Python XA example changes

Python/XA/KDC101/README.md

@@ -0,0 +1,11 @@
+# KDC101 Examples
+Software examples for Thorlabs' KDC101 KCube
+
+## kdc101_simple_example.py
+
+This example shows basic functionality like connect, home, move and conversion between physical and device units.
+
+## kdc101_test_script.py
+
+This example shows the usage of more advanced methods.
+

Python/XA/KDC101/kdc_simple_example.py

@@ -0,0 +1,121 @@
+"""
+Example Title: KDC101 simple example
+Example Date of Creation(YYYY-MM-DD) 2026-07-26
+Example Date of Last Modification on Github 2026-07-26
+Version of Python 3.13
+Version of the Thorlabs XA 1.7.14
+Version of Python wrapper 1.2.1.27471
+==================
+Example Description: The example shows how to connect to a KDC101 device, enable it, home it, and move it to an absolute position. 
+The example also shows how to convert between device units and physical units.
+"""
+
+import platform
+
+from thorlabs_xa.products.kdc101 import Kdc101
+from thorlabs_xa.shared.system_manager import SystemManager
+from thorlabs_xa.shared.enums import TLMC_ScaleType, TLMC_EnableState, TLMC_Unit, TLMC_MoveMode, TLMC_OperatingMode,TLMC_ResultCode,TLMC_Wait
+from thorlabs_xa.shared.params import TLMC_DeviceInfo, TLMC_Unit
+from thorlabs_xa.shared.xa_error_factory import XADeviceException
+
+KDC101_PART_NUMBER = "KDC101"
+DEFAULT_TIMEOUT = 500
+
+# Use simulated device to test the example if you do not have a KDC101 connected to your system. The simulation will be created with the following configuration:
+SIMULATION_CONFIG_STRING = { "PartNumber" : KDC101_PART_NUMBER, "SerialNumber" : "27001234", "ActuatorType" : "MTS25-Z8" }
+
+def create_simulation(system_manager: SystemManager) -> TLMC_DeviceInfo:
+
+    system_manager.create_simulation(SIMULATION_CONFIG_STRING)
+
+    device_info = TLMC_DeviceInfo()
+
+    device_info.device_type_description = SIMULATION_CONFIG_STRING["PartNumber"]
+    device_info.device = SIMULATION_CONFIG_STRING["SerialNumber"]
+    device_info.transport = ""
+
+    return device_info
+
+def main():
+
+    # Create system manager for device discovery and management. 
+    system_manager = SystemManager.instance()
+
+    if platform.system() == "Linux":
+        # If using Linux, we are required to state the port explicitly. Replace if you require an alternative port.
+        system_manager.startup("deviceDiscovery.connections=/dev/ttyUSB0")
+    else:
+        # If using Windows, we can use the default settings.
+        system_manager.startup()
+
+    # Find devices
+    devices = system_manager.get_device_list()
+    device_info: TLMC_DeviceInfo | None = None
+    if not devices:
+        print("No devices found, check that your device is powered and is visible to your system. Continuing with simulation!")
+        device_info = create_simulation(system_manager)
+    else:
+        print("Devices found:")
+        for listed_device_info in devices:            
+            if listed_device_info.part_number == KDC101_PART_NUMBER:
+                device_info = listed_device_info
+                print("KDC101 found.")
+
+        if not device_info:
+            print("No KDC101 devices found, check that your device is powered and is visible to your system. Continuing with simulation!")
+            device_info = create_simulation(system_manager)
+
+
+    try:
+        # Create device object and enable device.
+        device = system_manager.open_device_as(device_info.device, device_info.transport, TLMC_OperatingMode.TLMC_OperatingMode_Default, Kdc101)
+
+        print("Enabling KDC101...")
+        device.set_enable_state(TLMC_EnableState.TLMC_Enabled)
+
+        enable_state = device.get_enable_state(DEFAULT_TIMEOUT)
+
+        if enable_state == TLMC_EnableState.TLMC_Enabled:
+            print("KDC101 enabled.")
+        else:
+            print("KDC101 not enabled as expected.")
+            return
+
+        # --- HOME ---
+        print("Homing...")
+        device.home(TLMC_Wait.TLMC_InfiniteWait)    
+
+        # Get position after home
+        home_position_deviceunits = device.get_position_counter(TLMC_Wait.TLMC_InfiniteWait)
+        print(f"Position after home in device units: {home_position_deviceunits}")
+        # Converting position to physical units
+        home_position_physical, physical_unit = device.convert_from_device_units_to_physical(TLMC_ScaleType.TLMC_ScaleType_Distance, home_position_deviceunits)
+        print(f"Position after home: {home_position_physical} {physical_unit.name}")
+
+        # --- ABSOLUTE MOVE ---
+        #convert 2mm to device units
+        newposition_deviceunits = device.convert_from_physical_to_device(TLMC_ScaleType.TLMC_ScaleType_Distance, TLMC_Unit.TLMC_Unit_Millimetres, 2)
+
+        print("Move absolute to 2mm... ")
+        device.move(TLMC_MoveMode.TLMC_MoveMode_Absolute, newposition_deviceunits, TLMC_Wait.TLMC_InfiniteWait)
+
+    except XADeviceException as e:
+
+        print("Encountered error, code: ", e.error_code, TLMC_ResultCode(e.error_code).name)
+
+
+    finally:
+
+        if device is not None:
+            print("Shutting down KDC101...")
+            device.disconnect()
+            device.close()
+
+        print("Shutting down system...")
+        system_manager.shutdown()
+
+    print("Completed.")
+
+
+
+main()

Python/XA/xa_source/CHANGELOG.md

@@ -7,88 +7,101 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [1.3.0] - 2026-06-29
+
+### Changed
+
+- Internal native API improvements.
+- Internal python API improvements.
+
+## [1.2.1] - 2026-06-04
+
+### Changed
+
+- Resynchronize of wrapper python enumerations with those in the native API.
+
 ## [1.2.0] - 2026-06-02
 
 ### Added
 
-- KST101 product API support (#10003).
-- KST201 product API support (#10003).
+- KST101 product API support.
+- KST201 product API support.
 
 ## [1.1.11] - 2026-06-01
 
 ### Fixed
 
-- In the native API, device with serial number unitialized in HW info is now discovered (#9926).
+- In the native API, device with serial number uninitialized in HW info is now discovered.
 
 ## [1.1.10] - 2026-04-13
 
 ### Fixed
 
-- In the native API, the conversion factor used to convert MicrostepsPerEncoderCount in StepperLoopParams is now correct (#9906).
+- In the native API, the conversion factor used to convert MicrostepsPerEncoderCount in StepperLoopParams is now correct.
 
 ## [1.1.9] - 2026-04-10
 
 ### Fixed
 
-- In the native API's StepperLoopParams, MicrostepsPerEncoderCount is now a signed 32-bit integer (previously unsigned) (#9906).
+- In the native API's StepperLoopParams, MicrostepsPerEncoderCount is now a signed 32-bit integer (previously unsigned).
 
 ## [1.1.8] - 2026-04-10
 
 ### Changed
 
-- Internal native API improvements (#9902).
+- Internal native API improvements.
 
 ## [1.1.7] - 2026-04-08
 
 ### Fixed
 
-- Removed deflection and velocity fields from the CurrentLoopParams structure (#9904).
+- Removed deflection and velocity fields from the CurrentLoopParams structure.
 
 ## [1.1.6] - 2026-03-31
 
 ### Changed
 
-- Added GitHub changelog URL to package metadata (#9903).
+- Added GitHub changelog URL to package metadata.
 
 ## [1.1.5] - 2026-03-27
 
 ### Changed
 
-- Internal native API improvements (#9899).
+- Internal native API improvements.
 
 ## [1.1.4] - 2026-03-26
 
 ### Changed
 
-- Internal native API improvements (#9895).
+- Internal native API improvements.
 
 ## [1.1.3] - 2026-03-26
 
 ### Fixed
 
-- Connected product information now correctly reported as "rotational - continuous" (rather than "rotational - fixed range") for FW103, FW6, FW12, HDR50 and NR360S stages (#9883).
+- Connected product information now correctly reported as "rotational - continuous" (rather than "rotational - fixed range") for FW103, FW6, FW12, HDR50 and NR360S stages.
 
 ## [1.1.2] - 2026-03-20
 
 ### Added
 
-- Added native API support for PDXC3 (#9879).
+- Added native API support for PDXC3.
 
 ## [1.1.1] - 2026-03-03
 
 ### Changed
 
-- Internal native API improvements (#9858).
+- Internal native API improvements.
 
 ## [1.1.0] - 2026-02-19
 
 ### Added
 
-- LTS product API support (#9851).
-- KDC product API support (#9850).
+- LTS product API support.
+- KDC product API support.
 
 ## [1.0.0] - 2026-01-21
 
 ### Added
 
-- Initial python wrapper API implementation (#9719, #9720).
+- Initial python wrapper API implementation.

Python/XA/xa_source/setup.py

@@ -51,7 +51,7 @@ def get_tag(self):
     author_email = "techsupport@thorlabs.com",
     description = "Thorlabs XA Python SDK",
     project_urls={
-        "Changelog": "https://github.com/Thorlabs/Motion_Control_Examples/blob/main/Python/XA/CHANGELOG.md"
+        "Changelog": "https://github.com/Thorlabs/Motion_Control_Examples/blob/main/Python/XA/xa_source/CHANGELOG.md"
     },
     long_description = read_me_content,
     long_description_content_type="text/markdown",

Python/XA/xa_source/src/thorlabs_xa/shared/c_params.py

@@ -71,6 +71,7 @@ class C_TLMC_CurrentLoopParams(Structure):
                 ("integralLimit", c_uint16),
                 ("integralDeadBand", c_uint16),
                 ("feedForward", c_uint16),
+                ("scalingFactor", c_float)
                 ]
 
 
@@ -394,17 +395,6 @@ class C_TLMC_ProfileModeParams(Structure):
                 ("reserved", c_int8 * 4)
                 ]
 
-class C_TLMC_PZ_IoTriggerParams(Structure):
-    _pack_ = 1
-    _fields_ = [
-        ("numberOfPortsPerChannel", c_uint16),
-        ("portNumber", c_uint16),
-        ("portType", c_uint16),
-        ("mode", c_uint16),
-        ("polarity", c_uint16),
-        ("triggerParameter1", c_int32),
-        ("triggerParameter2", c_int32)
-]
 
 class C_TLMC_PZ_LnnxControlLoopParams(Structure):
     _pack_ = 1
@@ -627,7 +617,7 @@ class C_TLMC_SettingItemChangedNotificationData(Structure):
 
 class C_TLMC_StageAxisParams(Structure):
     _pack_ = 1
-    _fields_ = [("typeId", c_uint16),
+    _fields_ = [("productId", c_uint16),
                 ("axisId", c_uint16),
                 ("partNumber", c_char * 16),
                 ("serialNumber", c_uint32),
@@ -638,7 +628,11 @@ class C_TLMC_StageAxisParams(Structure):
                 ("maxDeceleration", c_uint32),
                 ("maxVelocity", c_uint32),
                 ("gearBoxRatio", c_uint16),
-                ("reserved", c_uint8 * 22)
+                ("microSteps", c_uint16),
+                ("positionScale", c_float),
+                ("velocityScale", c_float),
+                ("accelerationScale", c_float),
+                ("reserved", c_uint8 * 8)
                 ]
 
 

Python/XA/xa_source/src/thorlabs_xa/shared/device_factory.py

@@ -1,16 +1,12 @@
 from thorlabs_xa.implementations.device_feature_groups.kdc101_feature_group import Kdc101FeatureGroup
 from thorlabs_xa.implementations.device_feature_groups.kpc101_feature_group import Kpc101FeatureGroup
 from thorlabs_xa.implementations.device_feature_groups.kst201_feature_group import Kst201FeatureGroup
-from thorlabs_xa.implementations.device_feature_groups.lnnx_feature_group import LnnxFeatureGroup
 from thorlabs_xa.implementations.device_feature_groups.linear_translation_stage_feature_group import LinearTranslationStageFeatureGroup
-from thorlabs_xa.implementations.device_feature_groups.lnnx_logical_channel_feature_group import LnnxLogicalChannelFeatureGroup
 
 from thorlabs_xa.products.kdc101 import Kdc101
 from thorlabs_xa.products.kpc101 import Kpc101
 from thorlabs_xa.products.kst201 import Kst201
-from thorlabs_xa.products.lnnx import Lnnx
 from thorlabs_xa.products.linear_translation_stage import LinearTranslationStage
-from thorlabs_xa.products.lnnx_logical_channel import LnnxLogicalChannel
 
 from thorlabs_xa.native_sdks.native_functions import NativeFunctions
 
@@ -28,12 +24,6 @@ def create(self, device_handle: int, device_info: TLMC_DeviceInfo) -> Device:
 
         # Note: It is expected that this will produce a pylance error until all device types are implemented
         match device_info.device_type:
-            case TLMC_DeviceType.TLMC_DeviceType_LnnxBaseUnit:
-                feature_group = LnnxFeatureGroup(device_handle, self.native_functions)
-                return Lnnx(device_handle, device_info, feature_group, self.native_functions)
-            case TLMC_DeviceType.TLMC_DeviceType_LnnxLogicalChannel:
-                feature_group = LnnxLogicalChannelFeatureGroup(device_handle, self.native_functions)
-                return LnnxLogicalChannel(device_handle, device_info, feature_group, self.native_functions)
             case TLMC_DeviceType.TLMC_DeviceType_Kdc101:
                 feature_group = Kdc101FeatureGroup(device_handle, self.native_functions)
                 return Kdc101(device_handle, device_info, feature_group, self.native_functions)