Product info on PhysiksInstrumente website

I have put manuals in a folder called “PI linear stage” in the Leia project folder in the holography group folder.

• 250 mm/s max velocity
• 20nm step size (minimum)
• 10kHz update rate (?)

Here are some options I'm aware of for controlling this thing:

1. Connect it to a PC, set up a series of positions using the waveform generator (part of the software), and connect an Arduino to one of the digital IO lines to trigger movement. (See p. 115 of the user manual)
2. Use one of the analog input lines as a control source, i.e. control the target position using an analog signal. (See p. 135 of the user manual) This can be configured in nonvolatile memory, meaning we could run the stage without a PC connected to it, which would be an advantage. The analog signal should be between -10 and +10 V (p. 125).
3. Get some hardware to get the Arduino to talk over the USB port to the controller, sending ASCII serial commands. This should allow us to do anything the PC software can do.

(2) is probably the simplest to set up, but has the disadvantage of converting a digital position to analog and then back to digital (inside the controller). (3) would be all digital, but more complicated to implement. (1) is probably unnecessarily cumbersome.

Pin mapping for I/O connector:

manual p.30 :

• analog input can be used as control source
• set parameter ADC Channel For Target (0x06000500)
• STP or #24 cancels this
• see p.20 - setting input coefficients to 0
• see p.135

manual p.20 - setting input coefficients to 0

• A matrix coefficient must be zero in the following cases
  • … The input signal channel is used as the control source.
• Position From Sensor 1 = ID 0x07000500, etc. for 1-6

manual p.31 - setting closed-loop control mode

• PID position control with subordinate velocity control:
  • CMO 1 7 (or 1 for Direct PID position control)
• set before setting analog input as control source

Serial commands to configure analog input:

CMO 1 7
// 	setting input coefficients to 0
SPA 1 0x07000500 0
// set channel 6 as target (analog 2)
SPA 1 0x06000500 6

// offset
SPA 6 0x02000200 50
// gain
SPA 6 0x02000300 0.7

So far, this hasn't worked. The analog voltage is controlling the velocity, not the position, it seems.

coming soon…