Physik Instrumente Stage Controller

This service controls Physik Instrumente (PI) motion stages using the pipython library. It has been tested with:

• E-727.3SDA controller with S-330.2SH stages

For controller specs, see the PI website. Note that using PI controllers requires manual installation of the GCS DLL drivers from physikinstrumente.com

Configuration

physik_stage_controller:
  service_type: physik_stage_controller
  simulated_service_type: physik_stage_controller_sim
  requires_safety: false

  controller_name: 'E-727.3SDA'
  stages: 'S-330.2SH'
  refmodes: 'FNL'
  SN: '123456'

  axis_map:
    x: 1
    y: 2

  initial_position:
    x: 1350
    y: 1685

Properties

position_{axis_name}: Get or set the position for each configured axis (e.g., position_x, position_y).

Commands

move_to(positions): Move to absolute positions. positions is a dict mapping axis names to target positions (e.g., {'x': 1350.0, 'y': 1685.0}).

move_relative(deltas): Move relative to current positions. deltas is a dict mapping axis names to relative movements (e.g., {'x': 10.0, 'y': -5.0}).

get_positions(): Get current positions of all axes as a dict.

stop_motion(): Emergency stop all motion immediately.

Datastreams

positions: Current positions of all axes (float64 array, updated at 10 Hz).

target_positions: Target positions when moves are commanded (float64 array).

is_moving (sim only): Whether any axis is currently in motion (int8).