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francdoc / PIPython

Python Library for using PI controllers with GCS command language

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PIPython

PIPython is a collection of Python modules to access a PI device and process
GCS data. It can be used with Python 3.6+ on Windows, Linux and OS X
and without the GCS DLL also on any other platform.

From pypi.org

sudo pip3 install PIPython

Requirements

Download these python packages with sudo pip3 install:

- PyUSB
- PySocket
- PySerial

PI Python install procedure

Unzip PI_drivers folder in a PC / laptop with Linux OS.

~/PI_drivers/Linux/PI_E727-1.3.0.0-INSTALL/PI_E727$ sudo chmod +x INSTALL 

~/PI_drivers/Linux/PI_E727-1.3.0.0-INSTALL/PI_E727$ sudo ./INSTALL

Some PI API commands

>>> from pipython import GCSDevice
>>> pidevice = GCSDevice()
>>> devices = pidevice.EnumerateUSB()
>>> pidevice.ConnectUSB(devices[0]) # connect to the first device

descriptor->bLength:    18
descriptor->bDescriptorType:    1
descriptor->bcdUSB:     512
descriptor->bDeviceClass:       0
descriptor->bDeviceSubClass:    0
descriptor->bDeviceProtocol:    0
descriptor->bMaxPacketSize0:    64
descriptor->idVendor:   6770
descriptor->idProduct:  4126
descriptor->bcdDevice:  256
descriptor->iManufacturer:      1
descriptor->iProduct:   2
descriptor->iSerialNumber:      3
descriptor->bNumConfigurations: 1

Config 0
        bLength:        9
        bDescriptorType:        2
        wTotalLength:   32
        bNumInterfaces: 1
        bConfigurationValue:    1
        iConfiguration: 0
        bmAttributes:   192
        MaxPower:       32

        Interface 0 - 1 alt settigns

                setting 0
                bLength:        9
                bDescriptorType:        4
                bInterfaceNumber:       0
                bAlternateSetting:      0
                bNumEndpoints:  2
                bInterfaceClass:        255
                bInterfaceSubClass:     0
                bInterfaceProtocol:     0
                iInterface:     0

                        Endpoint 0
                        bLength:        7
                        bDescriptorType:        5
                        bEndpointAddress:       1
                        bmAttributes:   2
                        wMaxPacketSize: 64
                        bInterval:      0
                        bRefresh:       0
                        bSynchAddress:  0

                        Endpoint 1
                        bLength:        7
                        bDescriptorType:        5
                        bEndpointAddress:       130
                        bmAttributes:   2
                        wMaxPacketSize: 64
                        bInterval:      0
                        bRefresh:       0
                        bSynchAddress:  0

>>> print('connected: {}'.format(pidevice.qIDN().strip()))

connected: (c)2015-2018 Physik Instrumente (PI) GmbH & Co. KG, E-727.3CDA, 120040681, 14.11.01.05

>>> pidevice.qPOS()
OrderedDict([('1', 18.83114052), ('2', 17.47277641), ('3', 0.0)])

>>> pidevice.read('POS?')
'1=1.883246040e+01 \n2=1.747353172e+01 \n3=0.000000000e+00\n'

>>> pidevice.qVER()
'libpi_pi_gcs2.so.3.15.3.1 \nFirmware=14.11 \nDriver=01.05 \nFW_STATUS:RELEASE \nPIPython: 2.10.0.2\n'

>>> from pipython import pitools

>>> len(pidevice.axes[:2])
2

>>> STAGES = []  # connect stages to axes

>>> REFMODE = []  # reference the connected stages

>>> pitools.startup(pidevice,[],[])

>>> pidevice.MOV(pidevice.axes[:2],(20,20))

>>> pidevice.qPOS()
OrderedDict([('1', 20.00016403), ('2', 19.99985313), ('3', 0.0)]) 

>>> from pipython.datarectools import getservotime

>>> servotime=pgetservotime(pidevice)

>>> servotime
4.999999874e-05

>>> import time

>>> for i in range(20):
        pidevice.MOV(pidevice.axes[:2],(9+i,9+i))
        time.sleep(0.05)
        pidevice.qPOS()
        
OrderedDict([('1', 8.999832153), ('2', 9.001206398), ('3', 0.0)])
OrderedDict([('1', 10.00001335), ('2', 9.99992466), ('3', 0.0)])
OrderedDict([('1', 11.00018692), ('2', 10.99958515), ('3', 0.0)])
OrderedDict([('1', 11.99965286), ('2', 11.99977303), ('3', 0.0)])
OrderedDict([('1', 13.00049782), ('2', 13.00060844), ('3', 0.0)])
OrderedDict([('1', 14.00112629), ('2', 14.00066376), ('3', 0.0)])
OrderedDict([('1', 15.00018311), ('2', 15.00057602), ('3', 0.0)])
OrderedDict([('1', 16.00040245), ('2', 15.99970722), ('3', 0.0)])
OrderedDict([('1', 17.00052261), ('2', 16.99988556), ('3', 0.0)])
OrderedDict([('1', 18.00056267), ('2', 17.99916267), ('3', 0.0)])
OrderedDict([('1', 19.00052261), ('2', 19.00024796), ('3', 0.0)])
OrderedDict([('1', 19.99989128), ('2', 19.99978447), ('3', 0.0)])
OrderedDict([('1', 21.00043488), ('2', 21.00011063), ('3', 0.0)])
OrderedDict([('1', 22.00015259), ('2', 22.00050354), ('3', 0.0)])
OrderedDict([('1', 23.00047493), ('2', 23.00077248), ('3', 0.0)])
OrderedDict([('1', 24.00079155), ('2', 24.00088692), ('3', 0.0)])
OrderedDict([('1', 25.00130653), ('2', 25.00071144), ('3', 0.0)])
OrderedDict([('1', 26.00027275), ('2', 26.00078392), ('3', 0.0)])
OrderedDict([('1', 27.0018158), ('2', 27.00029755), ('3', 0.0)])
OrderedDict([('1', 28.00032997), ('2', 28.00071716), ('3', 0.0)])

>>> for i in range(20):
        pidevice.MOV(pidevice.axes[:2],(28-i,28-i))
        time.sleep(0.25)
        pidevice.qPOS()

OrderedDict([('1', 27.99976158), ('2', 27.99914932), ('3', 0.0)])
OrderedDict([('1', 26.99955177), ('2', 27.00034714), ('3', 0.0)])
OrderedDict([('1', 25.99904442), ('2', 25.99917412), ('3', 0.0)])
OrderedDict([('1', 24.99968147), ('2', 24.99934578), ('3', 0.0)])
OrderedDict([('1', 23.99954224), ('2', 24.0005455), ('3', 0.0)])
OrderedDict([('1', 22.99941635), ('2', 23.00009918), ('3', 0.0)])
OrderedDict([('1', 21.99959564), ('2', 21.99974632), ('3', 0.0)])
OrderedDict([('1', 20.99940872), ('2', 21.00028419), ('3', 0.0)])
OrderedDict([('1', 19.99869537), ('2', 19.99899292), ('3', 0.0)])
OrderedDict([('1', 18.99982452), ('2', 19.00021172), ('3', 0.0)])
OrderedDict([('1', 17.99996948), ('2', 17.9993515), ('3', 0.0)])
OrderedDict([('1', 16.99900818), ('2', 16.99897194), ('3', 0.0)])
OrderedDict([('1', 15.99912453), ('2', 15.9992981), ('3', 0.0)])
OrderedDict([('1', 14.99906826), ('2', 14.99956226), ('3', 0.0)])
OrderedDict([('1', 13.99954033), ('2', 13.99994469), ('3', 0.0)])
OrderedDict([('1', 12.99962521), ('2', 12.99977207), ('3', 0.0)])
OrderedDict([('1', 11.99876785), ('2', 11.99949837), ('3', 0.0)])
OrderedDict([('1', 10.99907684), ('2', 10.99946785), ('3', 0.0)])
OrderedDict([('1', 9.998705864), ('2', 10.00048923), ('3', 0.0)])
OrderedDict([('1', 8.999074936), ('2', 8.999601364), ('3', 0.0)])

>>> pidevice.MOV(pidevice.axes[:2],(45,45)) # max position in absoulte coordinates
>>> pidevice.qPOS()
OrderedDict([('1', 44.9998436), ('2', 44.9990654), ('3', 0.0)])

>>> pidevice.MOV(pidevice.axes[:2],(0.1,0.1))
>>> pidevice.qPOS()
OrderedDict([('1', 7.110321045), ('2', 6.996693611), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.820139408), ('2', 6.710417747), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.773382664), ('2', 6.664360046), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.722932816), ('2', 6.614255905), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.693023682), ('2', 6.585497856), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.671704292), ('2', 6.562428474), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.649555206), ('2', 6.54163456), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.63082552), ('2', 6.522785187), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.617462158), ('2', 6.509446144), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.602602005), ('2', 6.494898796), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.591478825), ('2', 6.483504295), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.579800129), ('2', 6.471986771), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.56956768), ('2', 6.461724281), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.560307503), ('2', 6.452710152), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.550625801), ('2', 6.44343853), ('3', 0.0)])
>>> pidevice.qPOS()
OrderedDict([('1', 6.541518688), ('2', 6.434470177), ('3', 0.0)])

Check the PI API in controller.py (samples folder)

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Python Library for using PI controllers with GCS command language

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