qmi.instruments.newport.smc_100cc

Instrument driver for the Newport SMC100CC motion controller.

Classes

`ControlLoopState`(value)	Control loop states of the controller.
`Newport_SMC100CC`(context, name, transport, ...)	Instrument driver for the Newport SMC100CC servo motion controller.

class qmi.instruments.newport.smc_100cc.ControlLoopState(value)

Control loop states of the controller.

conjugate(): Returns self, the complex conjugate of any int.

bit_length()

Number of bits necessary to represent self in binary.

>>> bin(37)
'0b100101'
>>> (37).bit_length()
6

bit_count()

Number of ones in the binary representation of the absolute value of self.

Also known as the population count.

>>> bin(13)
'0b1101'
>>> (13).bit_count()
3

to_bytes(length=1, byteorder='big', *, signed=False)

Return an array of bytes representing an integer.

length: Length of bytes object to use. An OverflowError is raised if the integer is not representable with the given number of bytes. Default is length 1.
byteorder: The byte order used to represent the integer. If byteorder is ‘big’, the most significant byte is at the beginning of the byte array. If byteorder is ‘little’, the most significant byte is at the end of the byte array. To request the native byte order of the host system, use `sys.byteorder’ as the byte order value. Default is to use ‘big’.
signed: Determines whether two’s complement is used to represent the integer. If signed is False and a negative integer is given, an OverflowError is raised.

classmethod from_bytes(bytes, byteorder='big', *, signed=False)

Return the integer represented by the given array of bytes.

bytes: Holds the array of bytes to convert. The argument must either support the buffer protocol or be an iterable object producing bytes. Bytes and bytearray are examples of built-in objects that support the buffer protocol.
byteorder: The byte order used to represent the integer. If byteorder is ‘big’, the most significant byte is at the beginning of the byte array. If byteorder is ‘little’, the most significant byte is at the end of the byte array. To request the native byte order of the host system, use `sys.byteorder’ as the byte order value. Default is to use ‘big’.
signed: Indicates whether two’s complement is used to represent the integer.

as_integer_ratio()

Return integer ratio.

Return a pair of integers, whose ratio is exactly equal to the original int and with a positive denominator.

>>> (10).as_integer_ratio()
(10, 1)
>>> (-10).as_integer_ratio()
(-10, 1)
>>> (0).as_integer_ratio()
(0, 1)

real: the real part of a complex number

imag: the imaginary part of a complex number

numerator: the numerator of a rational number in lowest terms

denominator: the denominator of a rational number in lowest terms

class qmi.instruments.newport.smc_100cc.Newport_SMC100CC(context: QMI_Context, name: str, transport: str, serial: str, actuators: Dict[int | None, LinearActuator], baudrate: int = 57600)

Instrument driver for the Newport SMC100CC servo motion controller.

get_encoder_increment_value(controller_address: int | None = None) → float

Get the encoder increment value.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Encoder increment value.

set_encoder_increment_value(value: float, controller_address: int | None = None) → None

Set the encoder increment value. By default, to be as close to 1mm as possible. Check the example (SU command) in the doc below to see how the increment value is calculated: https://www.newport.com/mam/celum/celum_assets/np/resources/CONEX-CC_-_Controller_Documentation.pdf?0

Parameters:

value – Increment value.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_driver_voltage(controller_address: int | None = None) → float

Get the max. output voltage of the driver to the motor.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_driver_voltage(driver_voltage: float, controller_address: int | None = None) → None

Set the max. output voltage of the driver to the motor.

Parameters:

driver_voltage – New motor driver voltage in Volts. Must be 12 V <= driver_voltage <= 48 V.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_low_pass_filter_cutoff_frequency(controller_address: int | None = None) → float

Get the low pass filter cut-off frequency Kd.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The low pass filter cut-off frequency, Kd, in Hertz.

set_low_pass_filter_cutoff_frequency(frequency: float, persist: bool = False, controller_address: int | None = None) → None

Set the low pass filter cut-off frequency Kd. Can be set only in CONFIGURATION or DISABLE states.

Parameters:

frequency – Cutoff frequency Kd in Hertz. Must be 1E-6 < frequency < 2000.
persist – Flag to indicate if the frequency cutoff should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the frequency cutoff is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised frequency of the controller address.

get_following_error_limit(controller_address: int | None = None) → float

Get the maximum allowed following error.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The value for the maximum allowed following error.

set_following_error_limit(error_limit: float, persist: bool = False, controller_address: int | None = None) → None

Set the value for the maximum allowed following error. It can be set only in CONFIGURATION or DISABLE state.

Parameters:

error_limit – The value for the maximum allowed following error. Must be 1E-6 < error_limit < 1E12.
persist – Flag to indicate if the error limit should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the error limit is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised error limit of the controller address.

get_friction_compensation(controller_address: int | None = None) → float

Get the friction compensation.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_friction_compensation(friction_compensation: float, persist: bool = False, controller_address: int | None = None) → None

Set the friction compensation. It must not be larger than the driver voltage set by DV command. We can check the input value for correct range in CONFIGURATION state, but in READY/DISABLE state we cannot as CONFIGURATION state is needed to check the driver voltage. Exiting the CONFIGURATION state leads to NOT REFERENCED state which cannot then be changed to READY or DISABLE state.

Parameters:

friction_compensation – New friction compensation value. Must be 0 <= friction_compensation < driver_voltage.
persist – Flag to indicate if the friction compensation should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the friction compensation is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_derivative_gain(controller_address: int | None = None) → float

Get the derivative gain of the PID control loop.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The derivative gain of the PID control loop.

set_derivative_gain(derivative_gain: float, persist: bool = False, controller_address: int | None = None) → None

Set the derivative gain of the PID control loop.

Parameters:

derivative_gain – New derivative_gain value in Volt * second/preset unit.
persist – Flag to indicate if the derivative gain should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the derivative gain is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised derivative_gain of the controller address.

get_integral_gain(controller_address: int | None = None) → float

Get the integral gain of the PID control loop.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The integral gain of the PID control loop.

set_integral_gain(integral_gain: float, persist: bool = False, controller_address: int | None = None) → None

Set the integral gain of the PID control loop.

Parameters:

integral_gain – New integral_gain value in Volt * second/preset unit.
persist – Flag to indicate if the integral gain should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the integral gain is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised integral_gain of the controller address.

get_proportional_gain(controller_address: int | None = None) → float

Get the proportional gain of the PID control loop.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The proportional gain of the PID control loop.

set_proportional_gain(proportional_gain: float, persist: bool = False, controller_address: int | None = None) → None

Set the proportional gain of the PID control loop.

Parameters:

proportional_gain – New proportional_gain value in Volt * second/preset unit.
persist – Flag to indicate if the proportional gain should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the proportional gain is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised proportional_gain of the controller address.

get_velocity_feed_forward(controller_address: int | None = None) → float

Get the velocity feed forward of the PID control loop.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The velocity feed forward of the PID control loop.

set_velocity_feed_forward(velocity_feed_forward: float, persist: bool = False, controller_address: int | None = None) → None

Set the velocity feed forward of the PID control loop.

Parameters:

velocity_feed_forward – New velocity_feed_forward value in Volt * second/preset unit.
persist – Flag to indicate if the velocity feed forward should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the velocity feed forward is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised velocity_feed_forward of the controller address.

get_control_loop_state(controller_address: int | None = None) → ControlLoopState

Get the current state of the control loop.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The current control loop state.
Return type:: control_loop_state

set_control_loop_state(control_loop_state: int, controller_address: int | None = None) → None

Set the current state of the control loop.

Parameters:

control_loop_state – New state for the control loop. 0 is OPEN, 1 is CLOSED.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

close() → None

Close the connection to the instrument hardware and release associated resources.

When this method returns, the instrument must not be used again unless it is first re-opened by calling the open() method.

Subclasses can extend this method if they have specific resources to close. If they do, they should call super().close() as a last statement.

property controller_address: int | None: Address of the controller that needs to be controlled.

force_unlock() → None

Forcefully unlock the remote object.

This unlocks the object, regardless of who owns the lock. This allows you to unlock an object if the locking proxy has been destroyed without unlocking.

Use this with care.

Do not override this stub method in subclasses. It has already been implemented in QMI_RpcProxy.

get_acceleration(controller_address: int | None = None) → float

Get the acceleration of the actuator in preset unit/s^2, so if the encoder unit is mm, then the returned value is in mm/s^2.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Encoder increment value.

get_analog_input_value(controller_address: int | None = None) → float

Get the analog input value.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Analog input value in Volts.

get_backlash_compensation(controller_address: int | None = None) → float

Get the backlash value in encoder units.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

classmethod get_category() → str | None

Return the optional name of the category this object belongs to.

A category name is a free-form string that has no special significance. Its purpose is to distinguish between groups of RPC objects that fulfill similar roles.

get_controller_rs485_address() → int

Get the controller’s RS-485 address. Controller address is always 1 for this command.

Returns:: Controller’s axis number for new RS485 address.
Return type:: rs485_address

get_error(controller_address: int | None = None) → Tuple[str, str]

Get the currently memorised error.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: A tuple containing the error code and the human-readable error message.

get_home_search_timeout(controller_address: int | None = None) → float

Get the timeout for the home search.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The timeout in seconds.

get_home_search_type(controller_address: int | None = None) → int

Get the type of HOME search used with the OR command.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_hysteresis_compensation(controller_address: int | None = None) → float

Get the hysteresis value in encoder units.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_idn(controller_address: int | None = None) → QMI_InstrumentIdentification

Read instrument type and version and return QMI_InstrumentIdentification instance.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: QMI_InstrumentIdentification with the information of the instrument.

get_jerk_time(controller_address: int | None = None) → float

Get the jerk time of the actuator.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Jerk time in seconds.
Return type:: jerk_time

get_motion_time(displacement: float, controller_address: int | None = None) → float

Get the motion time for a relative move.

Parameters:

displacement – Displacement from current position (relative move size).
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

Returns:

Motion time for a relative move in seconds.

get_name() → str

Return the name of this object.

Returns:: name attribute.

get_negative_software_limit(controller_address: int | None = None) → float

Get the negative software limit.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Controller’s negative software limit.
Return type:: neg_sw_limit

get_peak_current_limit(controller_address: int | None = None) → float

Get the controller’s maximum or peak output current limit to the motor.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_position(controller_address: int | None = None) → float

Get the actual position of the actuator according to the encoder value.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Current position in encoder units.

get_positioner_error_and_state(controller_address: int | None = None) → Tuple[List[str], str]

Get the positioner error and the current state of the controller.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_positive_software_limit(controller_address: int | None = None) → float

Get the positive software limit.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Controller’s positive software limit.
Return type:: pos_sw_limit

get_rms_current_averaging_time(controller_address: int | None = None) → float

Get the controller’s averaging period for rms current calculation.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_rms_current_limit(controller_address: int | None = None) → float

Get the controller’s rms output current limit to the motor.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

get_setpoint(controller_address: int | None = None) → float

Get the set-point position of the actuator according to the encoder value.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Set-point position in encoder units.

get_signals() → list[SignalDescription]

Return a list of signals that can be published by this object.

Returns:: List consisting of qmi_signals attributes.

get_stage_identifier(controller_address: int | None = None) → str

Read stage identifier.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: The stage identifier.

get_ttl_input_value(controller_address: int | None = None) → int

Get the TTL input value. The returned decimal number represents the binary word made of all 4 inputs, where bit 0 is input 1, bit 1 is input 2, bit 2 is input 3, and bit 3 is input 4.

The TTL input value is 1 when the corresponding voltage on the pin is larger than 2.4 volts, and it is 0 when the corresponding voltage is below 0.8 volt. When the voltage is between these two values, the result is unreliable and can be 1 or 0.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: TTL input value in bits. E.g. ‘5’ means input 0 and 2 are high, all others are low.

get_ttl_output_value(controller_address: int | None = None) → int

Get the TTL output value. The returned decimal number represents the binary word made of all 4 outputs, where bit 0 is output 1, bit 1 is output 2, bit 2 is output 3, and bit 3 is output 4.

A 1 represents closed collector output transistor of the output. A 0 represents open collector output transistor of the output.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: TTL output value in bits. E.g. ‘3’ means TTL outputs 1 & 2 are closed and outputs 3 & 4 open.

get_velocity(controller_address: int | None = None) → float

Get the velocity of the actuator in unit/s, so if the encoder unit is mm, then the returned value is in mm/s.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

home_search(controller_address: int | None = None) → None

Execute the home search. This is needed before any motion commands can be executed. It finds an origin position for the actuator. Can be done only in NOT REFERENCED state.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

is_in_configuration_state(controller_address: int | None = None) → bool

Get the CONFIGURATION state of the controller.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Boolean indicating if the controller is in CONFIGURATION state (True) or not (False).
Return type:: state

is_in_disable_state(controller_address: int | None = None) → bool

Get the DISABLE or READY state of the controller.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.
Returns:: Boolean to indicate state is DISABLE (True) or READY (False)
Return type:: state

is_locked() → bool

Query if the remote object is locked.

Do not override this stub method in subclasses. It has already been implemented in QMI_RpcProxy.

is_open() → bool: Return True if the instrument is open (ready for interaction).

lock(timeout: float = 0.0, lock_token: str | None = None) → bool

Lock the remote object. If timeout is given, try every 0.1s within the given timeout value. The remote object can be locked with an optional custom lock token by giving a string into lock_token keyword argument.

If successful, this proxy is the only proxy that can invoke RPC methods on the remote object; other proxies will receive an “object is locked” response. The return value indicates if the lock was granted; a denied lock means the object was already locked by another proxy.

Do not override this stub method in subclasses. It has already been implemented in QMI_RpcProxy.

move_absolute(position: float, controller_address: int | None = None) → None

Perform an absolute move. This command can take several seconds to finish. However, it is not blocking. Use other methods such as get_positioner_error_and_state to query the state of the controller.

Parameters:

position – New position to move to, in encoder units. Must be within actuator’s travel range.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

move_relative(displacement: float, controller_address: int | None = None) → None

Perform a relative move from the current position.

Parameters:

displacement – Displacement from current position.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

open() → None

Connect to the instrument hardware.

When this method returns, the instrument must be ready for interaction via calls to instrument-specific methods.

Subclasses can extend this method to implement instrument-specific initialization. If they do, they should call super().open() as a last statement.

release_rpc_object() → None: Give a warning if the instrument is removed while still open.

reset(controller_address: int | None = None) → None

Reset the instrument. Equivalent to a power-up.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_acceleration(acceleration: float, persist: bool = False, controller_address: int | None = None) → None

Set the acceleration at which the actuator moves. Can be set only in CONFIGURATION, READY and DISABLE states.

Parameters:

acceleration – Acceleration in preset unit/s^2. The unit depends on the encoder resolution, which is usually set to 1mm.
persist – Flag to indicate if the acceleration should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the maximum allowable acceleration that can be set is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_backlash_compensation(backlash_comp: float, controller_address: int | None = None) → None

Set the backlash compensation of a controller.

Parameters:

backlash_comp – backlash compensation in encoder units.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_configuration_state(state: bool, controller_address: int | None = None) → None

Set the NOT REFERENCED or CONFIGURATION state of the controller. If the controller is not in the either state, then an exception is raised in the _check_error. NOTE: In this state the parameters are stored in the flash memory of the controller.

Parameters:

state – False for setting the configuration state from CONFIGURATION to NOT REFERENECED or True for setting the configuration state from NOT REFERENECED to CONFIGURATION.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_controller_rs485_address(rs485_address: int) → None

Set the controller’s RS-485 address. Controller address is always 1 for this command.

Parameters:: rs485_address – Controller’s axis number for new RS485 address.

set_disable_state(state: bool, controller_address: int | None = None) → None

Set the DISABLE or READY state of the controller from the READY or DISABLE state, respectively. If the controller is not in the either state, then an exception is raised in the _check_error. NOTE: In this state the parameters are stored in the flash memory of the controller.

Parameters:

state – True for setting state from READY to DISABLE, False for vice versa.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_home_search_timeout(timeout: float | None = None, controller_address: int | None = None) → None

Set the timeout for the home search.

Parameters:

timeout – Optional timeout in seconds. If not set, it defaults DEFAULT_HOME_SEARCH_TIMEOUT
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_home_search_type(home_search_type: int, controller_address: int | None = None) → None

Set the type of HOME search used with the OR command.

Parameters:

home_search_type – New type of HOME search used with the OR command.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_hysteresis_compensation(hysteresis_comp: float, controller_address: int | None = None) → None

Set the hysteresis compensation of a controller.

Parameters:

hysteresis_comp – hysteresis compensation in encoder units.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_jerk_time(jerk_time: float, persist: bool = False, controller_address: int | None = None) → None

Set the jerk time at which the actuator accelerates.

Parameters:

jerk_time – Jerk time in seconds.
persist – Flag to indicate if the jerk time should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the maximum allowable jerk time that can be set is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_negative_software_limit(neg_sw_limit: float, persist: bool = False, controller_address: int | None = None) → None

Set the negative software limit.

Parameters:

neg_sw_limit – Controller’s negative software limit.
persist – Flag to indicate if the software limit should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the negative software limit is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_peak_current_limit(current_limit: float, controller_address: int | None = None) → None

Set the controller’s maximum or peak output current limit to the motor.

Parameters:

current_limit – Controller’s maximum or peak output current limit to the motor in [A].
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_positive_software_limit(pos_sw_limit: float, persist: bool = False, controller_address: int | None = None) → None

Set the positive software limit.

Parameters:

pos_sw_limit – Controller’s positive software limit.
persist – Flag to indicate if the software limit should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the positive software limit is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_rms_current_averaging_time(averaging_time: float, controller_address: int | None = None) → None

Set the controller’s averaging period for rms current calculation.

Parameters:

averaging_time – Controller’s averaging period for rms current calculation in [s].
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_rms_current_limit(current_limit: float, controller_address: int | None = None) → None

Set the controller’s maximum or rms output current limit to the motor.

Parameters:

current_limit – Controller’s maximum or rms output current limit to the motor in [A].
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_ttl_output_value(ttl_output_value: int, controller_address: int | None = None) → None

Get the TTL output value. The value is a binary word made of all 4 outputs, where bit 0 is output 1, bit 1 is output 2, bit 2 is output 3, and bit 3 is output 4.

A 1 closes the open collector output transistor of the output. A 0 blocks the open collector output transistor of the output.

Parameters:

ttl_output_value – New TTL output value.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

set_velocity(velocity: float, persist: bool = False, controller_address: int | None = None) → None

Set the velocity at which the actuator moves.

Parameters:

velocity – Velocity in unit/s. The unit depends on the encoder resolution, which is usually set to 1mm.
persist – Flag to indicate if the velocity should be persisted to the controller’s memory, so it is still available after powering down the controller. When not persisted, the maximum allowable velocity that can be set is the one stored in the controller’s memory.
controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

stop_motion(controller_address: int | None = None) → None

Stop the motion of the actuator by decelerating it. Works on DISABLE, READY and MOTION states.

Parameters:: controller_address – Optional address of the controller that needs to be controlled. By default, it is set to the initialised value of the controller address.

unlock(lock_token: str | None = None) → bool

Unlock the remote object.

Without optional parameters, this is only allowed by the proxy that initially locked the object. By giving the lock token as an input parameter, the specific object locked by this token can be unlocked. The return value indicates if the unlocking was successful.

Do not override this stub method in subclasses. It has already been implemented in QMI_RpcProxy.