Motorized Positioner Commands

Positioner ID in this section is given as index or name: 1/East/Right, 2/West/Left, 3/North, 4/South. The positioner ID counts 1–4 in the order East (Right), West (Left), North (Rear), South (Front); it is not case sensitive and submitting just the first character is sufficient.

enable_positioner_motor

Sentio Version: 2.9.2

Description: Enables the positioner motor.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Status	Integer / String	0/OFF/False, 1/ON/True

Response:

Field	Type	Values
Setup	String	OK

Example:

Command:   enable_positioner_motor East,on
Response:  0,0,OK     (enables the East positioner axis)

get_positioner_site_num

Sentio Version: 3.3.0

Description: Retrieves the number of positions defined for a positioner.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type
Number	Integer

Example:

Command:   get_positioner_site_num east
Response:  0,0,3     (3 sites defined for positioner "East")

get_positioner_status

Sentio Version: 3.1.1

Description: Obtains the positioner status.

Parameters: None

Response:

Field	Type	Values
Status	Integer	0=hardware not present, 1=enabled, 2=enabled & initial ready, 3=disabled

Example:

Command:   get_positioner_status
Response:  0,0,1230    (Probe01/East=1 enabled, Probe02/West=2 enabled&ready, Probe03/North=3 disabled, Probe04/South=0 not present)

get_positioner_xy

Sentio Version: 2.9.2

Description: Gets the position of the positioner XY axis.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Reference	String	Zero, Home

Response:

Field	Type
X [µm]	Float
Y [µm]	Float

Example:

Command:   get_positioner_xy East,zero
Response:  0,0,500,750

get_positioner_z

Sentio Version: 2.9.2

Description: Gets the position of the positioner Z axis.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Reference	String	Zero, Contact, Separation

Response:

Field	Type
Z [µm]	Float

Example:

Command:   get_positioner_z East,zero
Response:  0,0,2500

move_positioner_contact

Sentio Version: 2.9.2

Description: Moves the positioner to the contact position.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type
Z [µm]	Float

Example:

Command:   move_positioner_contact East
Response:  0,0,350

move_positioner_home

Sentio Version: 2.9.2

Description: Moves the positioner to the home position.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type
X [µm]	Float
Y [µm]	Float

Example:

Command:   move_positioner_home East
Response:  0,0,250,250

move_positioner_separation

Sentio Version: 2.9.2

Description: Moves the positioner to the separation position.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type
Z [µm]	Float

Example:

Command:   move_positioner_separation East
Response:  0,0,300

move_positioner_xy

Sentio Version: 2.9.2

Description: Moves the positioner XY axis.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Reference	String	Zero, Home, Current
X Offset [µm]	Float	—
Y Offset [µm]	Float	—

Response:

Field	Type	Notes
New X [µm]	Float	With respect to zero
New Y [µm]	Float	With respect to zero

Example:

Command:   move_positioner_xy East,zero,250,350
Response:  0,0,250,350

move_positioner_z

Sentio Version: 2.9.2

Description: Moves the positioner Z axis.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Reference	String	Zero (axis zero), Current (current Z position)
Z Offset [µm]	Float	—

Response:

Field	Type	Notes
New Z [µm]	Float	With respect to zero

Example:

Command:   move_positioner_z East,zero,500
Response:  0,0,500

set_positioner_contact

Sentio Version: 2.9.2

Description: Sets the positioner Z contact position.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Z [µm] (opt.)	Float	—

Response:

Field	Type	Values
Setup	String	OK

Example:

Command:   set_positioner_contact East,350
Response:  0,0,OK

set_positioner_home

Sentio Version: 2.9.2

Description: Sets the positioner home position.

Parameters:

Parameter	Type	Values	Notes
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Site Name (opt.)	String	Wafer, AuxRight, AuxLeft, AuxLeft2, AuxRight2, ChuckCamera	If omitted, the current chuck site/position is used, and X/Y cannot be supplied
X [µm] (opt.)	Float	—	If X/Y omitted, current position is used
Y [µm] (opt.)	Float	—

Response:

Field	Type	Values
Setup	String	OK

Examples:

Command:   set_positioner_home East
Response:  0,0,OK     (sets East home at the current site position of the current chuck site)

Command:   set_positioner_home East, Wafer,250,250
Response:  0,0,OK     (sets East home at XY 250,250 in the Wafer site)

Command:   set_positioner_home West, AuxRight, 300,200
Response:  0,0,OK     (sets West home at XY 300,200 in the AuxRight site)

set_positioner_status

Sentio Version: 3.6.0

Description: Enables or disables a positioner. Mirrors the "Positioner" panel of the "Setup Module".

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Status (opt.)	Integer / String	0/False, 1/True

Response:

Field	Type	Values
Setup	String	OK

Examples:

Command:   set_positioner_status east,1
Response:  0,0,OK     (positioner east enabled)

Command:   set_positioner_status east,0
Response:  0,0,OK     (positioner east disabled)

step_positioner_site

Sentio Version: 3.3.0

Description: Steps the indicated positioner to the indicated site and sets it as current site.

Parameters:

Parameter	Type	Values	Notes
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Site Index / ID	Integer / String	—	Index is zero-based

Response:

Field	Type	Notes
Site	String	ID of the current positioner site
Offset X	Float	—
Offset Y	Float	—

Examples:

Command:   step_positioner_site East,2
Response:  0,0,Pos1,1000,2000     (steps East positioner to site index 2)

Command:   step_positioner_site 3,Pos1
Response:  0,0,Pos1,3000,2000     (steps North positioner to site with ID "Pos1")

step_positioner_site_first

Sentio Version: 3.3.0

Description: Steps the indicated positioner to the first site and sets it as current site.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type	Notes
Site	String	ID of the current positioner site
Offset X	Float	—
Offset Y	Float	—

Example:

Command:   step_positioner_site_first Right
Response:  0,0,Pos1,0,0     (steps East (Right) to its first site, (0,0) by default)

step_positioner_site_next

Sentio Version: 3.3.0

Description: Steps the indicated positioner to the next site and sets it as current site.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type	Notes
Site	String	ID of the current positioner site
Offset X	Float	—
Offset Y	Float	—

Example:

Command:   step_positioner_site_next 1
Response:  0,0,Pos2,1000,1000

Remarks: Only recommended after the current site has been initialized correctly via step_positioner_site_first or step_positioner_site — otherwise the command won't fail outright but may give an undesired result.

start_step_positioner_site [asynchronous]

Sentio Version: 3.7.0

Description: Asynchronous version of step_positioner_site.

Parameters:

Parameter	Type	Values	Notes
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South
Site Index / ID	Integer / String	—	Index is zero-based

Response:

Field	Type	Values
Command ID	String	—
Setup	String	OK

Example:

Command:   start_step_positioner_site East,2
Response:  0,2,OK

Command:   wait_complete 2
Response:  0,0,Pos2,100,100

start_step_positioner_site_first [asynchronous]

Sentio Version: 3.7.0

Description: Asynchronous version of step_positioner_site_first.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type	Values
Command ID	String	—
Setup	String	OK

Example:

Command:   start_step_positioner_site_first Right
Response:  0,3,OK

Command:   wait_complete 3
Response:  0,0,Pos1,0,0

start_step_positioner_site_next [asynchronous]

Sentio Version: 3.7.0

Description: Asynchronous version of step_positioner_site_next.

Parameters:

Parameter	Type	Values
Positioner ID	Integer / String	1/East/Right, 2/West/Left, 3/North, 4/South

Response:

Field	Type	Values
Command ID	String	—
Setup	String	OK

Example:

Command:   start_step_positioner_site_next East
Response:  0,4,OK

Command:   wait_complete 4
Response:  0,0,Pos2,100,100

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