cgse 2024.7.0__py3-none-any.whl → 2025.0.1__py3-none-any.whl

egse/hexapod/symetrie/alpha.py

@@ -1,874 +0,0 @@
-from egse.decorators import dynamic_interface
-
-
-class AlphaControllerInterface:
-    @dynamic_interface
-    def info(self):
-        """Returns basic information about the hexapod and the controller.
-
-        Returns:
-            a multiline response message containing the device info.
-        Raises:
-            HexapodError: when information can not be retrieved.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def reset(self, wait=True):
-        """Completely resets the Hexapod hardware controller with the standard boot cycle.
-
-        Args:
-            wait (bool): after the reset command has been sent to the controller, wait
-                for 30 seconds which should complete the cycle, i.e. this command will
-                only return after 30 seconds.
-
-        .. Note::
-           This command is equivalent to power cycling the controller manually.
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def homing(self):
-        """Start the homing cycle for the Hexapod PUNA.
-
-        Homing is required before performing a control movement. Without absolute encoders,
-        the homing is performed with a hexapod movement until detecting the reference sensor
-        on each of the actuators. The Hexapod will go to a position were the sensors are
-        reached that signal a known calibrated position and then returns to the zero position.
-
-        Whenever a homing is performed, the method will return before the actual movement
-        is finished.
-
-        The homing cycle takes about two minutes to complete, but the ``homing()`` method
-        returns almost immediately. Therefore, to check if the homing is finished, use
-        the is_homing_done() method.
-
-        Returns:
-            0 on success.
-        Raises:
-            HexapodError: when there is a time out or when there is a communication error with
-            the hexapod.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def set_virtual_homing(self, tx, ty, tz, rx, ry, rz):
-        """Starts the virtual homing cycle on the hexapod.
-
-        This command uses the position given in parameters to initialize the hexapod position.
-        No movements of the hexapod are performed during this homing cycle. Please note that the
-        position specified in parameters must match the absolute position of the Object coordinate
-        system in the User coordinate system (see description in the manual chapter 2 on coordinates
-        systems). This position correspond to the answer of the command `get_user_positions()`.
-        During this operation, it is important to have the same hexapod position as those defined
-        during the record of the position. Otherwise, the system initialization will be incorrect.
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            return_code: 0 on success, -1 when ignored
-
-        Raises:
-            HexapodError: when the arguments do not match up, or when there is a time out or when
-            there is a
-            socket communication error.
-
-        """
-        return NotImplementedError
-
-    @dynamic_interface
-    def stop(self):
-        """Stop the current motion. This command can be send during a motion of the Hexapod.
-
-        Returns:
-            0 on success.
-        Raises:
-            HexapodError: when there is a time out or when there is a communication error with
-            the hexapod.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def clear_error(self):
-        """Clear all errors in the controller software.
-
-        Returns:
-            0 on success.
-        Raises:
-            HexapodError: when there is Time-Out or when there is a communication error with the
-            hexapod.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def activate_control_loop(self):
-        """Activates the control loop on motors.
-
-        Returns:
-            0 on success, -1 when ignored, -2 on error.
-        Raises:
-            HexapodError: when there is a time out or when there is a communication error with
-            the hexapod
-                hardware controller.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def deactivate_control_loop(self):
-        """Disables the control loop on the servo motors.
-
-        Returns:
-            0 on success.
-        Raises:
-            HexapodError: when there is a time out or when there is a communication error with
-            the hexapod.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def jog(self, axis: int, inc: float) -> int:
-        """Perform a JOG-type movement on the specified actuator.
-
-        .. note::
-            This is a maintenance feature.
-
-        Args:
-            axis (int): number of the actuator (1 to 6)
-            inc (float): increment to achieve in mm
-        Returns:
-            0 on success, -1 if command was ignored due to non-compliance.
-        Raises:
-            HexapodError: when there is a time out or when there is a communication error with
-            the hexapod.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_debug_info(self):
-        """
-        Request debug information from the Hexapod Controller.
-
-        The method returns four values that represent the following status:
-
-        1. ``Homing``: state of the homing
-        2. ``PosRef``: state of the Position Reference command
-        3. ``KinError``: error in kinematic calculation
-        4. ``Panel``: Panel state
-
-        The Homing can take the following values:
-
-            =====     ==================
-            Value     Meaning
-            =====     ==================
-            0         Undefined
-            1         Homing in progress
-            2         Homing done
-            3         Error
-            =====     ==================
-
-        The PosRef can take the following values:
-
-            =======     =====================
-             Value       Meaning
-            =======     =====================
-               0         Undefined
-               1         Abort input error
-               2         Movement in progress
-               3         Position reached
-               4         Error
-            =======     =====================
-
-        The KinError can take the following values:
-
-            =======     ===============================================
-             Value       Meaning
-            =======     ===============================================
-               0         none
-               1         Homing not done
-               2         Inverse kinematic model (MGI) – workspace
-               3         Inverse kinematic model (MGI) – joint angle
-               4         Forward kinematic model (MGD) – workspace
-               5         Forward kinematic model (MGD) – max iteration
-               6         Position calculation (PLCC) – workspace
-               7         Position calculation (PLCC) – max iteration.
-            =======     ===============================================
-
-        The Panel status can take the following values:
-
-            ======   ===============
-            Index       Command
-            ======   ===============
-            -2       Command error
-            -1       Ignored / Command not allowed
-            **0**       **None**
-            1        Homing
-            2        Stop
-            3        Control ON
-            4        Control OFF
-            10       Valid POS
-            11       Move
-            12       Sequence
-            13       Specific POS
-            15       Clear Error
-              **Family “Set config”**
-            ------------------------
-            21       Config CS
-            22       Config Limits_mTn
-            23       Config Limits_uTo
-            24       Config Limits_Enabled
-            25       Config Speed
-            26       Config Current
-            27       Config Backlash
-              **Family “Get config”**
-            ------------------------
-            31       Config CS
-            32       Config Limits_mTn
-            33       Config Limits_uTo
-            34       Config Limits_Enabled
-            35       Config Speed
-            36       Config Current
-            37       Config Backlash
-              **Family “Maintenance”**
-            ------------------------
-            41       Jog
-            50       Config Save
-            51       Config Default
-            52       Config Saved?
-            55       Version
-            ======   ===============
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def configure_coordinates_systems(
-        self, tx_u, ty_u, tz_u, rx_u, ry_u, rz_u, tx_o, ty_o, tz_o, rx_o, ry_o, rz_o
-    ):
-        """
-        Change the definition of the User Coordinate System and the Object Coordinate System.
-
-        The parameters tx_u, ty_u, tz_u, rx_u, ry_u, rz_u are used to define the user coordinate
-        system
-        relative to the Machine Coordinate System and the parameters tx_o, ty_o, tz_o, rx_o,
-        ry_o, rz_o
-        are used to define the Object Coordinate System relative to the Platform Coordinate System.
-
-        Args:
-            tx_u (float): translation parameter that define the user coordinate system relative
-            to the
-                                      machine coordinate system [in mm]
-            ty_u (float): translation parameter that define the user coordinate system relative
-            to the
-                                      machine coordinate system [in mm]
-            tz_u (float): translation parameter that define the user coordinate system relative
-            to the
-                                      machine coordinate system [in mm]
-
-            rx_u (float): rotation parameter that define the user coordinate system relative to
-            the machine
-                                      coordinate system [in deg]
-            ry_u (float): rotation parameter that define the user coordinate system relative to
-            the machine
-                                      coordinate system [in deg]
-            rz_u (float): rotation parameter that define the user coordinate system relative to
-            the machine
-                                      coordinate system [in deg]
-
-            tx_o (float): translation parameter that define the object coordinate system relative
-            to the
-                                      platform coordinate system [in mm]
-            ty_o (float): translation parameter that define the object coordinate system relative
-            to the
-                                      platform coordinate system [in mm]
-            tz_o (float): translation parameter that define the object coordinate system relative
-            to the
-                                      platform coordinate system [in mm]
-
-            rx_o (float): rotation parameter that define the object coordinate system relative to
-            the
-                                      platform coordinate system [in deg]
-            ry_o (float): rotation parameter that define the object coordinate system relative to
-            the
-                                      platform coordinate system [in deg]
-            rz_o (float): rotation parameter that define the object coordinate system relative to
-            the
-                                      platform coordinate system [in deg]
-
-        Returns:
-            0 on success and -1 when the configuration is ignored, e.g. when password protection
-            is enabled.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_coordinates_systems(self):
-        """Retrieve the definition of the User Coordinate System and the Object Coordinate System.
-
-        Returns:
-            tx_u, ty_u, tz_u, rx_u, ry_u, rz_u, tx_o, ty_o, tz_o, rx_o, ry_o, rz_o where the
-            translation \
-            parameters are in [mm] and the rotation parameters are in [deg].
-        Raises:
-            HexapodError: when an error occurred while trying to retrieve the information.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_actuator_length(self):
-        """Retrieve the current length of the hexapod actuators.
-
-        Returns:
-            array: an array of six float values for actuator length L1 to L6 in [mm], and \
-            None: when an Exception was raised and logs the error message.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def move_absolute(self, tx, ty, tz, rx, ry, rz):
-        """Move/define the Object Coordinate System position and orientation expressed
-        in the invariant user coordinate system.
-
-        The rotation centre coincides with the Object Coordinates System origin and
-        the movements are controlled with translation components at first (Tx, Ty, tZ)
-        and then the rotation components (Rx, Ry, Rz).
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            return_code: 0 on success, -1 when ignored, -2 on error
-
-        Raises:
-            HexapodError: when the arguments do not match up, or when there is a time out or when
-            there is a
-            socket communication error.
-
-        .. note::
-           When the command was not successful, this method will query the
-           POSVALID? using the checkAbsolutePosition() and print a summary
-           of the error messages to the log file.
-
-        .. todo::
-           do we want to check if the movement is valid before actually performing
-           the movement?
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def move_relative_object(self, tx, ty, tz, rx, ry, rz):
-        """Move the object relative to its current object position and orientation.
-
-        The relative movement is expressed in the object coordinate system.
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            0 on success, -1 when ignored, -2 on error.
-
-        Raises:
-            HexapodError: when the arguments do not match up, or when there is a time out or when
-            there is a
-            socket communication error.
-
-        .. todo:: do we want to check if the movement is valid before actually performing
-                  the movement?
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def move_relative_user(self, tx, ty, tz, rx, ry, rz):
-        """Move the object relative to its current object position and orientation.
-
-        The relative movement is expressed in the (invariant) user coordinate system.
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            0 on success, -1 when ignored, -2 on error.
-
-        Raises:
-            HexapodError: when the arguments do not match up, or when there is a time out or when
-            there is a
-            socket communication error.
-
-        .. todo:: do we want to check if the movement is valid before actually performing
-                  the movement?
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def check_absolute_movement(self, tx, ty, tz, rx, ry, rz):
-        """Check if the requested object movement is valid.
-
-        The absolute movement is expressed in the user coordinate system.
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            tuple: where the first element is an integer that represents the
-                bitfield encoding the errors. The second element is a dictionary
-                with the bit numbers that were (on) and the corresponding error
-                description.
-
-        .. todo:: either provide a more user friendly return value or a method/function
-                  to process the information into a human readable form. Also update
-                  the documentation of this method with more information about the
-                  bitfields etc.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def check_relative_object_movement(self, tx, ty, tz, rx, ry, rz):
-        """Check if the requested object movement is valid.
-
-        The relative motion is expressed in the object coordinate system.
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            tuple: where the first element is an integer that represents the
-                bitfield encoding the errors. The second element is a dictionary
-                with the bit numbers that were (on) and the corresponding error
-                description.
-
-        .. todo:: either provide a more user friendly return value or a method/function
-                  to process the information into a human readable form. Also update
-                  the documentation of this method with more information about the
-                  bitfields etc.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def check_relative_user_movement(self, tx, ty, tz, rx, ry, rz):
-        """Check if the requested object movement is valid.
-
-        The relative motion is expressed in the user coordinate system.
-
-        Args:
-            tx (float): position on the X-axis [mm]
-            ty (float): position on the Y-axis [mm]
-            tz (float): position on the Z-axis [mm]
-            rx (float): rotation around the X-axis [deg]
-            ry (float): rotation around the Y-axis [deg]
-            rz (float): rotation around the Z-axis [deg]
-
-        Returns:
-            tuple: where the first element is an integer that represents the
-                bitfield encoding the errors. The second element is a dictionary
-                with the bit numbers that were (on) and the corresponding error
-                description.
-
-        .. todo:: either provide a more user friendly return value or a method/function
-                  to process the information into a human readable form. Also update
-                  the documentation of this method with more information about the
-                  bitfields etc.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_user_positions(self):
-        """Retreive the current position of the hexapod.
-
-        The returned position corresponds to the position of the Object Coordinate System
-        in the User Coordinate System.
-
-        Returns:
-            array: an array of six float values for Tx, Ty, Tz, Rx, Ry, Rz.
-            None: when an Exception was raised and logs the error message.
-
-        .. note:: This is equivalent to the POSUSER? command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_machine_positions(self):
-        """Retreive the current position of the hexapod.
-
-        The returned position corresponds to the position of the Platform Coordinate System
-        in the Machine Coordinate System.
-
-        Returns:
-            array: an array of six float values for Tx, Ty, Tz, Rx, Ry, Rz.
-            None: when a PMACError was raised and logs the error message.
-
-        .. note:: This is equivalent to the POSMACH? command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def set_speed(self, vt, vr):
-        """Set the speed of the hexapod movements.
-
-        Args:
-            vt (float): The translation speed, expressed in mm per second [mm/s].
-            vr (float): The angular speed, expressed in deg per second [deg/s].
-
-        The arguments `vt` and `vr` are automatically limited by the controller
-        between the minimum and maximum allowed speeds for the hexapod.
-        See the `getSpeed()` method to know the limits.
-
-        Returns:
-            0 on success and -1 when the configuration is ignored, e.g. when password protection
-            is enabled.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_speed(self):
-        """Retrieve the configuration of the movement speed.
-
-        Returns:
-            vt, vr, vt_min, vr_min, vt_max, vr_max
-
-        Where:
-            * ``vt`` is the translation speed of the hexapod in mm per second [mm/s]
-            * ``vr`` is the angular speed of the hexapod in deg per second [deg/s]
-            * ``vt_min``, ``vt_max`` are the limits for the translation speed [mm/s]
-            * ``vr_min``, ``vr_max`` are the limits for the angular speed [mm/s]
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_general_state(self):
-        """Retrieve general state information of the hexapod.
-
-        Returns:
-            tuple: where the first element is an integer where the bits represent each state, and
-                the second element is an array of True/False flags for each state described in
-                Hexapod
-                Controller API, section 4.5.6.
-
-            None: when an Exception was raised and logs the error message.
-
-        .. note:: This is equivalent to the STATE#HEXA? Command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_actuator_state(self):
-        """Retreive general state information of the actuators.
-
-        For each of the six actuators, an integer value is returned that should be interpreted as a
-        bit field containing status bits for that actuator.
-
-            ======   ========================
-             Bit      Function
-            ======   ========================
-              0       In position
-              1       Control loop on servo motors active
-              2       Homing done
-              3       Input "Home Switch"
-              4       Input "Positive limit switch"
-              5       Input "Negative limit switch"
-              6       Brake control output
-              7       Following error (warning)
-              8       Following error (Fatal)
-              9       Actuator out of bounds error
-             10       Amplifier error
-             11       Encoder error
-             12       Phasing error (brushless engine only)
-             13-23    Reserved
-            ======   ========================
-
-        Returns:
-            array: an array of six (6) dictionaries with True/False flags for each actuator state
-            as described in
-                Hexapod Controller API, section 4.5.5.
-            None: when an Exception was raised and logs the error message.
-
-        .. note:: This is equivalent to the STATE#ACTUATOR? Command.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def goto_specific_position(self, pos):
-        """Ask to go to a specific position.
-
-        * pos=0 Zero position (jog & maintenance only!)
-        * pos=1 Zero position
-        * pos=2 Retracted position
-
-        Returns:
-            0 on success, -1 when ignored.
-
-        Raises:
-            HexapodError: when there is Time-Out or when there is a communication error with the
-            hexapod controller.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def goto_retracted_position(self):
-        """Ask the hexapod to go to the retracted position.
-
-        Returns:
-            0 on success, -1 when ignored.
-
-        Raises:
-            HexapodError: when there is Time-Out or when there is a socket communication error.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def goto_zero_position(self):
-        """Ask the hexapod to go to the zero position.
-
-        Returns:
-            0 on success, -1 when ignored.
-
-        Raises:
-            HexapodError: when there is Time-Out or when there is a socket communication error.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def is_homing_done(self):
-        """
-        Check if Homing is done. This method checks the ``Q26`` variable.
-        When this variable indicates 'Homing is done' it means the command has properly been
-        executed,
-        but it doesn't mean the Hexapod is in position. The hexapod might still be moving to its
-        zero position.
-
-        Returns:
-            True when the homing is done, False otherwise.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def is_in_position(self):
-        """
-        Checks if the actuators are in position.
-
-        This method queries the Q36 variable and examines the third bit which is the 'Is
-        Position' bit.
-        This method does **not** query the actuator state variables Q30 till Q36.
-
-        Returns:
-            True when in position, False otherwise.
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def perform_maintenance(self, axis):
-        """Perform a maintenance cycle which consists to travel the full range
-        on one axis corresponding to the Hexapod machine limits. The movement is
-        also in machine coordinate system.
-
-        The ``axis`` argument can take the following values:
-
-        * 1: movement on the X-axis
-        * 2: movement on the Y-axis
-        * 3: movement on the Z-axis
-        * 4: movement around the X-axis
-        * 5: movement around the Y-axis
-        * 6: movement around the Z-axis
-        * 10: all previous cycles chained together
-
-        Args:
-            axis (int): on which axis the full range movement is executed
-        Returns:
-            0 on success, -1 when ignored for non-compliance.
-        Raises:
-            HexapodError: when there is Time-Out or when there is a socket communication error.
-        """
-        raise NotImplementedError
-
-    def log_positions(self):
-        """
-        Log the current position of the hexapod (level=INFO). The positions correspond to
-
-          * the position of the Object Coordinate System in the User Coordinate System, and
-          * the position of the Platform Coordinate System in the Machine Coordinate System.
-
-        """
-
-        pos = self.get_user_positions()
-        logger.info(
-            f"Object [in User]     : "
-            f"{pos[0]:2.5f}, {pos[1]:2.5f}, {pos[2]:2.5f}, {pos[3]:2.5f}, {pos[4]:2.5f}, "
-            f"{pos[5]:2.5f}"
-        )
-
-        pos = self.get_machine_positions()
-        logger.info(
-            f"Platform [in Machine]: "
-            f"{pos[0]:2.5f}, {pos[1]:2.5f}, {pos[2]:2.5f}, {pos[3]:2.5f}, {pos[4]:2.5f}, "
-            f"{pos[5]:2.5f}"
-        )
-
-
-class AlphaPlusControllerInterface(AlphaControllerInterface):
-
-    @dynamic_interface
-    def get_limits_value(self, lim):
-        """Three different and independent operational workspace limits are defined on the controller:
-            * Factory limits: are expressed in machine coordinate system limits. Those parameters cannot be modified.
-            * Machine coordinate system limits: they are expressed in the Machine coordinate system. It can be used to
-            secure the hexapod (and/or object) from its environment.
-            * User coordinate system limits: they are expressed in the User coordinate system. It can be used to limits
-            the movements of the object mounted on hexapod.
-
-        Remark: operational workspace limits must be understood as limits in terms of amplitude of movement. Those
-        limits are defined for each operational axis with a negative and positive value and are used in the validation
-        process. Position on each operational axis must be within those two values.
-
-        Args:
-            lim (int):
-            0 = factory (GET only),
-            1 = machine cs limit,
-            2 = user cs limit
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_limits_state(self):
-        """ Return workspace limits enable state
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def get_temperature(self):
-        """ Return the 6xPT100 temperature sensor's value in C
-
-        """
-        raise NotImplementedError
-
-    @dynamic_interface
-    def machine_limit_enable(self, state):
-        """Enable or disable the machine workspace limit of the hexapod.
-
-        Remark: the factory machine coordinate system limit is always enabled to ensure the safety of the hexapod. It
-        cannot be disabled.
-
-            state(int):
-            0 = disabled
-            1 = enabled
-
-        """
-
-        raise NotImplementedError
-
-    @dynamic_interface
-    def machine_limit_set(self, *par):
-        """Sets the machine workspace limits of the hexapod. Will raise error if not all the parameters are set (see
-        Args definition)
-
-        Remark: operational workspace limits must be understood as limits in terms of amplitude of movement. Those limits
-        are defined for each operational axis with a negative and positive value and are used in the validation process.
-        Position on each operational axis must be within those two values.
-
-        Args:
-            ntx(double): negative position limit in X in mm
-            nty(double): negative position limit in Y in mm
-            ntz(double): negative position limit in Z in mm
-            nrx(double): negative position limit around the axis X in deg
-            nry(double): negative position limit around the axis Y in deg
-            nrz(double): negative position limit around the axis Y in deg
-
-            ptx(double): positive position limit in X in mm
-            pty(double): positive position limit in Y in mm
-            ptz(double): positive position limit in Z in mm
-            prx(double): positive position limit around the axis X in deg
-            pry(double): positive position limit around the axis Y in deg
-            prz(double): positive position limit around the axis Y in deg
-
-        """
-
-        raise NotImplementedError
-
-    @dynamic_interface
-    def user_limit_enable(self, state):
-        """Enable or disable the user workspace limit of the hexapod.
-
-        Remark: the factory machine coordinate system limit is always enabled to ensure the safety of the hexapod. It
-        cannot be disabled.
-
-            state(int):
-            0 = disabled
-            1 = enabled
-
-        """
-
-        raise NotImplementedError
-
-    @dynamic_interface
-    def user_limit_set(self, *par):
-        """Sets the user workspace limits of the hexapod. Will raise error if not all the parameters are set (see
-        Args definition)
-
-        Remark: operational workspace limits must be understood as limits in terms of amplitude of movement. Those limits
-        are defined for each operational axis with a negative and positive value and are used in the validation process.
-        Position on each operational axis must be within those two values.
-
-        Args:
-            ntx(double): negative position limit in X in mm
-            nty(double): negative position limit in Y in mm
-            ntz(double): negative position limit in Z in mm
-            nrx(double): negative position limit around the axis X in deg
-            nry(double): negative position limit around the axis Y in deg
-            nrz(double): negative position limit around the axis Y in deg
-
-            ptx(double): positive position limit in X in mm
-            pty(double): positive position limit in Y in mm
-            ptz(double): positive position limit in Z in mm
-            prx(double): positive position limit around the axis X in deg
-            pry(double): positive position limit around the axis Y in deg
-            prz(double): positive position limit around the axis Y in deg
-
-        """
-
-        raise NotImplementedError
-
-    @dynamic_interface
-    def set_default(self):
-        """
-        Restores the default configuration parameters. The command can be used to restore factory default parameters.
-        The restored configuration is not automatically saved. refer to the command CFG_SAVE to save the parameters in
-        order to keep them after a controller power off. The calculation of the hexapod position is suspended during the
-        command execution.
-        """
-
-        raise NotImplementedError