Move a Device¶

Goal

In this tutorial you will make your first controlled motor move and confirm the result from the CLI. By the end, you will know the difference between a blocking move for learning and a non-blocking move for more advanced workflows.

Before you start¶

Continue in a session where the demo configuration is already loaded, so dev.samx is available.

1. Check the current position¶

Start by printing the current state of the motor:

Check the motor infooutput

dev.samx.wm

┏━━━━━━┳━━━━━━━━━━┳━━━━━━━━━━┳━━━━━━━━━━━┓
┃      ┃ readback ┃ setpoint ┃  limits   ┃
┡━━━━━━╇━━━━━━━━━━╇━━━━━━━━━━╇━━━━━━━━━━━┩
│ samx │  0.0000  │  0.0000  │ [-50, 50] │
└──────┴──────────┴──────────┴───────────┘

2. Make and confirm a blocking move¶

Use umv to issues a move command which waits until the device reaches the requested position:

Make a move with umvoutput

scans.umv(dev.samx, 10, relative=False)  # make the move
dev.samx.wm  # check the move is done

PASSED [100%] samx:      0.00 ━━━━━━━━━━━━━━━       9.99 /      10.00 / 100 % 0:00:00 0:00:00
┏━━━━━━┳━━━━━━━━━━┳━━━━━━━━━━┳━━━━━━━━━━━┓
┃      ┃ readback ┃ setpoint ┃  limits   ┃
┡━━━━━━╇━━━━━━━━━━╇━━━━━━━━━━╇━━━━━━━━━━━┩
│ samx │ 10.0000  │ 10.0000  │ [-50, 50] │
└──────┴──────────┴──────────┴───────────┘

While the motor is moving, BEC shows a progress bar in the terminal so you can follow the motion until the requested position is reached.

Terminal recording of umv(dev.samx, 10) showing the motor progress bar during the move

When the command returns, the move is complete or BEC has raised an error. The same output also shows the motor state after the move, so you can confirm that the readback is close to the requested target position.

3. Move the motor back¶

Return to a neutral position:

umv(dev.samx, 0)

What you have learned

You checked a motor state, executed a safe blocking move, and confirmed the result from the shell.

Next step¶

Continue with 04 Run your first scan, where you will use the same training devices in your first simple scan.