pv-mappings.org

PV Mappings for Austin Robot PV

Dashboard (25idAustin:dashboard)

• PUT PV is the name of the PV appended to the prefix (e.g. 25idAustin:dashboard:play).
• PUT cmd is the command that is sent over the wire to the robot (i.e. dashboard command).
• GET PV is the corresponding PV for retrieving the value the value.
• Scan cmd is the command that is sent over the wire periodically (e.g. 0.5 sec) to check for new values.

  ✓	T	PUT PV	PUT cmd	GET PV	Scan cmd	dtype
  ✓		:play	play			bool
  ✓		:stop	stop			bool
  ✓		:pause	pause			bool
  ✓		:quit	quit			bool
  ✓		:shutdown	shutdown			bool
  ✓		:release_brake	brake release			bool
  ✓		:close_safety_popup	close safety popup			bool
  ✓		:operational_mode	set operational mode <value>	:operational_mode_rbv	get operational mode	enum (manual/automatic)
  ✓		:power	power on / power off	:power_rbv	[check robot mode?]	bool
  ✓		:unlock_protective_stop	unlock protective stop			bool
  ✓		:restart_safety	restart safety			bool
  ✓		:installation	load installation <value>			str
  ✓		:program	load <value>	:program_rbv	get loaded program	str
  ✓				:program_state	programState	enum
  ✓				:robot_mode	robotmode	enum
  ✓				:safety_status*	safetystatus	enum
  ✓				:program_saved	isProgramSaved	bool
  ✓				:program_running	running	bool
  ✓				:remote_control	is in remote control	bool
  ✓				:software_version	PolyscopeVersion	str
  ✓	T			:serial_number	get serial number	str
  ✓	T			:model_number	get robot model	str

  • This :safety_status PV should use the SafetyStatus enum, but some of the strings are longer than the 26 character limit, and so this will need to be factored.

Commands we skipped

• close popup
• popup
• addToLog
• safetymode
• clear operational mode
• generate flight report
• generate support file
• version (unrecognized)

Status (25idAustin)

Joint and position PV are set to mimic the EPICS motor records. Currently the following features are supported:

• Setting the position directly (.VAL)
• Readback value (.RBV)
• Jog forward and backward (.TWV, .TWF, .TWR)
• Jog velocity and acceleration (.JVEL, .JAR)
• Moving status, and done moving (.MOVN, .DMOV)

PV Suffix	Has .RBV field?	Read-only	Putter	Dtype	Desc
:i	.RBV		Y	float	Position of the first joint
:j	.RBV		Y	float	Position of the second joint
:k	.RBV		Y	float	Position of the third joint
:l	.RBV		Y	float	Position of the fourth joint
:m	.RBV		Y	float	Position of the fifth joint
:n	.RBV		Y	float	Position of the sixth joint
:x	.RBV		Y	float	Cartesion position x
:y	.RBV		Y	float	Cartesion position y
:z	.RBV		Y	float	Cartesion position z
:rx	.RBV		Y	float	Rotation around the x axis
:ry	.RBV		Y	float	Rotation around the y axis
:rz	.RBV		Y	float	Rotation around the z axis
:busy		Y		bool	Whether the run lock is acquired
:acceleration				float	Acceleration setting for robot movements
:velocity				float	Velocity setting for robot movements

[0/1] Tasks/Questions

• [ ] Should we assume the driver will handle threads
• [ ] Sort out the busy signal

Gripper (25idAustin:gripper)

PV Suffix	dtype	Read-only	Putter	Scan	Desc
.ACT	bool		Y		Request to activate the gripper
.ACR	enum	Y		Y	Whether the gripper is activate
.CLS	float	Y		Y	Calibrated “closed” position
.OPN	float	Y		Y	Calibrated “open” position
.CAL	bool		Y		Calibrate the robot’s open/closed range
.RBV	float	Y		Y	Current gripper position readback value
.VAL	float		Y		Desired position set point
.VEL	float				How fast the gripper should move
.FRC	float				How much force the gripper may apply

Questions

1. Can we caput the calibrated open/close gripper positions?
2. Are scanned parameters correct?
3. How does “calibrate” relate to the calibrated positions?
4. Do we need a global lock for comms via urx?

Actions

Each action represents a python function.

The IOC get PVs for the typed arguments to the function, plus PVs to run the function (:Process), report busy status (:Status), and return a value (:Retval).

Pick (25idAustin:pick)

async def pick(i: float, j:float, k: float, l: float, m: float, n: float) -> int

25idAustin:pick:i 25idAustin:pick:j … 25idAustin:pick:n 25idAustin:pick:Process 25idAustin:pick:RetVal 25idAustin:pick:Status

Place (25idAustin:place)

async def place(i: float, j:float, k: float, l: float, m: float, n: float) -> int

Home (25idAustin:home)

async def home(i: float, j:float, k: float, l: float, m: float, n: float) -> int

Samples

Each sample position has a PV group (record). This pv group executes pick and place to and from the given sample position.

For example, for 25idcAustin:sample0

PV Suffix	dtype	Read-only	Putter	Scan	Desc
:present	bool	Y		Y	Whether the sensor detects a sample stage is present
:load	bool		Y		Direct the robot to load this sample to the stage
:x	float	Y			Translation coordinate of the sample pick position
:y	float	Y			Translation coordinate of the sample pick position
:z	float	Y			Translation coordinate of the sample pick position
:rx	float	Y			Rotation coordinate of the sample pick position
:ry	float	Y			Rotation coordinate of the sample pick position
:rz	float	Y			Rotation coordinate of the sample pick position

There are also several overall sample PVs. For example, relative to for 25idcAustin

PV Suffix	dtype	Read-only	Putter	Scan	Desc
:current_sample	str				Sample number for the currently loaded sample, or “None”
:unload_current_sample	bool		Y		Return the current sample to its board position
:current_sample_reset	bool		Y		Reset the current_sample PV to it’s default value (“None”)
:home	bool		Y		Instruct the robot to return to the first waypoint position
:cal_stage	bool		Y		Instruct the robot to calibrate the stage position