qmi.instruments.thorlabs.kdc101
Instrument driver for the Thorlabs KDC101 Brushed DC Servo Motor Controller.
This driver communicates with the device via a USB serial port, using the Thorlabs APT protocol. For details, see the document “Thorlabs APT Controllers Host-Controller Communications Protocol”, issue 41 from Thorlabs.
Classes
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Instrument driver for the Thorlabs KDC101 Brushed DC Servo Motor Controller. |
- class qmi.instruments.thorlabs.kdc101.Thorlabs_Kdc101(context: QMI_Context, name: str, transport: str, actuator: str)
Instrument driver for the Thorlabs KDC101 Brushed DC Servo Motor Controller. This driver should be compatible also with TDC001 and KVS30 controllers.
- This controller can be used with::
Z9 series 6mm, 12mm and 25mm linear actuators.
PRMTZ8 360 degrees rotation stage.
An adaptation of the driver could be made in the future to also allow the use of the linear translation and rotation stages, and goniometers.
- 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.
- 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.
- get_idn() QMI_InstrumentIdentification
Read instrument type and version and return QMI_InstrumentIdentification instance.
- get_motor_status() MotorStatus
Return the motor status bits.
- Returns:
The received motor status bits.
- Return type:
- identify() None
Make the yellow LED on the instrument flash for a few seconds.
- get_chan_enable_state() bool
Return the enable state of the motor drive channel.
- Returns:
True if the channel is enabled, False if the channel is disabled.
- Return type:
boolean
- set_chan_enable_state(enable: bool) None
Enable or disable the motor drive channel.
When the drive channel is disabled, the motor will not hold its position and can be moved through external force.
The drive channel is by default enabled at power-up.
- Parameters:
enable – Boolean to indicate new state. True for enable, False for disable.
- get_absolute_position() float
Return the absolute position of the stage in millimeters.
After power-up, the absolute position of the stage will be unknown until the stage is homed. If the stage has not yet been homed, this function will return the current position relative to the position at power-up.
- Returns:
The absolute position if stage is homed, otherwise relative position. In mm.
- Return type:
- get_velocity() float
Return the current velocity.
- get_acceleration() float
Return the current acceleration.
- set_velocity(max_velocity: float) None
Set the maximum velocity for moves.
This setting will be applied for subsequent absolute and relative moves.
- Parameters:
max_velocity – Maximum velocity in degrees/second (max 10).
- set_acceleration(acceleration: float) None
Set the maximum acceleration for moves.
This setting will be applied for subsequent absolute and relative moves.
- Parameters:
acceleration – Maximum acceleration in degrees/second (max 10).
- get_backlash_distance() float
Get the backlash distance.
- Returns:
The backlash distance in millimeters.
- Return type:
backlash_dist
- set_backlash_distance(backlash: float) None
Set the backlash distance.
The backlash distance is used when the stage moves in reverse direction. While moving in reverse direction, the stage moves past its target position by the backlash distance, then moves back to the target in forward direction.
- Parameters:
backlash – Backlash distance in millimeters, or 0 to disable.
- get_home_params() HomeParams
Return the homing parameters.
- set_home_params(home_velocity: float, offset_distance: float) None
Set the homing parameters.
- Parameters:
home_velocity – Homing velocity in mm/second or degrees/second.
offset_distance – Distance of home position from home limit switch (in mm).
- move_stop(immediate_stop: bool = False) None
Stop any ongoing move operation.
This function returns immediately while the stage may still be moving. Use
wait_move_complete()to wait until the stage has stopped.- Parameters:
immediate_stop – True to stop abruptly, False to perform a profiled stop.
- move_home() None
Start a homing move.
This function returns immediately while homing is still in progress. Use
wait_move_complete()to wait until the move is finished.
- move_relative(distance: float) None
Start a relative move.
This function returns immediately while homing is still in progress. Use
wait_move_complete()to wait until the move is finished.- Parameters:
distance – Relative move distance in millimeters.
- move_absolute(position: float) None
Start a move to an absolute position.
This function returns immediately while homing is still in progress. Use
wait_move_complete()to wait until the move is finished.After power-up, the absolute position of the stage will be unknown until the stage is homed. If the stage has not yet been homed, the position parameter of this function will be interpreted relative to the position at power-up.
- Parameters:
position – Absolute target position in millimeters.
- 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.
- 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_name() str
Return the name of this object.
- Returns:
name attribute.
- get_signals() list[SignalDescription]
Return a list of signals that can be published by this object.
- Returns:
List consisting of qmi_signals attributes.
- 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.
- release_rpc_object() None
Give a warning if the instrument is removed while still open.
- 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.
- wait_move_complete(timeout: float) None
Wait until the motor has stopped moving.
If the motor is not currently moving, this function returns immediately. Otherwise, this function wait (blocks) until the motor has stopped moving or until the specified timeout expires.
- Parameters:
timeout – Maximum time to wait in seconds.
- Raises:
QMI_TimeoutException – If the motor is still moving when the timeout expires.