Source code for schunk

# Copyright (c) 2014 Matthias Geier
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"""Schunk Motion Protocol for Python 3.

Documentation:
  http://schunk.rtfd.org/

Code:
  http://github.com/spatialaudio/schunk/

Schunk Motion Protocol manual:
  http://www.schunk.com/schunk_files/attachments/MotionControl_en_2010-03.pdf

Example
-------

::

    import schunk
    import serial

    mod = schunk.Module(schunk.RS232Connection(
        0x0B, serial.Serial, port=0, baudrate=9600, timeout=1))

    mod.move_pos(42)

"""

__version__ = "0.1.3"

import struct
import contextlib
import functools


[docs]class Module: """A Schunk module. For further documentation see the __init__() docstring (which is also used in the Sphinx documentation (http://schunk.rtfd.org/). """ def __init__(self, connection): """Create an object for controlling a Schunk module. Parameters ---------- connection Something that has an ``open()`` method which returns a coroutine. This coroutine must accept a bytes object and send it to a Schunk module, read the response (taking D-Len into account) and yield the response (and further messages) as a bytes object. :class:`RS232Connection` happens to do exactly that. """ self._connection = connection self._config = _Config(self)
[docs] def reference(self): """2.1.1 CMD REFERENCE (0x92). A reference movement is completed. """ self._send(0x92, expected=b'OK')
[docs] def move_pos(self, position, velocity=None, acceleration=None, current=None, jerk=None): """2.1.3 MOVE POS (0xB0). Parameters ---------- position : float Absolute position. velocity, acceleration, current, jerk : float, optional If one of them is not specified, all following arguments must not be specified either. Returns ------- float Estimated time to reach `position`. If the time cannot be estimated, 0.0 is returned. See Also -------- move_pos_blocking, move_pos_rel set_target_vel, set_target_acc, set_target_cur, set_target_jerk """ return self._move_pos_helper(0xB0, position, velocity, acceleration, current, jerk)
[docs] def move_pos_blocking(self, position, velocity=None, acceleration=None, current=None, jerk=None): """Move to position and wait until position is reached. .. note:: *Impulse messages* must be activated for this to work, see :meth:`toggle_impulse_message` and :attr:`communication_mode`. This applies to all ``*_blocking()`` methods. Returns ------- float The final position. See Also -------- move_pos """ return self._move_pos_helper(0xB0, position, velocity, acceleration, current, jerk, blocking=True)
[docs] def move_pos_rel(self, position, velocity=None, acceleration=None, current=None, jerk=None): """2.1.4 MOVE POS REL (0xB8). Parameters ---------- position : float Relative position. velocity, acceleration, current, jerk : float, optional If one of them is not specified, the following must not be specified either. Returns ------- float Estimated time to reach `position`. If the time cannot be estimated, 0.0 is returned. See Also -------- move_pos_rel_blocking, move_pos set_target_vel, set_target_acc, set_target_cur, set_target_jerk """ return self._move_pos_helper(0xB8, position, velocity, acceleration, current, jerk)
[docs] def move_pos_rel_blocking(self, position, velocity=None, acceleration=None, current=None, jerk=None): """Move to relative position and wait until position is reached. Returns ------- float The actual relative motion. See Also -------- move_pos_rel """ return self._move_pos_helper(0xB8, position, velocity, acceleration, current, jerk, blocking=True)
[docs] def move_pos_time(self, position, velocity=None, acceleration=None, current=None, time=None): """2.1.5 MOVE POS TIME (0xB1). See Also -------- move_pos_time_blocking, move_pos, set_target_time """ return self._move_pos_helper(0xB1, position, velocity, acceleration, current, time)
[docs] def move_pos_time_blocking(self, position, velocity=None, acceleration=None, current=None, time=None): """Move to position and wait until position is reached. Returns ------- float The final position. See Also -------- move_pos_time """ return self._move_pos_helper(0xB1, position, velocity, acceleration, current, time, blocking=True)
[docs] def move_pos_time_rel(self, position, velocity=None, acceleration=None, current=None, time=None): """2.1.6 MOVE POS TIME REL (0xB9). See Also -------- move_pos_time_rel_blocking, move_pos_rel, set_target_time """ return self._move_pos_helper(0xB9, position, velocity, acceleration, current, time)
[docs] def move_pos_time_rel_blocking(self, position, velocity=None, acceleration=None, current=None, time=None): """Move to position and wait until position is reached. Returns ------- float The actual relative motion. See Also -------- move_pos_time_rel """ return self._move_pos_helper(0xB9, position, velocity, acceleration, current, time, blocking=True)
[docs] def set_target_vel(self, velocity): """2.1.14 SET TARGET VEL (0xA0). Initially, the target velocity is set to 10% of the maximum. """ self._send(0xA0, struct.pack('<f', velocity), b'OK')
[docs] def set_target_acc(self, acceleration): """2.1.15 SET TARGET ACC (0xA1). Initially, the target acceleration is set to 10% of the maximum. """ self._send(0xA1, struct.pack('<f', acceleration), b'OK')
[docs] def set_target_jerk(self, jerk): """2.1.16 SET TARGET JERK (0xA2). Initially, the target jerk is set to 50% of the maximum. """ self._send(0xA2, struct.pack('<f', jerk), b'OK')
[docs] def set_target_cur(self, current): """2.1.17 SET TARGET CUR (0xA3). Initially, the target current is set to the nominal current. """ self._send(0xA3, struct.pack('<f', current), b'OK')
[docs] def set_target_time(self, time): """2.1.18 SET TARGET TIME (0xA4).""" self._send(0xA4, struct.pack('<f', time), b'OK')
[docs] def stop(self): """2.1.19 CMD STOP (0x91).""" self._send(0x91, expected=b'OK') # Not implemented (see warnings in Schunk manual): # 2.1.20 CMD EMERGENCY STOP (0x90)
[docs] def toggle_impulse_message(self): """2.2.6 CMD TOGGLE IMPULSE MESSAGE (0xE7). .. note:: *Impulse messages* must be switched on for ``*_blocking()``, e.g. :meth:`move_pos_blocking`. Returns ------- bool ``True`` if impulse messages were switched on, ``False`` if they were switched off. """ response = self._send(0xE7) if response == b'ON': return True elif response == b'OFF': return False else: raise SchunkError("Unexpected response: {}".format(response))
@property
[docs] def config(self): """2.3.1 SET CONFIG (0x81) / 2.3.2 GET CONFIG (0x80). The `config` object has several attributes which can be queried and changed. Except where otherwise noted, the new settings are immediately stored in the EEPROM but are only applied after the module has been restarted. Some options are read-only, some can only be set as "Profi" user. See :meth:`change_user`. Attributes ---------- module_type : bytes firmware_version : int protocol_version : int hardware_version : int firmware_date : bytes eeprom : bytes All configuration data is read/written in one process. Depending on the type of user certain data might not be written. After successful writing of the data, the module is rebooted. .. note:: This command should not be used with one's own applications, as the structure of the data to be received/sent is not known. module_id : int (1..255) group_id : int (1..255) rs232_baudrate : int (1200, 2400, 4800, 9600, 19200, 38400) can_baudrate : int (50, 100, 125, 250, 500, 800, 1000) communication_mode : int See :const:`communication_modes`. unit_system : int See :const:`unit_systems`. soft_high : float The transferred value is not written to the EEPROM. The settings are applied immediately. soft_low : float The transferred value is not written to the EEPROM. The settings are applied immediately. gear_ratio : float The Gear Ratio 1 is changed (the command has no use with an integer unit system). The transferred value is written to the EEPROM and applied immediately. max_velocity : float max_acceleration : float max_current : float nom_current : float max_jerk : float offset_phase_a : int offset_phase_b : int data_crc : int A CRC16 over all variable and not module specified paramenters (like serial number, current offset). reference_offset : float serial_number : int order_number : int """ return self._config
[docs] def get_state(self): """2.5.1 GET STATE (0x95). Return the module status and other information. The time parameter (to get state repeatedly) is disabled (because impulse messages are not supported). The mode parameter is always set to request everything (position, velocity and current). Returns ------- position, velocity, current : float Dito. status : dict See :func:`decode_status`. error_code : int See :const:`error_codes` for a mapping to strings. """ data = struct.pack('<fB', 0.0, 0x01 | 0x02 | 0x04) pos, vel, cur, status, error = self._send(0x95, data, '<3fBB') return pos, vel, cur, decode_status(status), error
[docs] def reboot(self): """2.5.2 CMD REBOOT (0xE0).""" self._send(0xE0, expected=b'OK')
[docs] def change_user(self, password=None): """2.5.6 CHANGE USER (0xE3). If no password is specified - or if the password is wrong - the user is changed to "User". The default password for "Profi" is "Schunk", but don't tell anyone! After a reboot, the default user is "User". """ if password is None: data = b'' elif isinstance(password, str): data = password.encode() else: data = password ok, user = self._send(0xE3, data, '2sB') if ok != b'OK': raise SchunkError("Error changing user") return {0x00: "User", 0x01: "Diag", 0x02: "Profi", 0x03: "Advanced"}[user]
[docs] def check_mc_pc_communication(self): """2.5.7 CHECK MC PC COMMUNICATION (0xE4). Returns ------- bool ``True`` on success. """ response = self._send(0xE4, expected=_test_format_string) if response != _test_values: raise SchunkError("Wrong response: {}".format(response)) return True
[docs] def check_pc_mc_communication(self): """2.5.8 CHECK PC MC COMMUNICATION (0xE5). Returns ------- bool ``True`` on success. """ data = struct.pack(_test_format_string, *_test_values) self._send(0xE5, data, b'OK\x00') return True
[docs] def ack(self): """2.8.1.4 CMD ACK (0x8B). Acknowledgement of a pending error message. """ self._send(0x8B, expected=b'OK')
[docs] def get_detailed_error_info(self): """2.8.1.5 GET DETAILED ERROR INFO (0x96). Returns ------- command : {"ERROR", "WARNING", "INFO"} error_code : int See :const:`error_codes` for a mapping to strings. data : float The value can be interpreted by the Schunk Service. Raises ------ SchunkError If no error is active, or no detailed information is available, the command is raising an exception saying: ``INFO FAILED (0x05)``. """ command, error_code, data = self._send(0x96, expected='<BBf') command = {0x88: "ERROR", 0x89: "WARNING", 0x8A: "INFO"}[command] return command, error_code, data
def _send(self, command, data=b'', expected=None): """Send message, receive response. If the expected number of bytes doesn't match, an error is raised. If expected is a string, it is used as format strings to decode the received bytes. If expected is a bytes object, it is compared to the received data. If they are equal, the function returns, if not, an error is raised. """ with contextlib.closing(self._gen_send(command, data)) as gen: return _check_response(next(gen), command, expected) def _gen_send(self, command, data=b''): """Send data and return a generator.""" data = struct.pack('B', command) + data # prepend command code data = struct.pack('B', len(data)) + data # prepend dlen with contextlib.closing(self._connection.open()) as gen: yield gen.send(data) yield from gen def _move_pos_helper(self, command, *args, blocking=False): """Move to the given position. If blocking=False, the movement is started and the estimated time is immediately returned. If the time cannot be estimated, 0.0 is returned. If blocking=True, the final position (or the actual relative movement) is returned when the movement is finished. Use command=0xB0 for absolute and command=0xB8 for relative positions. For the "time" variants, use command=0xB1 and command=0xB9, respectively. Trailing None arguments are removed, None arguments between other arguments are not allowed. At least one argument (position) has to be specified. """ n = len(args) while n > 1 and args[n - 1] is None: n -= 1 data = struct.pack('<{}f'.format(n), *args[:n]) with contextlib.closing(self._gen_send(command, data)) as gen: response = _check_response(next(gen), command) if response == b'OK': est_time = 0.0 elif len(response) == 4: est_time, = struct.unpack('<f', response) else: raise SchunkError("Unexpected reponse: {}".format(response)) if not blocking: return est_time else: # 2.2.3 CMD POS REACHED (0x94) position, = _check_response(next(gen), 0x94, '<f') return position
def _check_response(response, command, expected=None): """Check if the response has the correct format.""" if len(response) < 2: raise SchunkError("Not enough data in response") dlen, cmd_code = response[:2] if dlen != len(response) - 1: raise SchunkError("D-Len mismatch in response") if dlen == 2: error = response[2] error_prefix = { 0x88: "CMD ERROR: ", 0x89: "CMD WARNING: ", 0x8A: "CMD INFO: ", command: "", }.get(cmd_code, "Command code 0x{:02X}: ".format(cmd_code)) error_string = "{} (0x{:02X})".format( error_codes.get(error, "UNKNOWN"), error) raise SchunkError(error_prefix + error_string) if cmd_code != command: raise SchunkError( "Unexpected command code in response: {}".format(hex(cmd_code))) response = response[2:] # remove D-Len and command code if isinstance(expected, bytes): if response == expected: return else: err = "Unexpected response: {} instead of {}" raise SchunkError(err.format(response, expected)) format_string = None if isinstance(expected, str): format_string = expected expected = struct.calcsize(format_string) if expected is not None: if len(response) != expected: err = "Unexpected payload size in reponse: {} instead of {}" raise SchunkError(err.format(len(response), expected)) if format_string is not None: response = struct.unpack(format_string, response) return response
[docs]class SchunkError(Exception): """This exception is raised on all kinds of errors.""" pass
class _Config: """Helper class for the Module.config property.""" _params = { 'module_id': (b'\x01', 'B'), 'group_id': (b'\x02', 'B'), 'rs232_baudrate': (b'\x03', 'H'), 'can_baudrate': (b'\x04', 'H'), 'communication_mode': (b'\x05', 'B'), 'unit_system': (b'\x06', 'B'), 'soft_high': (b'\x07', 'f'), 'soft_low': (b'\x08', 'f'), 'max_velocity': (b'\x09', 'f'), 'max_acceleration': (b'\x0A', 'f'), 'max_current': (b'\x0B', 'f'), 'nom_current': (b'\x0C', 'f'), 'max_jerk': (b'\x0D', 'f'), 'offset_phase_a': (b'\x0E', 'H'), 'offset_phase_b': (b'\x0F', 'H'), 'data_crc': (b'\x13', 'H'), 'reference_offset': (b'\x14', 'f'), 'serial_number': (b'\x15', 'I'), 'order_number': (b'\x16', 'I'), 'gear_ratio': (b'\x18', 'f'), 'eeprom': (b'\xFE', None), 'module_type': (None, '8s4x2x2x2x26x'), # 'order_number' is already available 'firmware_version': (None, '8x4xH2x2x26x'), 'protocol_version': (None, '8x4x2xH2x26x'), 'hardware_version': (None, '8x4x2x2xH26x'), # Note: the Schunk manual states that the date string has 21 bytes, # the PR-70 modules returns 5 more bytes, however: 'firmware_date': (None, '8x4x2x2x2x26s'), } def __init__(self, module): # Avoid __setattr__: vars(self)['_module'] = module def _getAttributeNames(self): """Return all possible attributes. This is useful for auto-completion (e.g. IPython). """ return self._params def __getattr__(self, name): """2.3.2 GET CONFIG (0x80).""" try: cmd_byte, format_string = self._params[name] except KeyError: raise AttributeError("Invalid parameter: {}".format(name)) if cmd_byte is None: result, = self._module._send(0x80, expected=format_string) firstbyte = None elif format_string is None: result = self._module._send(0x80, cmd_byte) firstbyte = result[0:1] result = result[1:] else: firstbyte, result = self._module._send(0x80, cmd_byte, '<s' + format_string) if firstbyte != cmd_byte: raise SchunkError("Unexpected subcommand: {}".format(firstbyte)) return result def __setattr__(self, name, value): """2.3.1 SET CONFIG (0x81).""" try: cmd_byte, format_string = self._params[name] except KeyError: raise AttributeError("Invalid parameter: {}".format(name)) if cmd_byte is None: raise AttributeError("{} is read-only".format(name)) if format_string is not None: value = struct.pack('<' + format_string, value) result, = self._module._send(0x81, cmd_byte + value, '3s') if result != b'OK' + cmd_byte: raise SchunkError("Error setting {}".format(name))
[docs]def coroutine(func): """Decorator for generator functions that calls next() initially.""" @functools.wraps(func) def start(*args, **kwargs): gen = func(*args, **kwargs) next(gen) return gen return start
[docs]class RS232Connection: """A serial connection using RS232. For further documentation see the __init__() docstring. """ def __init__(self, id, serialmanager, *args, **kwargs): """Prepare a serial connection using the RS232 protocol. This can be used to initialize a :class:`Module`. The connection is opened with :meth:`open`. Parameters ---------- id : int Module ID of the Schunk device. serialmanager A callable (to be called with ``*args`` and ``**kwargs``) that must return a context manager which in turn must have ``read()`` and ``write()`` methods (and it should close the connection automatically in the end). This is typically ``serial.Serial`` from PySerial_, but anything with a similar API can be used. .. _PySerial: http://pyserial.sf.net/ .. note:: there should be a timeout, otherwise you may have to wait forever for the functions to return if there is an error. On the other hand, receiving multiple responses only works if there is no timeout in between. Multiple responses are needed for the blocking movement commands, e.g. :meth:`Module.move_pos_blocking`. *args, **kwargs All further arguments are forwarded to `serialmanager`. See Also -------- Module Examples -------- Using PySerial_: >>> import serial >>> conn = RS232Connection(0x0B, serial.Serial, port=0, ... baudrate=9600, timeout=1) """ self._id = id self._serialmanager = serialmanager self._serial_args = args self._serial_kwargs = kwargs @coroutine
[docs] def open(self): """Open an RS232 connection. A coroutine (a.k.a. generator object) is returned which can be used to send and receive one or more data frames. Calling ``.send(data)`` on this coroutine creates an RS232 frame around `data`, sends it to the module and waits for a response. `data` must have at least two bytes, D-Len and command code. The (optional) rest are parameters. 2 Group/ID bytes are added in the beginning and 2 CRC bytes in the end. The first byte is always 0x05 (= message from master to module), the second byte holds the module ID. When receiving a response, the 2 CRC bytes are checked (and removed), as well as the 2 Group/ID bytes. The connection is kept open and the coroutine can be invoked repeatedly to receive further data frames. Use ``.send(None)`` or the built-in ``next()`` function to receive a data frame without sending anything. When the desired number of frames has been received, the connection has to be closed with the generator's ``close()`` method. Yields ------ bytes Response data received from the module, including D-Len and command code. If the first RS232 byte indicates an error (0x03), the response is returned normally and the error has to be handled in the calling function. Error responses always have a D-Len of 2, i.e. they have 3 bytes: D-Len, command code and error code. See Also -------- crc16 """ response = None with self._serialmanager(*self._serial_args, **self._serial_kwargs) as serial: while True: next_msg = yield response if next_msg is not None: next_msg = struct.pack('BB', 0x05, self._id) + next_msg next_msg += crc16(next_msg) if serial.write(next_msg) != len(next_msg): raise SchunkRS232Error("Error sending data") header = serial.read(3) if len(header) < 3: raise SchunkRS232Error("Error reading response") msg_type, module_id, dlen = header if module_id != self._id: raise SchunkRS232Error("Module ID mismatch") elif msg_type not in (0x03, 0x07): raise SchunkRS232Error( "Unexpected message type in response: " "0x{:02X}".format(msg_type)) crclen = 2 the_rest = serial.read(dlen + crclen) if len(the_rest) < dlen + crclen: raise SchunkRS232Error("Not enough data in response") crc = the_rest[-crclen:] the_rest = the_rest[:-crclen] if crc != crc16(header + the_rest): raise SchunkRS232Error("CRC error in response") if msg_type == 0x03 and dlen != 2: # This should never happen, but who knows ... raise SchunkRS232Error( "Message type 0x03, D-Len {}, data: {}".format( dlen, the_rest)) # Note: error checking (if dlen == 2) is not done here response = struct.pack('B', dlen) + the_rest
[docs]class SchunkRS232Error(SchunkError): """Exception class for errors related to RS232 connections. It is derived from :exc:`SchunkError`, so it is normally sufficient to check only for this:: try: ... # Something that may throw SchunkError or SchunkRS232Error ... except SchunkError as e: # Do something with e ... """ pass
[docs]def decode_status(status): """This is internally used in :meth:`Module.get_state`. >>> status = decode_status(0x03) >>> from pprint import pprint >>> pprint(status) # to get pretty dict display {'brake': False, 'error': False, 'move_end': False, 'moving': True, 'position_reached': False, 'program_mode': False, 'referenced': True, 'warning': False} """ statuses = ('referenced', 'moving', 'program_mode', 'warning', 'error', 'brake', 'move_end', 'position_reached') return {name: bool(status & 2 ** bit) for bit, name in enumerate(statuses)}
[docs]def crc16_increment(crc, data): """Incrementally calculate CRC16. Implementation according to Schunk Motion Protocol documentation. Parameters ---------- crc : int Previous CRC16 (2 bytes) data : int Data to append (1 byte) Returns ------- int New CRC16 (again 2 bytes) after appending `data`. See Also -------- crc16 """ # Note: if data is in 0..255, data & 0x00FF doesn't do anything. # But this is how it's done in the Schunk manual: return ((crc & 0xFF00) >> 8) ^ _crc16_tbl[(crc & 0x00FF) ^ (data & 0x00FF)]
[docs]def crc16(data): """Calculate CRC16 for a sequence of bytes. Parameters ---------- data : iterable of integers (0..255) or bytes A sequece of bytes. Returns ------- bytes CRC16 of `data` (2 bytes, little endian, a.k.a. '<H'). See Also -------- crc16_increment """ crc = 0x0 for b in data: crc = crc16_increment(crc, b) return struct.pack('<H', crc) # Table copied from the Schunk manual:
_crc16_tbl = [ 0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241, 0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440, 0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40, 0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841, 0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40, 0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41, 0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641, 0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040, 0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240, 0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441, 0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41, 0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840, 0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41, 0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40, 0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640, 0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041, 0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240, 0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441, 0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41, 0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840, 0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41, 0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40, 0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640, 0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041, 0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241, 0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440, 0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40, 0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841, 0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40, 0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41, 0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641, 0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040] communication_modes = { 0x00: 'AUTO', 0x01: 'RS232', 0x02: 'CAN', 0x03: 'Profibus DPV0', 0x04: 'RS232 Silent', } """Available communication modes. See :attr:`Module.config`. """ unit_systems = { 0x00: '[mm]', 0x01: '[m]', 0x02: '[Inch]', 0x03: '[rad]', 0x04: '[Degree]', 0x05: '[Intern]', 0x06: '[µm] Integer', 0x07: '[µDegree] Integer', 0x08: '[µInch] Integer', 0x09: '[Milli - degree] Integer', } """Available unit systems. See :attr:`Module.config`. .. note:: This Python module doesn't support integer unit systems. """ error_codes = { 0x00: "NO ERROR", # not in Schunk manual; added for convenience 0x01: "INFO BOOT", 0x02: "INFO NO FREE SPACE", 0x03: "INFO NO RIGHTS", 0x04: "INFO UNKNOWN COMMAND", 0x05: "INFO FAILED", 0x06: "NOT REFERENCED", 0x07: "INFO SEARCH SINE VECTOR", 0x08: "INFO NO ERROR", 0x09: "INFO COMMUNICATION ERROR", 0x10: "INFO TIMEOUT", 0x16: "INFO WRONG BAUDRATE", 0x19: "INFO CHECKSUM", 0x1D: "INFO MESSAGE LENGTH", 0x1E: "INFO WRONG PARAMETER", 0x1F: "INFO PROGRAM END", 0x40: "INFO TRIGGER", 0x41: "INFO READY", 0x42: "INFO GUI CONNECTED", 0x43: "INFO GUI DISCONNECTED", 0x44: "INFO PROGRAM CHANGED", 0xC8: "ERROR WRONG RAMP TYPE", 0xD2: "ERROR CONFIG MEMORY", 0xD3: "ERROR PROGRAM MEMORY", 0xD4: "ERROR INVALID PHRASE", 0xD5: "ERROR SOFT LOW", 0xD6: "ERROR SOFT HIGH", 0xD7: "ERROR PRESSURE", 0xD8: "ERROR SERVICE", 0xD9: "ERROR EMERGENCY STOP", 0xDA: "ERROR TOW", 0xE4: "ERROR TOO FAST", 0xEC: "ERROR MATH", 0xDB: "ERROR VPC3", 0xDC: "ERROR FRAGMENTATION", 0xE4: "ERROR COMMUTATION", 0xDE: "ERROR CURRENT", 0xDF: "ERROR I2T", 0xE0: "ERROR INITIALIZE", 0xE1: "ERROR INTERNAL", 0xE2: "ERROR HARD LOW", 0xE3: "ERROR HARD HIGH", 0x70: "ERROR TEMP LOW", 0x71: "ERROR TEMP HIGH", 0x72: "ERROR LOGIC LOW", 0x73: "ERROR LOGIC HIGH", 0x74: "ERROR MOTOR VOLTAGE LOW", 0x75: "ERROR MOTOR VOLTAGE HIGH", 0x76: "ERROR CABLE BREAK", 0x78: "ERROR MOTOR TEMP", } """Error codes. See also :meth:`Module.get_state`. .. note:: Error in Schunk manual: key 0xE4 (= 228) is not unique! """ # The Schunk people chose -1.2345 and 47.11 as test values which is # unfortunate, because they cannot be represented exactly as binary floating # point numbers. _test_values = ( -1.2345000505447388, 47.11000061035156, 287454020, -1122868, 512, -20482) _test_format_string = '<2f2i2h'