Python製 ARIES / LYNX モーターコントローラ ラッパー

神津精機株式会社さんのARIES / LYNX ドライバ分離型多軸モーターコントローラをPythonで制御するためのラッパーです。 研究室の4軸ステージの制御用に作成したものです。

An unofficial telnet wrapper for "ARIES / LYNX" motor controller by Kohzu Precision Co.,Ltd. This repository is intended to work with the equipment I use in my lab. It may not work as is on equipment set up for other purposes (with different numbers and ranges of axes to operate).

Usage

環境次第でpipをpip3やpipenv、pip installをpoetry addやpyflow installなどに読み替えてください。

Install

pip install aries-controller

Update

pip install -U aries-controller

aries(as a command line tool)

# aries --host <HOST> --port <PORT> <operation>

# transfer raw_command(reset Z axis)
aries --raw_command ORG3/7/0

# getting axis position
aries

# moving axis
aries --set_position 45/90/0/-10
aries --set_position " -45/60/180/10"

The defaults of HOST and PORT are 192.168.1.20 and 12321.

import(as a Python module)

>>> from aries import Aries
>>> stage = Aries()

>>> print(stage.position)
(0.0, 0.0, 0.0, 0.0)

>>> stage.raw_command("RPS2/4/45000/1")
>>> print(stage.position)
(0.0, 45.0, 0.0, 0.0)

>>> stage.position[2] = 10
<NG (TypeError)>
>>> stage.position = [0,45,10,0]
<OK>

>>> pos = stage.position
>>> pos[3] = 5
>>> stage.position = pos
<OK>

Uninstall

pip uninstall aries-controller

Coordinate system