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.
sudo pip3 install PIPython
Download these python packages with sudo pip3 install:
- PyUSB
- PySocket
- PySerial
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
>>> 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)])