mxcubecore.HardwareObjects.CatsMaint#

CATS maintenance commands hardware object.

Functionality in addition to sample-transfer functionality: power control, lid control, error-recovery commands, …

Derived from Michael Hellmig’s implementation for the BESSY CATS sample changer

-add more controls, including Regulation Off, Gripper Dry/Open/Close, Reset Memory, Set Sample On Diff -add CATS dewar layout

Vicente Rey - add support for ISARA Model

Functions

test_hwo(hwo)

Classes

CatsMaint(*args, **kwargs)

class mxcubecore.HardwareObjects.CatsMaint.CatsMaint(*args, **kwargs)[source]#

Bases: HardwareObject

NO_OF_LIDS = 3#

Actual implementation of the CATS Sample Changer, MAINTENANCE COMMANDS ONLY BESSY BL14.1 installation with 3 lids

back_traj()[source]#

Moves a sample from the gripper back into the dewar to its logged position.

get_cmd_info()[source]#

return information about existing commands for this object the information is organized as a list with each element contains [ cmd_name, display_name, category ]

get_global_state()[source]#

Update clients with a global state that contains different:

  • first param (state_dict):

    collection of state bits

  • second param (cmd_state):

    list of command identifiers and the status of each of them True/False representing whether the command is currently available or not

  • message

    a message describing current state information as a string

init()[source]#

Hardware object init.

safe_traj()[source]#

Safely Moves the robot arm and the gripper to the home position