ESRF Hexapode
Description¶
This module allows to control ESRF hexapod, mainly installed in optics hutch on ESRF beamlines.
The six legs are controlled by IcePaP controller via a Tango device server which
uses the deeplib library.
Installation¶
Server¶
The hexapode server is installed using Conda packaging under bliss environment:
(bliss) leonardo:~ % . blissenv setting BLISS environment Using CONDA Bliss package (use: 'conda list bliss' to know the version) (bliss) leonardo:~ % conda install tango-hexapode Collecting package metadata (current_repodata.json): done Solving environment: done ## Package Plan ## environment location: /users/blissadm/conda/miniconda/envs/bliss added / updated specs: - tango-hexapode The following NEW packages will be INSTALLED: libdeep stable/linux-64::libdeep-1.0-h14c3975_0 tango-hexapode stable/linux-64::tango-hexapode-1.0-hf484d3e_0 Proceed ([y]/n)? y Preparing transaction: done Verifying transaction: done Executing transaction: done (bliss) leonardo:~ %
The Conda package installs the following executables:
* /opt/bliss/conda/miniconda/envs/bliss/bin/Hexapode
* /opt/bliss/conda/miniconda/envs/bliss/bin/Hexapito
Server’s supervisor startup scripts example:
[group:tango] programs=Hexapode_01, ... priority=100 [program:Hexapode_01] command=bash -c ". /users/blissadm/bin/blissenv && exec Hexapode Hexa1" environment=TANGO_HOST="idXX:20000",HOME="/users/blissadm" user=blissadm startsecs=2 autostart=true redirect_stderr=true stdout_logfile=/var/log/%(program_name)s.log stdout_logfile_maxbytes=1MB stdout_logfile_backups=10 stdout_capture_maxbytes=1MB
Properties (old ressources)¶
As it is a tango DS, the Taco ressources musst be translate in Tango properties. Here is an axample of properties file which can bee loaded using Jive.
# # Resource backup , created Tue Aug 27 14:55:19 CEST 2019 # #--------------------------------------------------------- # SERVER Hexapode/mirror, Hexapode device declaration #--------------------------------------------------------- Hexapode/mirror/DEVICE/Hexapode: "D23/Hexapode/mirror" # --- D23/Hexapode/mirror properties D23/Hexapode/mirror->Backlash: 0.1 D23/Hexapode/mirror->BackupFilePath: "/users/blissadm/local/hexapode" D23/Hexapode/mirror->DefRefPositionPhi: -0.169177 D23/Hexapode/mirror->DefRefPositionPsi: 0.027976 D23/Hexapode/mirror->DefRefPositionTheta: -0.008588 D23/Hexapode/mirror->DefRefPositionX: 0.080434 D23/Hexapode/mirror->DefRefPositionY: 0.836302 D23/Hexapode/mirror->DefRefPositionZ: 564.947466 D23/Hexapode/mirror->DefRefSystemPhi: 0.0 D23/Hexapode/mirror->DefRefSystemPsi: 0.0 D23/Hexapode/mirror->DefRefSystemTheta: 0.0 D23/Hexapode/mirror->DefRefSystemX: 400.0 D23/Hexapode/mirror->DefRefSystemY: 0.0 D23/Hexapode/mirror->DefRefSystemZ: 1088.35 D23/Hexapode/mirror->Description: "BM23 Mirror Hexapod" D23/Hexapode/mirror->Fixed1: 514.5621,\ -90.7312,\ 0.0 D23/Hexapode/mirror->Fixed2: 514.562,\ 90.7312,\ 0.0 D23/Hexapode/mirror->Fixed3: -178.7055,\ 490.9894,\ 0.0 D23/Hexapode/mirror->Fixed4: -335.8565,\ 400.2582,\ 0.0 D23/Hexapode/mirror->Fixed5: -335.8565,\ -400.2582,\ 0.0 D23/Hexapode/mirror->Fixed6: -178.7055,\ -490.9894,\ 0.0 D23/Hexapode/mirror->HomeLength: 629.38,\ 629.35,\ 629.73,\ 629.24,\ 629.2,\ 629.26 D23/Hexapode/mirror->IcepapHostname: iced231 D23/Hexapode/mirror->IcepapMotorAddr: 11,\ 12,\ 13,\ 14,\ 15,\ 16 D23/Hexapode/mirror->IcepapStepsPerMM: 58800 D23/Hexapode/mirror->LengthUncertainty: 0.1 D23/Hexapode/mirror->MaxActuatorLength: 709.2 D23/Hexapode/mirror->MaxIncrementPhi: 20 D23/Hexapode/mirror->MaxIncrementPsi: 20 D23/Hexapode/mirror->MaxIncrementTheta: 20 D23/Hexapode/mirror->MaxIncrementX: 10 D23/Hexapode/mirror->MaxIncrementY: 58 D23/Hexapode/mirror->MaxIncrementZ: 10 D23/Hexapode/mirror->MaxMovementResolution: 0.001 D23/Hexapode/mirror->MaxTiltAngle: 20 D23/Hexapode/mirror->MechanicalRef: LIMIT D23/Hexapode/mirror->MinActuatorLength: 629.73 D23/Hexapode/mirror->MotorType: ICEPAP D23/Hexapode/mirror->MovementMode: NORMAL D23/Hexapode/mirror->Moving1: 335.8565,\ -400.2582,\ 0.0 D23/Hexapode/mirror->Moving2: 335.8565,\ 400.2582,\ 0.0 D23/Hexapode/mirror->Moving3: 178.7055,\ 490.9894,\ 0.0 D23/Hexapode/mirror->Moving4: -514.5621,\ 90.7312,\ 0.0 D23/Hexapode/mirror->Moving5: -514.5621,\ -90.7312,\ 0.0 D23/Hexapode/mirror->Moving6: 178.7055,\ -490.9894,\ 0.0 D23/Hexapode/mirror->NominalLength: 668.7283333,\ 668.3389626,\ 669.5758503,\ 667.2954252,\ 669.5612925,\ 667.5805272 D23/Hexapode/mirror->ReferenceSystemLock: False D23/Hexapode/mirror->Topology: SUPPORT #--------------------------------------------------------- # CLASS Hexapode properties #--------------------------------------------------------- CLASS/Hexapode->Description: "The device called hexapode is a high precision optical instrument. It consist in a main support",\ "with six actuators. The position of the support is precisely adjusted by changing the lengths of the",\ "actuators. Two models exist at present at the ESRF a table and a sample manipulator. Others",\ "may come. An important goal in developing this server is that different architectures will require",\ "little development effort.",\ "The hexapode table exist now and works for several beamlines (and others are already built or",\ "foreseen). The motors in the legs are controlled by the IcePap motor controller. Still if a different motor",\ "controller is chosen the architecture of the software is highly modular so that little development",\ "will be required.",\ "",\ "All the geometry calculations are based on the paper [ref. ?????]. For many commands the user",\ "needs to specify the reference system he wants to use and other commands refers directly to this",\ "reference system. Refer to figures to fully understand the conventions." CLASS/Hexapode->InheritedFrom: TANGO_BASE_CLASS CLASS/Hexapode->ProjectTitle: "ESRF Hexapode"
Hexapode backup position¶
The last checked position of the 6 axis are still stored in the file:
~blissadm/local/hexapode/<beamline_name>_hexapode_<tango_DS_instance_name> (example: d23_hexapode_mirror for a server named d23/hexapode/mirror)
BLISS module¶
The module exports 6 axis and a menu is available mainly to reset the Hexapod when positions are lost.
YAML configuration file example¶
plugin: emotion class: esrf_hexapode tango_name: d23/hexapod/mirror name: hexa_mirror axes: - name: h1tx role: tx - name: h1ty role: ty - name: h1tz role: tz - name: h1rx role: rx - name: h1ry role: ry - name: h1rz role: rz