux control integral time control parameter [µs]. Register '0x2342.01'.
+
+    *Value range: [150, 2600], Default: 150*
+**followingError**: int, read-only
+    1: Permissible range for the following error exceeded, 0: The actual position follows
+    the instructions without a following error (Bit 13).
+
+    *Value range: [0, 1], Default: 0*
+**homed**: int, read-only
+    homed (1) or not homed (0).
+
+    *Value range: [0, 1], Default: 0*
+**internalLimitActive**: int, read-only
+    1: Internal range limit (e.g. limit switch reached), 0: Internal range limit not reached
+    (Bit 11).
+
+    *Value range: [0, 1], Default: 0*
+**maxMotorSpeed**: int
+    Max motor speed in 1/min. Register '0x6080.00'.
+
+    *Value range: [1, 32767], Default: 32767*
+**maxTorqueLimit**: int, read-only
+    Maximum torque limit in relative scaling. 1000 = motor rated torque. Register
+    '0x6072.00'.
+
+    *Value range: [1, 30000], Default: 2000*
+**moveTimeout**: int
+    Timeout for movement in ms.
+
+    *Value range: [0, inf], Default: 60000*
+**name**: str, read-only
+    FaulhaberMCS
+**netMode**: int
+    RS232 net mode. Register '0x2400.05'.
+
+    *Value range: [0, 1], Default: 0*
+**nodeID**: int
+    Node number. Register '0x2400.03'.
+
+    *Value range: [0, 255], Default: 1*
+**operation**: int
+    Enable (1) or Disable (0) operation.
+
+    *Value range: [0, 1], Default: 1*
+**operationEnabled**: int, read-only
+    1: Operation enabled, 0: Operation disabled (Bit 2).
+
+    *Value range: [0, 1], Default: 1*
+**operationMode**: int, read-only
+    Operation Mode. -4: ATC, -3: AVC, -2: APC, -1: Voltage mode, 0: Controller not
+    activated, 1: PP (default), 3: PV, 6: Homing, 8: CSP, 9: CSV, 10: CST. Register
+    '0x6060.00'.
+
+    *Value range: [-4, 10], Default: 1*
+**positionLimits**: Sequence[int]
+    Lower/ upper limit of the position range in userdefined uints. Register lower limit
+    '0x607D.01', upper limit '0x607D.02'.
+
+    *Allowed number of values: 0 - 18446744073709551615, All values allowed, Default: [-inf,
+    inf]*
+**power**: int
+    Enable (1) or Disable (0) device power.
+
+    *Value range: [0, 1], Default: 1*
+**productCode**: str, read-only
+    Product code number. Register '0x1018.02'.
+
+    *Match: "", Default: "11601"*
+**profileVelocity**: int
+    Profile velocity in 1/min. Register '0x6081.00'.
+
+    *Value range: [1, 32767], Default: 4000*
+**quickStop**: int, read-only
+    1: Quick stop enabled, Quick stop disabled (Bit 5).
+
+    *Value range: [0, 1], Default: 1*
+**quickStopDeceleration**: int
+    Quickstop deceleration in 1/s². Register '0x6085.00'.
+
+    *Value range: [1, 32750], Default: 30000*
+**readyToSwitchOn**: int, read-only
+    1: Ready to switch ON, 0: Not ready to switch ON (Bit 0).
+
+    *Value range: [0, 1], Default: 1*
+**revisionNumber**: str, read-only
+    Revision number. Register '0x1018.03'
+
+    *Match: "", Default: "14"*
+**serialNumber**: str, read-only
+    Serial number of device. Register '0x2400.03'.
+
+    *Match: "", Default: "492300001"*
+**setPointAcknowledged**: int, read-only
+    1: New set-point has been loaded, 0: Previous set-point being changed or already reached
+    (Bit 12).
+
+    *Value range: [0, 1], Default: 0*
+**switchOnDisabled**: int, read-only
+    1: Switch on disabled, 0: Switch on enabled (Bit 6).
+
+    *Value range: [0, 1], Default: 0*
+**switchedOn**: int, read-only
+    1: Drive is in the 'Switched ON' state, 0: No voltage present (Bit 1).
+
+    *Value range: [0, 1], Default: 1*
+**targetReached**: int, read-only
+    1: Target has reached, 0: is moving (Bit 10).
+
+    *Value range: [0, 1], Default: 1*
+**targetTorque**: int
+    Set target value of the torque in relative scaling. Register '0x6071.00'.
+
+    *Value range: [-32768, 32767], Default: 0*
+**temperatureCPU**: int, read-only
+    CPU temperature in [°C]. Register '0x2326.01'.
+
+    *Value range: [0, 32767], Default: 44*
+**temperaturePowerStage**: int, read-only
+    Power stage temperature in [°C]. Register '0x2326.02'.
+
+    *Value range: [0, 32767], Default: 30*
+**temperatureWinding**: int, read-only
+    Winding temperature in [°C]. Register '0x2326.03'.
+
+    *Value range: [0, 32767], Default: 29*
+**torque**: int, read-only
+    Actual value of the torque in relative scaling. Register '0x6077.00'.
+
+    *Value range: [-32768, 32767], Default: 0*
+**torqueGainControl**: int
+    Torque control gain parameter [mOm]. Register '0x2342.01'.
+
+    *Value range: [-1, 0], Default: 1835*
+**torqueIntegralTimeControl**: int
+    Torque control integral time control parameter [µs]. Register '0x2342.01'.
+
+    *Value range: [150, 2600], Default: 150*
+**torqueLimits**: Sequence[int]
+    Negative/ positive torque limit values in relative scaling. 1000 = motor rated torque.
+    Register negative limit '0x60E1.00', positive limit '0x60E0.00'.
+
+    *Allowed number of values: 0 - 18446744073709551615, Value range: [0, 6000], Default:
+    [6000, 6000]*
+**velocityDeviationThresholdControl**: int
+    Velocity deviation threshold control parameter. Register '0x2344.03'.
+
+    *Value range: [0, 65535], Default: 65535*
+**velocityDeviationTimeControl**: int
+    Velocity deviation time control parameter. Register '0x2344.04'.
+
+    *Value range: [0, 65535], Default: 100*
+**velocityGainControl**: int
+    Velocity gain control parameter [As 1e-6]. Register '0x2342.01'.
+
+    *Value range: [-1, 0], Default: 1835*
+**velocityIntegralPartOption**: int
+    Velocity integral part option. Configuration of the speed control loop. '0': integral
+    component active, '1': stopped integral component in the position windoed (in PP mode),
+    '2': integral component deactivated. Register '0x2344.06'.
+
+    *Value range: [0, 2], Default: 0*
+**velocityIntegralTimeControl**: int
+    Velocity integral time control parameter [µs]. Register '0x2344.02'.
+
+    *Value range: [0, 65535], Default: 23*
+**velocityWarningThresholdControl**: int
+    Velocity warning threshold control parameter. Register '0x2344.05'.
+
+    *Value range: [0, 65535], Default: 30000*
+**vendorID**: str, read-only
+    Vendor ID of device. Register '0x1018.01'.
+
+    *Match: "", Default: "327"*
+**voltageEnabled**: int, read-only
+    1: Power supply enabled, 0: Power supply disabled (Bit 4).
+
+    *Value range: [0, 1], Default: 0*
+**warning**: int, read-only
+    1: One of the monitored temperatures has exceeded at least the warning threshold, 0: No
+    raised temperatures (Bit 7).
+
+    *Value range: [0, 1], Default: 0*
+
+
+Additional functions (exec functions)
+=====================================
+
+By using the following execFunctions you execute homing according the homing methods.
+
+.. py:function::  instance.exec('homing', method [,offset, switchSeekVelocity, homingSpeed, acceleration, limitCheckDelayTime, torqueLimits])
+
+    In most of the cases before position control is to be used, the drive must perform a reference run to align the position used by the drive to the mechanic setup.
+
+    :param method: Homing method. Methods 1…34: A limit switch or an additional reference switch is used as reference. Method 37: The position is set to 0 without reference run. Methods –1…–4: A mechanical limit stop is set as reference. Register '0x6098.00'.
+    :type method: int
+    :param offset: Offset of the zero position relative to the position of the reference switch in userdefined units. Register '0x607C.00'.
+    :type offset: int - optional
+    :param switchSeekVelocity: Speed during search for switch. Register '0x6099.01'.
+    :type switchSeekVelocity: int - optional
+    :param homingSpeed: Speed during search for zero. Register '0x6099.02'.
+    :type homingSpeed: int - optional
+    :param acceleration: Speed during search for zero. Register '0x609A.00'.
+    :type acceleration: int - optional
+    :param limitCheckDelayTime: Delay time until blockage detection [ms]. Register '0x2324.02'.
+    :type limitCheckDelayTime: int - optional
+    :param torqueLimits: Upper/ lower limit values for the reference run in 1/1000 of the rated motor torque. Register negative limit '0x2350.00', positive limit '0x2351.00'.
+    :type torqueLimits: Sequence[int] - optional
+
+Exemplary usage from Python
+===========================
+
+In the following examples, it is shown how to use this Plugin.
+First an instance must be initialized using the ``SerialIO`` Plugin.
+
+.. code-block:: python
+
+    from itom import actuator, dataIO
+
+    com = dataIO("SerialIO", 6, 115200, "\n")  # adapt COM port number
+    mot = actuator("FaulhaberMCS", com, 1)
+
+The current position can be set to zero by using the ``setOrigin`` method of the plugin:
+
+.. code-block:: python
+
+    mot.setOrigin(0)
+
+The relative position can be set to a specific value by using the ``setPosRel`` method of the plugin:
+
+.. code-block:: python
+
+    mot.setPosRel(0, 4096)
+
+The absolute position can be set to a specific value by using the ``setPosAbs`` method of the plugin:
+
+.. code-block:: python
+
+    mot.setPosAbs(0, 4096)
+
+Additional homing methods can be executed by using the ``exec`` method of the plugin:
+
+.. code-block:: python
+
+    mot.exec("homing", -3, torqueLimits=[300, 300]) # mechanical limit stop is set as reference
+
+Parameters can be read by using the ``getParam`` method of the plugin:
+
+.. code-block:: python
+
+    print(mot.getParam("positionLimits"))
+
+Parameters can be set by using the ``setParam`` method of the plugin:
+
+.. code-block:: python
+
+    mot.setParam("profileVelocity", 2000)
+
+Motor can be turned off setting parameter ``operation``:
+
+.. code-block:: python
+
+    mot.setParam("operation", 0) # turn off motor
+    mot.setParam("operation", 1) # turn on motor
+
+The motor voltage is turned off setting parameter ``power``:
+
+.. code-block:: python
+
+    mot.setParam("power", 0) # turn off motor voltage
+
+    # To turn it on again, first it must be shut down
+    mot.setParam("operation", 0)
+    mot.setParam("operation", 1) # turn on motor
+
+For long movement operations, the timeout can be set:
+
+.. code-block:: python
+
+    mot.setParam("moveTimeout", 60000) # set timeout to 60s
+
+The torque control parameter are changed by the plugin parameter:
+
+.. code-block:: python
+
+    mot.setParam("torqueGainControl", 1835)
+    mot.setParam("torqueIntegralTimeControl", 150)
+
+The flux control parameter are changed by the plugin parameter:
+
+.. code-block:: python
+
+    mot.setParam("fluxGainControl", 1835)
+    mot.setParam("fluxIntegralTimeControl", 150)
+
+The velocity control parameter are changed by the plugin parameter:
+
+.. code-block:: python
+
+    mot.setParam("velocityGainControl", 1835)
+    mot.setParam("velocityIntegralTimeControl", 23)
+    mot.setParam("velocityDeviationThresholdControl", 65535)
+    mot.setParam("velocityDeviationTimeControl", 100)
+    mot.setParam("velocityWarningThresholdControl", 30000)
+    mot.setParam("velocityIntegralPartOption", 0)
+
+Changelog
+==========
+
+* itom setup 4.3.0 - v1.0.0: Initial version