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Undulators

BLISS has a motor controller exporting axes from ESRF insertion devices.

  • ds_name has to be the fully qualified name of the corresponding Tango server.

For each axis, the corresponding Tango attribute names for position, velocity and acceleration have to be specified.

Note

ESRF_Undulator controller is a NoSettingsAxis, i.e. the parameters like velocity or acceleration are not configured in Beacon but read from Tango DS.

YAML configuration file example

- controller:
  class: ESRF_Undulator
  ds_name: //acs.esrf.fr:10000/id/master/id66
  axes:
      -
        name: u35a
        undulator_prefix: U35a_GAP
        steps_per_unit: 1
        tolerance: 0.1
        sign: 1
        low_limit: 0.01
        high_limit: 500
      -
        name: u42c
        undulator_prefix: U42C_GAP
        steps_per_unit: 1
        tolerance: 0.1
        low_limit: 0.01
        high_limit: 500

information

wid() command gives info about all undulators configured in a session:

DEMO [1]: wid()

    ---------------------------------------
    ID Device Server //acs.esrf.fr:10000/id/master/id42
            Power: 0.000 /  10.0  KW
    Power density: 0.000 / 300.0  KW/mr2

    u42b - GAP:200.000 - ENABLED
    u42c - GAP:199.999 - ENABLED
    u32a - GAP:199.999 - ENABLED

Inline info provides detailed information about undulator axis: 

u42b
AXIS:
     name (R): u42b
     unit (R): None
     offset (R): 0.00000
     backlash (R): 0.00000
     sign (R): 1
     steps_per_unit (R): 1.00
     tolerance (R) (to check pos. before a move): 0.1
     limits (RW):    Low: 0.01000 High: 500.00000
                     (config Low: 0.01000 High: 500.00000)
     dial (RW): 200.00213
     position (RW): 200.00213
     state (R): READY (Axis is READY)
     acceleration: None
     velocity: None
UNDU DEVICE SERVER: //acs.esrf.fr:10000/id/master/id42
     status = All undulator axis are ready to move
     state = ON
     Power = 0.239 (max: 3)
     PowerDensity = 6.2  (max: 30)
TANGO DEVICE SERVER VALUES:
     U42B_GAP_Position = 16.009625 mm
     U42B_GAP_Velocity = 5.0 mm/s
     U42B_GAP_FirstVelocity = 0.166 mm/s
     U42B_GAP_Acceleration = 0.166 mm/s/s
ENCODER:
     None