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).

# Example of using position properties
# stage is the service instance for the Physik stage controller

# Get
x = stage.position_x # x is a float representing the current position of the x-axis (hardware query)
y = stage.position_y # y is a float representing the current position of the y-axis (hardware query)

# Set (triggers a move_to_wrapper call, which updates the target_positions datastream and commands the move)
stage.position_x = 10.0
stage.position_y = 20.0

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}).

# Example of using move_to by a command call
# stage is the service instance for the Physik stage controller
stage.move_to(positions={"x": 50.9, "y": 280.1})

move_and_wait(positions): Move to absolute positions and wait until motion is complete. positions is a dict mapping axis names to target positions.

# Example of using move_and_wait by a command call
# stage is the service instance for the Physik stage controller
stage.move_and_wait(positions={"x": 192.0, "y": 37.5})

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}).

# Example of using move_relative by a command call
# stage is the service instance for the Physik stage controller
stage.move_relative(deltas={"x": 9.0, "y": -3.0})

move_relative_and_wait(deltas): Move relative to current positions and wait until motion is complete. deltas is a dict mapping axis names to relative movements.

# Example of using move_relative_and_wait by a command call
# stage is the service instance for the Physik stage controller
stage.move_relative_and_wait(deltas={"x": 10.0, "y": -5.0})

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

# Example of using get_positions by a command call
# stage is the service instance for the Physik stage controller
pos = stage.get_positions()
print(pos)  # e.g., {'x': 1350.0, 'y': 1685.0}

stop_motion(): Emergency stop all motion immediately.

# Example of using stop_motion by a command call
# stage is the service instance for the Physik stage controller
stage.stop_motion()
# Server Log:[physik_stage_controller] Motion stopped

Datastreams

positions: Current positions of all axes (float64 array, updated when motion is complete).

# Example of reading positions from the datastream
# stage is the service instance for the Physik stage controller
current_pos = stage.positions.get_latest_frame().data
print(current_pos)  # e.g., [100. 122.5]

target_positions: Target positions when moves are commanded (float64 array). You can insert move commands into this datastream to command moves.

# Example of commanding a move by inserting into the datastream
# stage is the service instance for the Physik stage controller
target_move = np.array([newposx, newposy], dtype=np.float64)
stage.target_positions.submit_data(target_move)

# Example of reading target positions from the datastream
current_pos = stage.target_positions.get_latest_frame().data
print(current_pos)  # e.g., [20.8 23.]