Sensapex

The Sensapex device provides support for Sensapex micromanipulators and motorized stages through the sensapex-py driver.

Configuration

Required configuration options:

  • deviceId (int): Sensapex device ID number - < 20 for manipulators - >= 20 for stages

Optional configuration:

  • scale (tuple): (x, y, z) scale factors in meters/step (default: (1e-6, 1e-6, 1e-6))

  • xPitch (float): Angle of X-axis in degrees relative to horizontal (default: 0)

  • maxError (float): Maximum movement error tolerance in meters (default: 1e-6)

  • linearMovementRule (str): Force movement type (“linear”, “nonlinear”, or None)

  • address (str): Network address for TCP connection

  • group (int): Device group number for shared connection

  • nAxes (int): Number of axes (requires sensapex-py >= 1.22.4)

  • maxAcceleration (float): Maximum acceleration limit

  • slowSpeed (float): Slow movement speed in m/s

  • fastSpeed (float): Fast movement speed in m/s

Example configuration:

Manipulator1:
    driver: 'Sensapex'
    deviceId: 1
    scale: [1e-6, 1e-6, 1e-6]
    xPitch: 0
    maxError: 1e-6
    slowSpeed: 5e-6
    fastSpeed: 50e-6
    address: '169.254.255.2'

Device Types

Manipulators (deviceId < 20): - Micromanipulators for precise positioning - Typically used for patch pipettes, electrodes - Support for diagonal approach angles

Stages (deviceId >= 20): - XY stages for sample positioning - Motorized microscope stages - Larger range, lower precision than manipulators

Network Configuration

Sensapex devices can be connected via:

  • USB: Direct USB connection to individual devices

  • TCP: Network connection to Sensapex controller box

  • Shared Connection: Multiple devices sharing single network connection

For TCP connections, configure the address and group settings. Multiple devices can share a single connection by using the same address and group number.

Movement Types

The device supports different movement strategies:

  • Linear: Direct straight-line movements

  • Non-linear: Multi-step movements to avoid obstacles

  • Automatic: ACQ4 chooses optimal movement type

Use the linearMovementRule parameter to override automatic selection.

Calibration

The device includes calibration capabilities for:

  • Position accuracy verification

  • Scale factor calibration

  • Coordinate system alignment

  • Multi-axis movement validation

Dependencies

  • sensapex-py: Python driver for Sensapex devices (install via pip install sensapex)

  • Compatible Hardware: Sensapex uMp series manipulators or uMs motorized stages