Author: Palaha, A.S.
Paper Title Page
TUPV040 A Python Package For Generating Motor Homing Routines 497
  • A.S. Palaha, T.M. Cobb, G. Knap
    DLS, Oxfordshire, United Kingdom
  Diamond Light Source uses hundreds of Delta Tau Turbo PMAC2 based motion controllers that control motors with precision and repeatability. Homing is critical to these requirements; it safely moves axes to a well-known position using a high-precision device for detection, leaving the overall system in a well-known state and ready for use. A python package called ’pmacmotorhome’ has been developed to generate homing routines for multiple motors across multiple motion controllers, allowing the user to write a script that is terse for standard/typical routines but allows for customisation and flexibility where required. The project uses jinja templates as ‘snippets’ to generate the homing routine code written in Delta Tau PLC notation. The snippets can be re-ordered and grouped together, supporting the design of homing routines for multi-axis systems with mechanical limitations that require an orchestrated approach to safely home the axes. The python script using the package is kept terse using a context manager and can group axes together to the same homing group easily.  
poster icon Poster TUPV040 [1.256 MB]  
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About • Received ※ 14 October 2021       Revised ※ 21 October 2021       Accepted ※ 20 November 2021       Issue date ※ 15 December 2021
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