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Wiregrid Actuator Agent

The Wiregrid Actuator Agent controls the linear actuator to insert or eject the wire-grid via a GALIL motor controller. It communicates with the controller via an ethernet. It also reads ON/OFF of the limit-switches on the ends of the actuators and lock/unlock the stoppers to lock/unlock the actuators.

Dependencies

This agent depends on GALIL controller libraries: gclib. gclib requires installation of other libraries and gclib itself and starting services(dbus, avahi-daemon, and gcapsd) in the docker. These preparations are automatically made in Dockerfile and wg-actuator-entrypoint.sh. Reference links for gclib:

Configuration File Examples

Below are configuration examples for the ocs config file and for running the Agent in a docker container.

OCS Site Config

An example site-config-file block:

{'agent-class': 'WiregridActuatorAgent',
 'instance-id': 'wgactuator',
 'arguments': [['--ip-address', '10.10.10.73']]},

Docker Compose

An example docker-compose configuration:

ocs-wgactuator-agent:
    image: simonsobs/ocs-wgactuator-agent:latest
    hostname: ocs-docker
    network_mode: "host"
    environment:
      - INSTANCE_ID=wgactuator
    volumes:
      - ${OCS_CONFIG_DIR}:/config:ro
  • Since the agent within the container needs to communicate with hardware on the host network you must use network_mode: "host" in your compose file.

Description

Functions

The agent has many functions, however most of them are for testing. The main functions are insert() and eject().

Main Functions
  • insert(): Insert the wire-grid into the inside of the forebaffle, which includes unlocking the stoppers
  • eject(): Eject the wire-grid from the inside of the forebaffle, which includes unlocking the stoppers

In the both of the functions, after the inserting/ejecting, the stopper locks the actuators again. However, the motor power is not turned ON or OFF during the both functions.

The parameter details are here:

  • speedrate: Actuator speed rate [0.0, 5.0] (default: 1.0)
Test Functions
  • check_limitswitch(): Check ON/OFF of the limit switches
  • check_stopper(): Check ON/OFF (lock/unlock) of the stoppers
  • insert_homing(): Insert very slowly
  • eject_homing(): Eject very slowly
  • insert_test(): Insert in a test mode
  • eject_test(): Eject in a test mode
  • motor_on(): Power ON the actuator motors
  • motor_off(): Power OFF the actuator motors (CAUTION: Take care of using this function since powering OFF the motor means that the wire-grid can slide down by its gravity if the stoppers do NOT lock the actuators.)
  • stop(): Stop the motion of the actuators (Change a STOP flag in Actuator class to True)
  • release(): Release the agent to receive the functions if it is locked in the software (Change a STOP flag in Actuator class to False)
  • reconnect(): Reconnect to the actuator controller

In the test mode, you can choose the moving distance [mm] and speed rate. The parameter details are here:

  • distance: Actuator moving distance [mm] (default: 10)
  • speedrate: Actuator speed rate [0.0, 5.0] (default: 0.2)

Hardware Configurations

There are several limit-switches and stoppers. These list are configured in limitswitch_config.py and stopper_config.py.

Agent API

socs.agents.wiregrid_actuator.agent.WiregridActuatorAgent

Example Clients

Below is an example client to insert and eject the actuator:

from ocs.ocs_client import OCSClient
wgactuator = OCSClient('wgactuator')

# Insert the actuator
wgactuator.insert()

# Eject the actuator
wgactuator.eject()

Supporting APIs

socs.agents.wiregrid_actuator.drivers.Actuator.Actuator

socs.agents.wiregrid_actuator.drivers.DigitalIO.DigitalIO