PI piezo driver support

AUTHORS

@@ -7,3 +7,4 @@ Martin Masip <martinmasip@gmail.com>
 Pablo Jais <jaisp@df.uba.ar>
 Martin Caldarola <caldarolamartin@gmail.com>
 Federico Barabas <fede.barabas@gmail.com>
+Vasco Tenner <v.t.tenner@vu.nl>

lantz/drivers/pi/__init__.py

@@ -0,0 +1,18 @@
+# -*- coding: utf-8 -*-
+"""
+    lantz.drivers.pi
+    ~~~~~~~~~~~~~~~~~~~~~~
+
+    :company: PhysikInstrumente
+    :description: Motion and positioning components
+    :website: https://www.physikinstrumente.com
+
+    ----
+
+    :copyright: 2017 by Vasco Tenner
+    :license: BSD, see LICENSE for more details.
+"""
+
+from .piezo import Piezo, parse_line, parse_multi
+
+__all__ = ['Piezo','parse_line','parse_multi']

lantz/drivers/pi/error_codes.py

@@ -0,0 +1,219 @@
+error_codes = {0: "PI_CNTR_NO_ERROR No error",
+1: "PI_CNTR_PARAM_SYNTAX Parameter syntax error",
+2: "PI_CNTR_UNKNOWN_COMMAND Unknown command",
+3: "PI_CNTR_COMMAND_TOO_LONG Command length out of limits orcommand buffer overrun",
+4: "PI_CNTR_SCAN_ERROR Error while scanning",
+5: "PI_CNTR_MOVE_WITHOUT_REF_OR_NO_SERVO Unallowable move attempted onunreferenced axis, or move attemptedwith servo off",
+6: "PI_CNTR_INVALID_SGA_PARAM Parameter for SGA not valid",
+7: "PI_CNTR_POS_OUT_OF_LIMITS Position out of limits",
+8: "PI_CNTR_VEL_OUT_OF_LIMITS Velocity out of limits",
+9: "PI_CNTR_SET_PIVOT_NOT_POSSIBLE Attempt to set pivot point while U,V andW not all 0",
+10: "PI_CNTR_STOP Controller was stopped by command",
+11: "PI_CNTR_SST_OR_SCAN_RANGE Parameter for SST or for one of theembedded scan algorithms out of range",
+12: "PI_CNTR_INVALID_SCAN_AXES Invalid axis combination for fast scan",
+13: "PI_CNTR_INVALID_NAV_PARAM Parameter for NAV out of range",
+14: "PI_CNTR_INVALID_ANALOG_INPUT Invalid analog channel",
+15: "PI_CNTR_INVALID_AXIS_IDENTIFIER Invalid axis identifier",
+16: "PI_CNTR_INVALID_STAGE_NAME Unknown stage name",
+17: "PI_CNTR_PARAM_OUT_OF_RANGE Parameter out of range",
+18: "PI_CNTR_INVALID_MACRO_NAME Invalid macro name",
+19: "PI_CNTR_MACRO_RECORD Error while recording macro",
+20: "PI_CNTR_MACRO_NOT_FOUND Macro not found",
+21: "PI_CNTR_AXIS_HAS_NO_BRAKE Axis has no brake",
+22: "PI_CNTR_DOUBLE_AXIS Axis identifier specified more than once",
+23: "PI_CNTR_ILLEGAL_AXIS Illegal axis",
+24: "PI_CNTR_PARAM_NR Incorrect number of parameters",
+25: "PI_CNTR_INVALID_REAL_NR Invalid floating point number",
+26: "PI_CNTR_MISSING_PARAM Parameter missing",
+27: "PI_CNTR_SOFT_LIMIT_OUT_OF_RANGE Soft limit out of range",
+28: "PI_CNTR_NO_MANUAL_PAD No manual pad found",
+29: "PI_CNTR_NO_JUMP No more step-response values",
+30: "PI_CNTR_INVALID_JUMP No step-response values recorded",
+31: "PI_CNTR_AXIS_HAS_NO_REFERENCE Axis has no reference sensor",
+32: "PI_CNTR_STAGE_HAS_NO_LIM_SWITCH Axis has no limit switch",
+33: "PI_CNTR_NO_RELAY_CARD No relay card installed",
+34: "PI_CNTR_CMD_NOT_ALLOWED_FOR_STAGE Command not allowed for selectedstage(s)",
+35: "PI_CNTR_NO_DIGITAL_INPUT No digital input installed",
+36: "PI_CNTR_NO_DIGITAL_OUTPUT No digital output configured",
+37: "PI_CNTR_NO_MCM No more MCM responses",
+38: "PI_CNTR_INVALID_MCM No MCM values recorded",
+39: "PI_CNTR_INVALID_CNTR_NUMBER Controller number invalid",
+40: "PI_CNTR_NO_JOYSTICK_CONNECTED No joystick configured",
+41: "PI_CNTR_INVALID_EGE_AXIS Invalid axis for electronic gearing, axiscannot be slave",
+42: "PI_CNTR_SLAVE_POSITION_OUT_OF_RANGE Position of slave axis is out of range",
+43: "PI_CNTR_COMMAND_EGE_SLAVE Slave axis cannot be commandeddirectly when electronic gearing isenabled",
+44: "PI_CNTR_JOYSTICK_CALIBRATION_FAILED Calibration of joystick failed",
+45: "PI_CNTR_REFERENCING_FAILED Referencing failed",
+46: "PI_CNTR_OPM_MISSING OPM (Optical Power Meter) missing",
+47: "PI_CNTR_OPM_NOT_INITIALIZED OPM (Optical Power Meter) notinitialized or cannot be initialized",
+48: "PI_CNTR_OPM_COM_ERROR OPM (Optical Power Meter)communication error",
+49: "PI_CNTR_MOVE_TO_LIMIT_SWITCH_FAILED Move to limit switch failed",
+50: "PI_CNTR_REF_WITH_REF_DISABLED Attempt to reference axis withreferencing disabled",
+51: "PI_CNTR_AXIS_UNDER_JOYSTICK_CONTROL Selected axis is controlled by joystick",
+52: "PI_CNTR_COMMUNICATION_ERROR Controller detected communicationerror",
+53: "PI_CNTR_DYNAMIC_MOVE_IN_PROCESS MOV! motion still in progress",
+54: "PI_CNTR_UNKNOWN_PARAMETER Unknown parameter",
+55: "PI_CNTR_NO_REP_RECORDED No commands were recorded with REP",
+56: "PI_CNTR_INVALID_PASSWORD Password invalid",
+57: "PI_CNTR_INVALID_RECORDER_CHAN Data record table does not exist",
+58: "PI_CNTR_INVALID_RECORDER_SRC_OPT Source does not exist; number too lowor too high",
+59: "PI_CNTR_INVALID_RECORDER_SRC_CHAN Source record table number too low ortoo high",
+60: "PI_CNTR_PARAM_PROTECTION Protected Param: Current CommandLevel (CCL) too low",
+61: "PI_CNTR_AUTOZERO_RUNNING Command execution not possible whileautozero is running",
+62: "PI_CNTR_NO_LINEAR_AXIS Autozero requires at least one linearaxis",
+63: "PI_CNTR_INIT_RUNNING Initialization still in progress",
+64: "PI_CNTR_READ_ONLY_PARAMETER Parameter is read-only",
+65: "PI_CNTR_PAM_NOT_FOUND Parameter not found in nonvolatilememory",
+66: "PI_CNTR_VOL_OUT_OF_LIMITS Voltage out of limits",
+67: "PI_CNTR_WAVE_TOO_LARGE Not enough memory available forrequested wave curve",
+68: "PI_CNTR_NOT_ENOUGH_DDL_MEMORY Not enough memory available for DDLtable; DDL cannot be started",
+69: "PI_CNTR_DDL_TIME_DELAY_TOO_LARGE Time delay larger than DDL table; DDLcannot be started",
+70: "PI_CNTR_DIFFERENT_ARRAY_LENGTH The requested arrays have differentlengths; query them separately",
+71: "PI_CNTR_GEN_SINGLE_MODE_RESTART Attempt to restart the generator while itis running in single step mode",
+72: "PI_CNTR_ANALOG_TARGET_ACTIVE Motion commands and wave generatoractivation are not allowed when analogtarget is active",
+73: "PI_CNTR_WAVE_GENERATOR_ACTIVE Motion commands are not allowedwhen wave generator is active",
+74: "PI_CNTR_AUTOZERO_DISABLED No sensor channel or no piezo channelconnected to selected axis (sensor andpiezo matrix)",
+75: "PI_CNTR_NO_WAVE_SELECTED Generator started (WGO) withouthaving selected a wave table (WSL).",
+76: "PI_CNTR_IF_BUFFER_OVERRUN Interface buffer overran and commandcouldn't be received correctly",
+77: "PI_CNTR_NOT_ENOUGH_RECORDED_DATA Data record table does not hold enoughrecorded data",
+78: "PI_CNTR_TABLE_DEACTIVATED Data record table is not configured forrecording",
+79: "PI_CNTR_OPENLOOP_VALUE_SET_WHEN_SERVO_ON Open-loop commands (SVA, SVR) arenot allowed when servo is on",
+80: "PI_CNTR_RAM_ERROR Hardware error affecting RAM",
+81: "PI_CNTR_MACRO_UNKNOWN_COMMAND Not macro command",
+82: "PI_CNTR_MACRO_PC_ERROR Macro counter out of range",
+83: "PI_CNTR_JOYSTICK_ACTIVE Joystick is active",
+84: "PI_CNTR_MOTOR_IS_OFF Motor is off",
+85: "PI_CNTR_ONLY_IN_MACRO Macro-only command",
+86: "PI_CNTR_JOYSTICK_UNKNOWN_AXISInvalid joystick axis",
+87: "PI_CNTR_JOYSTICK_UNKNOWN_IDJoystick unknown",
+88: "PI_CNTR_REF_MODE_IS_ONMove without referenced stage",
+89: "PI_CNTR_NOT_ALLOWED_IN_CURRENT_MOTION_MODE Command not allowed in current motionmode",
+90: "PI_CNTR_DIO_AND_TRACING_NOT_POSSIBLENo tracing possible while digital IOs areused on this HW revision. Reconnect toswitch operation mode.",
+91: "PI_CNTR_COLLISIONMove not possible, would causecollision",
+92: "PI_CNTR_SLAVE_NOT_FAST_ENOUGH Stage is not capable of following themaster. Check the gear ratio.",
+93: "PI_CNTR_CMD_NOT_ALLOWED_WHILE_AXIS_IN_MOTION This command is not allowed while theaffected axis or its master is in motion.",
+94: "PI_CNTR_OPEN_LOOP_JOYSTICK_ENABLED Servo cannot be switched on whenopen-loop joystick control is enabled.",
+95: "PI_CNTR_INVALID_SERVO_STATE_FOR_PARAMETER This parameter cannot be changed incurrent servo mode.",
+96: "PI_CNTR_UNKNOWN_STAGE_NAME Unknown stage name",
+100: "PI_LABVIEW_ERROR PI LabVIEW driver reports error. Seesource control for details.",
+200: "PI_CNTR_NO_AXIS No stage connected to axis",
+201: "PI_CNTR_NO_AXIS_PARAM_FILE File with axis parameters not found",
+202: "PI_CNTR_INVALID_AXIS_PARAM_FILE Invalid axis parameter file",
+203: "PI_CNTR_NO_AXIS_PARAM_BACKUP Backup file with axis parameters notfound",
+204: "PI_CNTR_RESERVED_204 PI internal error code 204",
+205: "PI_CNTR_SMO_WITH_SERVO_ON SMO with servo on",
+206: "PI_CNTR_UUDECODE_INCOMPLETE_HEADER uudecode: incomplete header",
+207: "PI_CNTR_UUDECODE_NOTHING_TO_DECODE uudecode: nothing to decode",
+208: "PI_CNTR_UUDECODE_ILLEGAL_FORMAT uudecode: illegal UUE format",
+209: "PI_CNTR_CRC32_ERROR CRC32 error",
+210: "PI_CNTR_ILLEGAL_FILENAME Illegal file name (must be 8-0 format)",
+211: "PI_CNTR_FILE_NOT_FOUND File not found on controller",
+212: "PI_CNTR_FILE_WRITE_ERROR Error writing file on controller",
+213: "PI_CNTR_DTR_HINDERS_VELOCITY_CHANGE VEL command not allowed in DTRcommand mode",
+214: "PI_CNTR_POSITION_UNKNOWN Position calculations failed",
+215: "PI_CNTR_CONN_POSSIBLY_BROKEN The connection between controller andstage may be broken",
+216: "PI_CNTR_ON_LIMIT_SWITCH The connected stage has driven into alimit switch, some controllers need CLRto resume operation",
+217: "PI_CNTR_UNEXPECTED_STRUT_STOP Strut test command failed because ofan unexpected strut stop",
+218: "PI_CNTR_POSITION_BASED_ON_ESTIMATION While MOV! is running position can onlybe estimated!",
+219: "PI_CNTR_POSITION_BASED_ON_INTERPOLATION Position was calculated during MOVmotion",
+230: "PI_CNTR_INVALID_HANDLE Invalid handle",
+231: "PI_CNTR_NO_BIOS_FOUND No bios found",
+232: "PI_CNTR_SAVE_SYS_CFG_FAILED Save system configuration failed",
+233: "PI_CNTR_LOAD_SYS_CFG_FAILED Load system configuration failed",
+301: "PI_CNTR_SEND_BUFFER_OVERFLOW Send buffer overflow",
+302: "PI_CNTR_VOLTAGE_OUT_OF_LIMITS Voltage out of limits",
+303: "PI_CNTR_OPEN_LOOP_MOTION_SET_WHEN_SERVO_ON Open-loop motion attempted whenservo ON",
+304: "PI_CNTR_RECEIVING_BUFFER_OVERFLOW Received command is too long",
+305: "PI_CNTR_EEPROM_ERROR Error while reading/writing EEPROM",
+306: "PI_CNTR_I2C_ERROR Error on I2C bus",
+307: "PI_CNTR_RECEIVING_TIMEOUT Timeout while receiving command",
+308: "PI_CNTR_TIMEOUT A lengthy operation has not finished inthe expected time",
+309: "PI_CNTR_MACRO_OUT_OF_SPACE Insufficient space to store macro",
+310: "PI_CNTR_EUI_OLDVERSION_CFGDATA Configuration data has old versionnumber",
+311: "PI_CNTR_EUI_INVALID_CFGDATA Invalid configuration data",
+333: "PI_CNTR_HARDWARE_ERROR Internal hardware error",
+400: "PI_CNTR_WAV_INDEX_ERROR Wave generator index error",
+401: "PI_CNTR_WAV_NOT_DEFINED Wave table not defined",
+402: "PI_CNTR_WAV_TYPE_NOT_SUPPORTED Wave type not supported",
+403: "PI_CNTR_WAV_LENGTH_EXCEEDS_LIMIT Wave length exceeds limit",
+404: "PI_CNTR_WAV_PARAMETER_NR Wave parameter number error",
+405: "PI_CNTR_WAV_PARAMETER_OUT_OF_LIMIT Wave parameter out of range",
+406: "PI_CNTR_WGO_BIT_NOT_SUPPORTED WGO command bit not supported",
+500: "PI_CNTR_EMERGENCY_STOP_BUTTON_ACTIVATED The \"red knob\" is still set and disablessystem",
+501: "PI_CNTR_EMERGENCY_STOP_BUTTON_WAS_ACTIVATE The \"red knob\" was activated and stillDdisables system - reanimation required",
+502: "PI_CNTR_REDUNDANCY_LIMIT_EXCEEDED Position consistency check failed",
+503: "PI_CNTR_COLLISION_SWITCH_ACTIVATED Hardware collision sensor(s) areactivated",
+504: "PI_CNTR_FOLLOWING_ERROR Strut following error occurred, e.g.caused by overload or encoder failure",
+505: "PI_CNTR_SENSOR_SIGNAL_INVALID One sensor signal is not valid",
+506: "PI_CNTR_SERVO_LOOP_UNSTABLE Servo loop was unstable due to wrongparameter setting and switched off toavoid damage.",
+530: "PI_CNTR_NODE_DOES_NOT_EXIST A command refers to a node that doesnot exist",
+531: "PI_CNTR_PARENT_NODE_DOES_NOT_EXIST A command refers to a node that hasno parent node",
+532: "PI_CNTR_NODE_IN_USE Attempt to delete a node that is in use",
+533: "PI_CNTR_NODE_DEFINITION_IS_CYCLIC Definition of a node is cyclic",
+534: "PI_CNTR_NODE_CHAIN_INVALID The node chain does not end in the \"0\"node",
+535: "PI_CNTR_NODE_DEFINITION_NOT_CONSISTENT The definition of a coordinatetransformation is erroneous",
+536: "PI_CNTR_HEXAPOD_IN_MOTION Transformation cannot be defined aslong as Hexapod is in motion",
+537: "PI_CNTR_TRANSFORMATION_TYPE_NOT_SUPPORTED Transformation node cannot beactivated",
+538: "PI_CNTR_NODE_TYPE_DIFFERS A node can only be replaced by a nodeof the same type",
+539: "PI_CNTR_NODE_PARENT_IDENTICAL_TO_CHILD A node cannot be linked to itself",
+540: "PI_CNTR_NODE_DEFINITION_INCONSISTENT Node definition is erroneous or notcomplete (replace or delete it)",
+541: "PI_CNTR_ZERO_NODE_CANNOT_BE_CHANGED_OR_REPLACED 0 is the root node and cannot bemodified",
+542: "PI_CNTR_NODES_NOT_IN_SAME_CHAIN The nodes are not part of the samechain",
+543: "PI_CNTR_NODE_MEMORY_FULL Unused nodes must be deleted beforenew nodes can be stored",
+544: "PI_CNTR_PIVOT_POINT_FEATURE_NOT_SUPPORTED With some transformations pivot pointusage is not supported",
+555: "PI_CNTR_UNKNOWN_ERROR BasMac: unknown controller error",
+601: "PI_CNTR_NOT_ENOUGH_MEMORY Not enough memory",
+602: "PI_CNTR_HW_VOLTAGE_ERROR Hardware voltage error",
+603: "PI_CNTR_HW_TEMPERATURE_ERROR Hardware temperature out of range",
+604: "PI_CNTR_POSITION_ERROR_TOO_HIGH Position error of any axis in the systemis too high",
+606: "PI_CNTR_INPUT_OUT_OF_RANGE Maximum value of input signal hasbeen exceeded",
+1000: "PI_CNTR_TOO_MANY_NESTED_MACROS Too many nested macros",
+1001: "PI_CNTR_MACRO_ALREADY_DEFINED Macro already defined",
+1002: "PI_CNTR_NO_MACRO_RECORDING Macro recording not activated",
+1003: "PI_CNTR_INVALID_MAC_PARAM Invalid parameter for MAC",
+1004: "PI_CNTR_RESERVED_1004 PI internal error code 1004",
+1005: "PI_CNTR_CONTROLLER_BUSY Controller is busy with some lengthyoperation (e.g. reference move, fastscan algorithm)",
+1006: "PI_CNTR_INVALID_IDENTIFIER Invalid identifier (invalid specialcharacters, ...)",
+1007: "PI_CNTR_UNKNOWN_VARIABLE_OR_ARGUMENT Variable or argument not defined",
+1008: "PI_CNTR_RUNNING_MACRO Controller is (already) running a macro",
+1009: "PI_CNTR_MACRO_INVALID_OPERATOR Invalid or missing operator for condition.Check necessary spaces aroundoperator.",
+1010: "PI_CNTR_MACRO_NO_ANSWER No answer was received whileexecuting WAC/MEX/JRC/...",
+1011: "PI_CMD_NOT_VALID_IN_MACRO_MODE Command not valid during macroexecution",
+1024: "PI_CNTR_MOTION_ERROR Motion error: position error too large,servo is switched off automatically",
+1063: "PI_CNTR_EXT_PROFILE_UNALLOWED_CMD User profile mode: command is notallowed, check for required preparatorycommands",
+1064: "PI_CNTR_EXT_PROFILE_EXPECTING_MOTION_ERROR User profile mode: first target position inuser profile is too far from currentposition",
+1065: "PI_CNTR_PROFILE_ACTIVE Controller is (already) in user profilemode",
+1066: "PI_CNTR_PROFILE_INDEX_OUT_OF_RANGE User profile mode: block or data setindex out of allowed range",
+1071: "PI_CNTR_PROFILE_OUT_OF_MEMORY User profile mode: out of memory",
+1072: "PI_CNTR_PROFILE_WRONG_CLUSTER User profile mode: cluster is notassigned to this axis",
+1073: "PI_CNTR_PROFILE_UNKNOWN_CLUSTER_IDENTIFIER Unknown cluster identifier",
+1090: "PI_CNTR_TOO_MANY_TCP_CONNECTIONS_OPEN There are too many open tcpipconnections",
+2000: "PI_CNTR_ALREADY_HAS_SERIAL_NUMBER Controller already has a serial number",
+4000: "PI_CNTR_SECTOR_ERASE_FAILED Sector erase failed",
+4001: "PI_CNTR_FLASH_PROGRAM_FAILED Flash program failed",
+4002: "PI_CNTR_FLASH_READ_FAILED Flash read failed",
+4003: "PI_CNTR_HW_MATCHCODE_ERROR HW match code missing/invalid",
+4004: "PI_CNTR_FW_MATCHCODE_ERROR FW match code missing/invalid",
+4005: "PI_CNTR_HW_VERSION_ERROR HW version missing/invalid",
+4006: "PI_CNTR_FW_VERSION_ERROR FW version missing/invalid",
+4007: "PI_CNTR_FW_UPDATE_ERROR FW update failed",
+5000: "PI_CNTR_INVALID_PCC_SCAN_DATA PicoCompensation scan data is notvalid",
+5001: "PI_CNTR_PCC_SCAN_RUNNING PicoCompensation is running, someactions cannot be executed duringscanning/recording",
+5002: "PI_CNTR_INVALID_PCC_AXIS Given axis cannot be defined as PPCaxis",
+5003: "PI_CNTR_PCC_SCAN_OUT_OF_RANGE Defined scan area is larger than thetravel range",
+5004: "PI_CNTR_PCC_TYPE_NOT_EXISTING Given PicoCompensation type is notdefined",
+5005: "PI_CNTR_PCC_PAM_ERROR PicoCompensation parameter error",
+5006: "PI_CNTR_PCC_TABLE_ARRAY_TOO_LARGE PicoCompensation table is larger thanmaximum table length",
+5100: "PI_CNTR_NEXLINE_ERROR Common error in NEXLINE® firmwaremodule",
+5101: "PI_CNTR_CHANNEL_ALREADY_USED Output channel for NEXLINE® cannotbe redefined for other usage",
+5102: "PI_CNTR_NEXLINE_TABLE_TOO_SMALL Memory for NEXLINE® signals is toosmall",
+5103: "PI_CNTR_RNP_WITH_SERVO_ON RNP cannot be executed if axis is inclosed loop",
+5104: "PI_CNTR_RNP_NEEDED Relax procedure (RNP) needed",
+5200: "PI_CNTR_AXIS_NOT_CONFIGURED Axis must be configured for this action",
+6000: "PI_CNTR_SENSOR_ABS_INVALID_VALUE Invalid preset value of absolute sensor",
+6001: "PI_CNTR_SENSOR_ABS_WRITE_ERROR Error while writing to sensor",
+6002: "PI_CNTR_SENSOR_ABS_READ_ERROR Error while reading from sensor",
+6003: "PI_CNTR_SENSOR_ABS_CRC_ERROR Checksum error of absolute sensor",
+6004: "PI_CNTR_SENSOR_ABS_ERROR General error of absolute sensor",
+6005: "PI_CNTR_SENSOR_ABS_OVERFLOW Overflow of absolute sensor position",
+}