Cartesian

This module holds the base class for cartesian mover tools.

CLASS	DESCRIPTION
Gantry	Gantry provides controls for a general cartesian robot.

Documentation last updated: 2025-02-22

Gantry

Gantry(
    port: str,
    limits: Sequence[Sequence[float]] = (
        (0, 0, 0),
        (0, 0, 0),
    ),
    *,
    robot_position: Position = Position(),
    home_position: Position = Position(),
    tool_offset: Position = Position(),
    calibrated_offset: Position = Position(),
    scale: float = 1.0,
    deck: Deck | None = None,
    safe_height: float | None = None,
    saved_positions: dict | None = None,
    speed_max: float | None = None,
    device_type_name: str = "GRBL",
    baudrate: int = 115200,
    movement_buffer: int | None = None,
    movement_timeout: int | None = None,
    verbose: bool = False,
    simulation: bool = False,
    **kwargs,
)

Bases: GCode

Gantry provides controls for a general cartesian robot.

ATTRIBUTE	DESCRIPTION
limits	lower and upper limits of gantry TYPE: ndarray
movement_buffer	buffer time after movement TYPE: int
movement_timeout	timeout for movement TYPE: int
connection_details	connection details for the device TYPE: dict
device	device object that communicates with physical tool TYPE: Device
flags	flags for the class TYPE: SimpleNamespace[str, bool]
is_busy	whether the device is busy TYPE: bool
is_connected	whether the device is connected TYPE: bool
verbose	verbosity of class TYPE: bool
deck	Deck object for workspace TYPE: Deck
workspace	workspace bounding box TYPE: BoundingBox
safe_height	safe height in terms of robot coordinate system TYPE: float
saved_positions	dictionary of saved positions TYPE: dict
speed	travel speed of robot TYPE: float
speed_factor	fraction of maximum travel speed of robot TYPE: float
speed_max	maximum speed of robot in mm/min TYPE: float
robot_position	current position of the robot TYPE: Position
home_position	home position of the robot in terms of robot coordinate system TYPE: Position
tool_offset	tool offset from robot to end effector TYPE: Position
calibrated_offset	calibrated offset from robot to work position TYPE: Position
scale	factor to scale the basis vectors by TYPE: float
tool_position	robot position of the tool end effector TYPE: Position
work_position	work position of the robot TYPE: Position
worktool_position	work position of the tool end effector TYPE: Position
position	work position of the tool end effector; alias for worktool_position TYPE: Position

METHOD	DESCRIPTION
query	query the device
toggleCoolantValve	toggle the coolant valve
connect	connect to the device
disconnect	disconnect from the device
resetFlags	reset all flags to class attribute _default_flags
shutdown	shutdown procedure for tool
enterZone	enter a zone on the deck
exitZone	exit the current zone on the deck
halt	halt robot movement
home	make the robot go home
isFeasible	checks and returns whether the target coordinates is feasible
loadDeck	load Deck layout object to mover
loadDeckFromDict	load Deck layout object from dictionary
loadDeckFromFile	load Deck layout object from file
move	move the robot in a specific axis by a specific value
moveBy	move the robot by target direction
moveTo	move the robot to target position
moveToSafeHeight	move the robot to safe height
moveRobotTo	move the robot to target position
moveToolTo	move the tool end effector to target position
reset	reset the robot
rotate	rotate the robot in a specific axis by a specific value
rotateBy	rotate the robot by target direction
rotateTo	rotate the robot to target orientation
rotateRobotTo	rotate the robot to target orientation
rotateToolTo	rotate the tool end effector to target orientation
safeMoveTo	safe version of moveTo by moving to safe height first
setSafeHeight	set safe height for robot
setSpeedFactor	set the speed factor of the robot
setToolOffset	set the tool offset of the robot
showWorkspace	show the workspace of the robot
updateRobotPosition	update the robot position
transformRobotToTool	transform robot coordinates to tool coordinates
transformRobotToWork	transform robot coordinates to work coordinates
transformToolToRobot	transform tool coordinates to robot coordinates
transformWorkToRobot	transform work coordinates to robot coordinates
calibrate	calibrate the internal and external coordinate systems

Initialize Gantry class

PARAMETER	DESCRIPTION
port	serial port address TYPE: str
limits	lower and upper limits of gantry, in terms of robot coordinate system. Defaults to ((0, 0, 0), (0, 0, 0)). TYPE: Sequence[Sequence[float]] DEFAULT: ((0, 0, 0), (0, 0, 0))
robot_position	current position of the robot. Defaults to Position(). TYPE: Position DEFAULT: Position()
home_position	home position of the robot in terms of robot coordinate system. Defaults to Position(). TYPE: Position DEFAULT: Position()
tool_offset	tool offset from robot to end effector. Defaults to Position(). TYPE: Position DEFAULT: Position()
calibrated_offset	calibrated offset from robot to work position. Defaults to Position(). TYPE: Position DEFAULT: Position()
scale	factor to scale the basis vectors by. Defaults to 1.0. TYPE: float DEFAULT: 1.0
deck	Deck object for workspace. Defaults to None. TYPE: Deck DEFAULT: None
safe_height	safe height in terms of robot coordinate system. Defaults to None. TYPE: float DEFAULT: None
saved_positions	dictionary of saved positions. Defaults to dict(). TYPE: dict DEFAULT: None
speed_max	maximum speed of robot in mm/min. Defaults to None. TYPE: float DEFAULT: None
device_type_name	name of the device type. Defaults to 'GRBL'. TYPE: str DEFAULT: 'GRBL'
baudrate	baudrate. Defaults to 115200. TYPE: int DEFAULT: 115200
movement_buffer	buffer for movement. Defaults to None. TYPE: Optional[int] DEFAULT: None
movement_timeout	timeout for movement. Defaults to None. TYPE: Optional[int] DEFAULT: None
verbose	verbosity of class. Defaults to False. TYPE: bool DEFAULT: False
simulation	whether to simulate. Defaults to False. TYPE: bool DEFAULT: False

limits property

limits: ndarray

Lower and upper limits of gantry