Galil Drivers

Classes:

GalilDMC4133Arm(controller)

Module to control probe arm. It is assumed that the chip to be probed has one or more rows with each row having one or more pads. Design of the chip to be probed should resemble the following::.

GalilDMC4133Controller(name, address, **kwargs)

Driver for Galil DMC-4133 Controller

GalilDMC4133Motor(parent, name, **kwargs)

Class to control a single motor (independent of possible other motors)

GalilDMC4133VectorMode(parent, name, **kwargs)

Class to control motors in vector mode

class qcodes.instrument_drivers.Galil.GalilDMC4133Arm(controller: GalilDMC4133Controller)[source]

Bases: object

Module to control probe arm. It is assumed that the chip to be probed has one or more rows with each row having one or more pads. Design of the chip to be probed should resemble the following:

|--------------------------|
|--------------------------|
|--------------------------|
|--------------------------|
|--------------------------|

Needle head for the arm in assumed to have rows of needles which is a divisor of the number of rows in the chip and number of needles in each row of the needle head is a divisor for the number of pads in each row of the chip.

Initializes the arm class

Parameters:

controller – an instance of DMC4133Controller

Attributes:

Methods:

set_arm_kinematics([speed, acceleration, ...])

sets the arm kinematics values for speed, acceleration and deceleration in micro meters/sec and micro meters/sec^2 respectively

set_pick_up_distance([distance])

sets pick up distance in micrometers for the arm

set_left_bottom_position()

set_left_top_position()

set_right_top_position()

move_motor_a_by(distance)

Moves motor A by distance given in micro meters

move_motor_b_by(distance)

Moves motor B by distance given in micro meters

move_motor_c_by(distance)

Moves motor B by distance given in micro meters

move_towards_left_bottom_position()

move_to_next_row()

move_to_begin_row_pad_from_end_row_last_pad()

move_to_row(num)

move_to_pad(num)

set_motor_a_forward_limit()

set_motor_a_reverse_limit()

set_motor_b_forward_limit()

set_motor_b_reverse_limit()

set_motor_c_forward_limit()

set_motor_c_reverse_limit()

property current_row: int | None
property current_pad: int | None
property left_bottom_position: tuple[int, int, int] | None
property left_top_position: tuple[int, int, int] | None
property right_top_position: tuple[int, int, int] | None
property arm_pick_up_distance: int
property speed: int
property acceleration: int
property deceleration: int
set_arm_kinematics(speed: int = 100, acceleration: int = 2048, deceleration: int = 2048) None[source]

sets the arm kinematics values for speed, acceleration and deceleration in micro meters/sec and micro meters/sec^2 respectively

set_pick_up_distance(distance: float = 3000) None[source]

sets pick up distance in micrometers for the arm

set_left_bottom_position() None[source]
set_left_top_position() None[source]
set_right_top_position() None[source]
move_motor_a_by(distance: float) None[source]

Moves motor A by distance given in micro meters

move_motor_b_by(distance: float) None[source]

Moves motor B by distance given in micro meters

move_motor_c_by(distance: float) None[source]

Moves motor B by distance given in micro meters

move_towards_left_bottom_position() None[source]
move_to_next_row() None[source]
move_to_begin_row_pad_from_end_row_last_pad() None[source]
move_to_row(num: int) None[source]
move_to_pad(num: int) None[source]
set_motor_a_forward_limit() None[source]
set_motor_a_reverse_limit() None[source]
set_motor_b_forward_limit() None[source]
set_motor_b_reverse_limit() None[source]
set_motor_c_forward_limit() None[source]
set_motor_c_reverse_limit() None[source]
class qcodes.instrument_drivers.Galil.GalilDMC4133Controller(name: str, address: str, **kwargs: Unpack[InstrumentBaseKWArgs])[source]

Bases: GalilMotionController

Driver for Galil DMC-4133 Controller

Initializes the DMC4133Controller class

Parameters:
  • name – name for the instance

  • address – address of the controller burned in

  • **kwargs – kwargs are forwarded to base class.

Attributes:

position_format_decimals

sets number of decimals in the format of the position

absolute_position

gets absolute position of the motors from the set origin

wait

controller will wait for the amount of time specified before executing the next command

Methods:

end_program()

ends the program

define_position_as_origin()

defines current motors position as origin

tell_error()

reads error

stop()

stop the motion of all motors

abort()

aborts motion and the program operation

motors_off()

turn all motors off

begin_motors()

begin motion of all motors simultaneously

wait_till_motion_complete()

this method waits for the motion on all motors to complete

position_format_decimals: Parameter = self.add_parameter( "position_format_decimals", get_cmd=None, set_cmd="PF 10.{}", vals=Ints(0, 4), docstring="sets number of decimals in the format of the position", )

sets number of decimals in the format of the position

absolute_position: Parameter = self.add_parameter( "absolute_position", get_cmd=self._get_absolute_position, set_cmd=None, unit="quadrature counts", docstring="gets absolute position of the motors from the set origin", )

gets absolute position of the motors from the set origin

wait: Parameter = self.add_parameter( "wait", get_cmd=None, set_cmd="WT {}", unit="ms", vals=Multiples(min_value=2, max_value=2147483646, divisor=2), docstring="controller will wait for the amount of " "time specified before executing the next " "command", )

controller will wait for the amount of time specified before executing the next command

end_program() None[source]

ends the program

define_position_as_origin() None[source]

defines current motors position as origin

tell_error() str[source]

reads error

stop() None[source]

stop the motion of all motors

abort() None[source]

aborts motion and the program operation

motors_off() None[source]

turn all motors off

begin_motors() None[source]

begin motion of all motors simultaneously

wait_till_motion_complete() None[source]

this method waits for the motion on all motors to complete

parameters: dict[str, ParameterBase] = {}

All the parameters supported by this instrument. Usually populated via add_parameter().

functions: dict[str, Function] = {}

All the functions supported by this instrument. Usually populated via add_function().

submodules: dict[str, InstrumentModule | ChannelTuple] = {}

All the submodules of this instrument such as channel lists or logical groupings of parameters. Usually populated via add_submodule().

instrument_modules: dict[str, InstrumentModule] = {}

All the InstrumentModule of this instrument Usually populated via add_submodule().

log: InstrumentLoggerAdapter = get_instrument_logger(self, __name__)
metadata: dict[str, Any] = {}
class qcodes.instrument_drivers.Galil.GalilDMC4133Motor(parent: GalilDMC4133Controller, name: str, **kwargs: Unpack[InstrumentBaseKWArgs])[source]

Bases: InstrumentChannel

Class to control a single motor (independent of possible other motors)

Initializes individual motor submodules

Parameters:
  • parent – an instance of DMC4133Controller

  • name – name of the motor to be controlled

  • **kwargs – kwargs are forwarded to base class.

Attributes:

relative_position

sets relative position for the motor's move

speed

speed for motor's motion

acceleration

acceleration for motor's motion

deceleration

deceleration for motor's motion

off_when_error_occurs

enables or disables the motor to automatically turn off when error occurs

reverse_sw_limit

can be used to set software reverse limit for the motor.

forward_sw_limit

can be used to set software forward limit for the motor.

Methods:

off()

turns motor off

on_off_status()

tells motor on off status

servo_here()

servo at the motor

begin()

begins motion of the motor (returns immediately)

is_in_motion()

checks if the motor is in motion or not.

wait_till_motor_motion_complete()

wait for motion on the motor to complete

error_magnitude()

gives the magnitude of error, in quadrature counts, for this motor a count is directly proportional to the micro-stepping resolution of the stepper drive.

relative_position: Parameter = self.add_parameter( "relative_position", unit="quadrature counts", get_cmd=f"MG _PR{self._axis}", get_parser=lambda s: int(float(s)), set_cmd=self._set_relative_position, vals=Ints(-2147483648, 2147483647), docstring="sets relative position for the motor's move", )

sets relative position for the motor’s move

speed: Parameter = self.add_parameter( "speed", unit="counts/sec", get_cmd=f"MG _SP{self._axis}", get_parser=lambda s: int(float(s)), set_cmd=self._set_speed, vals=Multiples(min_value=0, max_value=3000000, divisor=2), docstring="speed for motor's motion", )

speed for motor’s motion

acceleration: Parameter = self.add_parameter( "acceleration", unit="counts/sec2", get_cmd=f"MG _AC{self._axis}", get_parser=lambda s: int(float(s)), set_cmd=self._set_acceleration, vals=Multiples(min_value=1024, max_value=1073740800, divisor=1024), docstring="acceleration for motor's motion", )

acceleration for motor’s motion

deceleration: Parameter = self.add_parameter( "deceleration", unit="counts/sec2", get_cmd=f"MG _DC{self._axis}", get_parser=lambda s: int(float(s)), set_cmd=self._set_deceleration, vals=Multiples(min_value=1024, max_value=1073740800, divisor=1024), docstring="deceleration for motor's motion", )

deceleration for motor’s motion

off_when_error_occurs: Parameter = self.add_parameter( "off_when_error_occurs", get_cmd=self._get_off_when_error_occurs, set_cmd=self._set_off_when_error_occurs, val_mapping={ "disable": 0, "enable for position, amp error or abort": 1, "enable for hw limit switch": 2, "enable for all": 3, }, docstring="enables or disables the motor to " "automatically turn off when error occurs", )

enables or disables the motor to automatically turn off when error occurs

reverse_sw_limit: Parameter = self.add_parameter( "reverse_sw_limit", unit="quadrature counts", get_cmd=f"MG _BL{self._axis}", get_parser=lambda s: int(float(s)), set_cmd=self._set_reverse_sw_limit, vals=Ints(-2147483648, 2147483647), docstring="can be used to set software reverse limit for the motor." " motor motion will stop beyond this limit automatically." " default value is -2147483648. this value effectively " "disables the reverse limit.", )

can be used to set software reverse limit for the motor. motor motion will stop beyond this limit automatically. default value is -2147483648. this value effectively disables the reverse limit.

forward_sw_limit: Parameter = self.add_parameter( "forward_sw_limit", unit="quadrature counts", get_cmd=f"MG _FL{self._axis}", get_parser=lambda s: int(float(s)), set_cmd=self._set_forward_sw_limit, vals=Ints(-2147483648, 2147483647), docstring="can be used to set software forward limit for the motor." " motor motion will stop beyond this limit automatically." " default value is 2147483647. this value effectively " "disables the forward limit.", )

can be used to set software forward limit for the motor. motor motion will stop beyond this limit automatically. default value is 2147483647. this value effectively disables the forward limit.

off() None[source]

turns motor off

on_off_status() str[source]

tells motor on off status

servo_here() None[source]

servo at the motor

begin() None[source]

begins motion of the motor (returns immediately)

is_in_motion() int[source]

checks if the motor is in motion or not. return 1, if motor is in motion otherwise 0

wait_till_motor_motion_complete() None[source]

wait for motion on the motor to complete

error_magnitude() float[source]

gives the magnitude of error, in quadrature counts, for this motor a count is directly proportional to the micro-stepping resolution of the stepper drive.

parameters: dict[str, ParameterBase] = {}

All the parameters supported by this instrument. Usually populated via add_parameter().

functions: dict[str, Function] = {}

All the functions supported by this instrument. Usually populated via add_function().

submodules: dict[str, InstrumentModule | ChannelTuple] = {}

All the submodules of this instrument such as channel lists or logical groupings of parameters. Usually populated via add_submodule().

instrument_modules: dict[str, InstrumentModule] = {}

All the InstrumentModule of this instrument Usually populated via add_submodule().

log: InstrumentLoggerAdapter = get_instrument_logger(self, __name__)
metadata: dict[str, Any] = {}
class qcodes.instrument_drivers.Galil.GalilDMC4133VectorMode(parent: GalilDMC4133Controller, name: str, **kwargs: Unpack[InstrumentBaseKWArgs])[source]

Bases: InstrumentChannel

Class to control motors in vector mode

Initializes the vector mode submodule for the controller

Parameters:
  • parent – an instance of DMC4133Controller

  • name – name of the vector mode plane

  • **kwargs – kwargs are forwarded to base class.

Attributes:

coordinate_system

activates coordinate system for the motion.

vector_acceleration

sets and gets the defined vector's acceleration

vector_deceleration

sets and gets the defined vector's deceleration

vector_speed

sets and gets defined vector's speed

Methods:

activate()

activate plane of motion

vector_position(first_coord, second_coord)

sets the final vector position for the motion considering current position as the origin

vector_seq_end()

indicates to the controller that the end of the vector is coming up.

begin_seq()

begins motion of the motor

after_seq_motion()

wait till motion ends

clear_sequence(coord_sys)

clears vectors specified in the given coordinate system

coordinate_system: Parameter = self.add_parameter( "coordinate_system", get_cmd="CA ?", get_parser=self._parse_coordinate_system_active, set_cmd="CA {}", vals=Enum("S", "T"), docstring="activates coordinate system for the motion. Two " " coordinate systems are possible with values " "'S' and 'T'. All vector mode commands will apply to " "the active coordinate system.", )

activates coordinate system for the motion. Two coordinate systems are possible with values ‘S’ and ‘T’. All vector mode commands will apply to the active coordinate system.

vector_acceleration: Parameter = self.add_parameter( "vector_acceleration", get_cmd="VA ?", get_parser=lambda s: int(float(s)), set_cmd="VA {}", vals=Multiples(min_value=1024, max_value=1073740800, divisor=1024), unit="counts/sec2", docstring="sets and gets the defined vector's acceleration", )

sets and gets the defined vector’s acceleration

vector_deceleration: Parameter = self.add_parameter( "vector_deceleration", get_cmd="VD ?", get_parser=lambda s: int(float(s)), set_cmd="VD {}", vals=Multiples(min_value=1024, max_value=1073740800, divisor=1024), unit="counts/sec2", docstring="sets and gets the defined vector's deceleration", )

sets and gets the defined vector’s deceleration

vector_speed: Parameter = self.add_parameter( "vector_speed", get_cmd="VS ?", get_parser=lambda s: int(float(s)), set_cmd="VS {}", vals=Multiples(min_value=2, max_value=15000000, divisor=2), unit="counts/sec", docstring="sets and gets defined vector's speed", )

sets and gets defined vector’s speed

activate() None[source]

activate plane of motion

vector_position(first_coord: int, second_coord: int) None[source]

sets the final vector position for the motion considering current position as the origin

vector_seq_end() None[source]

indicates to the controller that the end of the vector is coming up. is required to exit the vector mode gracefully

begin_seq() None[source]

begins motion of the motor

after_seq_motion() None[source]

wait till motion ends

clear_sequence(coord_sys: str) None[source]

clears vectors specified in the given coordinate system

parameters: dict[str, ParameterBase] = {}

All the parameters supported by this instrument. Usually populated via add_parameter().

functions: dict[str, Function] = {}

All the functions supported by this instrument. Usually populated via add_function().

submodules: dict[str, InstrumentModule | ChannelTuple] = {}

All the submodules of this instrument such as channel lists or logical groupings of parameters. Usually populated via add_submodule().

instrument_modules: dict[str, InstrumentModule] = {}

All the InstrumentModule of this instrument Usually populated via add_submodule().

log: InstrumentLoggerAdapter = get_instrument_logger(self, __name__)
metadata: dict[str, Any] = {}