mxcubecore.HardwareObjects.SOLEIL.SOLEILCatsMaint#

CATS maintenance commands hardware object.

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

Classes

SOLEILCatsMaint(*args, **kwargs)

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

Bases: HardwareObject

ack_sample_memory()[source]#: Acknowledge incoherence between memorized and actual sample status – e.g. if robot executed put trajectory but no sample was mounted on the gonio – either because of empty position or problem with gripper.

back_traj()[source]#: Moves a sample from the gripper back into the dewar to its logged position.

clear_memory()[source]#: Clears the memory

default_soak_lid = 2#: Actual implementation of the CATS Sample Changer, MAINTENANCE COMMANDS ONLY BESSY BL14.1 installation with 3 lids

dry_soak_traj()[source]#: Dry and Soak the gripper

dry_traj()[source]#: Drying the gripper

home_traj()[source]#: Moves the robot arm to the home position

init()[source]#: Hardware object init.

opentool()[source]#: Drying the gripper

safe_traj()[source]#: Safely Moves the robot arm and the gripper to the home position

soak_traj()[source]#: Soaking the gripper

toolcal_traj()[source]#: Soaking the gripper