PI Piezo

Configuring a PI piezo controller¶

This chapter explains how to configure a piezo controller from Physical Instrument company.

This configuration should be common to the following models:

PI E-753 - 754
PI E-517 - 518
PI E-712
PI E-727

Supported features¶

Encoder	Shutter	Trajectories
YES	NO	YES (E-712)

YAML configuration file example¶

controller:
  class: PI_E753
  tcp:
     url: e754id42:50000
  encoders:
    - name: e754m0_enc
      steps_per_unit: 1
      tolerance: 0.1
  axes:
      - acceleration: 1.0
        backlash: 0
        high_limit: null
        low_limit: null
        name: e754m0
        offset: 0
        encoder: $e754m0_enc
        steps_per_unit: 1
        tolerance: 0.1
        velocity: 11
        tango_server: e754m0

Note

If port is not specified in url, e753 uses by default port 50000.

Warning

The PI controller only accepts a single tcp connection

If a controller needs to be accessible in multiple sessions simultaneously the tcp connection needs to be proxied as follows:

controller:
  class: PI_E753
  tcp-proxy:
    tcp:
       url: e754id42:50000

Warning

DHCP mode is not working fine and can cause some lost of connections with any of the model. Prefer the static configuration and/or a local network connection. Refer to the specific mode documentation to setup the IP static configuration.

Recorder¶

For 712 753.

Real-time data recorder is able to record several input and output signals (e.g. current position, sensor input, output voltage) from different data sources (e.g. controller axes or input and output channels).

POSSIBLE DATA RECORDER TYPE:

TARGET_POSITION_OF_AXIS
CURRENT_POSITION_OF_AXIS
POSITION_ERROR_OF_AXIS
CONTROL_VOLTAGE_OF_OUTPUT_CHAN
DDL_OUTPUT_OF_AXIS
OPEN_LOOP_CONTROL_OF_AXIS
CONTROL_OUTPUT_OF_AXIS
VOLTAGE_OF_OUTPUT_CHAN
SENSOR_NORMALIZED_OF_INPUT_CHAN
SENSOR_FILTERED_OF_INPUT_CHAN
SENSOR_ELECLINEAR_OF_INPUT_CHAN
SENSOR_MECHLINEAR_OF_INPUT_CHAN
SLOWED_TARGET_OF_AXIS

The gathered data is stored (temporarily) in “data recorder tables”.

set_recorder_data_type(*motor_data_type): Configure the data recorder

motor_data_type should be a list of tuple with motor and datatype i.e: motor_data_type=[px, px.CURRENT_POSITION_OF_AXIS, py, py.CURRENT_POSITION_OF_AXIS]

Example:

mot.controller.set_recorder_data_type(motor, motor.VOLTAGE_OF_OUTPUT_CHAN)

mot.controller.start_recording(mot.controller.WAVEFORM, recorder_rate)

Wave motion generator¶

For 753.

A “wave generator” allows to produce “waveforms” ie.user-specified patterns.

This feature is especially important in dynamic applications which require periodic, synchronous motion of the axes. The waveforms to be output are stored in “wave tables” in the controllers volatile memory—one waveform per wave table. Waveforms can be created based on predefined “curve” shapes. This can be sine, ramp or single scan line curves. Additionally you can freely define curve shapes.

During the wave generator output, data is recorded in “record tables” on the controller.

Example:

mot.run_wave(wavetype, offset, amplitude, nb_cycles, wavelen)

wavetype: str: "LIN" or "SIN"
offset: float: motor displacement offset
amplitude: float: motor displacement amplitude
nb_cycles: int: the number of times the motion is repeated
wavelen: float: time in second that should last the motion

Trajectories¶

For E712.

Switch¶

For E712.

Examples¶

ID11 example for stress-rig motor combining wave generator and recorder.

def stress_run_display(wavetype, offset, amplitude, nb_cycles, wavelen, recorder_rate=None):
    if STRESS_RIG_MOTOR is None:
        raise RuntimeError("First call init")

    mot = STRESS_RIG_MOTOR
    # Starts the recorder when the trajectory starts
    mot.controller.start_recording(mot.controller.WAVEFORM, recorder_rate=recorder_rate)

    def refresh_display(data):
        current_index = len(data) if data is not None else 0
        ldata = mot.controller.get_data(from_event_id=current_index)
        if ldata is None or len(ldata) == 0:
            return data
        if data is not None:
            data = numpy.append(data,ldata)
        else:
            data = ldata

        x,y,y2 = (data[name] for name in data.dtype.names)
        #p.plot(data=y,x=x)
        p.plot(data={'target':y,'current':y2},x=x)
        return data

    # Get flint
    f = flint()
    #Create the plot
    p = f.get_plot(plot_class="plot1d", name="stress", unique_name="pi_stress")
    data=None
    with mot.run_wave(wavetype, offset, amplitude, nb_cycles, wavelen):
        while not mot.state.READY:
            current_index = len(data) if data is not None else 0
            data = refresh_display(data)
            if current_index == len(data):
                gevent.sleep(1)

    #last display
    refresh_display(data)