Sutter Instrument MPC-325 Series - Page 65

MPC-325 SERIES OPERATION MANUAL – REV. 3.20F (20200303)
63
Command
Tx/-
Delay/-
Rx
Ver.
Total
Bytes
Byte
Offset
(Len.)
Value
Alt-
key-
pad #
Ctrl-
char
ASCII
def./-
char.
Description
Dec.
Hex.
Binary
Move to
Specified
Position in a
Straight Line
at Specified
Speed (‘S’)
Tx
3+
14
0
83
53
0101 0011
0083
S
Command
1
0
-
15
00
–
0F
0000 0000
–
0000
FFFF
0000
–
0015
^@
-
^O
<NUL>
-
<SI>
Velocity (0 = slowest,
15 = fastest)
(See Notes)
30ms
Required delay between
Velocity byte and remaining bytes
Tx
X, Y, & Z target absolute positions, in microsteps, each consisting of 4
co
ntiguous bytes representing a single 32-bit positive integer value (see
Ranges table).
2-5
(4)
X µsteps
6-9
(4)
Y µsteps
10-13
(4)
Z µsteps
=>
30ms
Time of travel (see Notes)
Rx
1
0
13
0D
0000 1101
^M
<CR>
Completion indicator (streaming
p
ositional data is OFF – see ‘F’
co
mmand) once movement
co
mpletes; or, streaming current
position data (see ‘O’ command) and
then completion ind
icator once
movement completes.
(See ‘S’
Command’s Strea
ming Return Data for
Current Position note.)
Interrupt Move
(^C)
Tx
All
1
0
3
03
0000 0111
0003
^C
<ETX>
Interrupts a move in progress that
was previously initiated by any move
command.
Rx
1
0
13
0D
0000 1101
^M
<CR>
Completion indicator
Turn OFF
S-Move
command
streaming data
(‘F’)
Tx
3+
1
0
70
46
0100 0110
F
Command (see
‘S’ Command’s
Strea
ming Return Data for Current
Position note)
Rx
1
0
13
0D
0000 1101
^M
<CR>
Completion indicator
Turn ON
S-Move
command
streaming data
(‘O’)
Tx
3+
1
0
79
4F
0100 1111
O
Command
(see ‘S’ Command’s
Strea
ming Return Data for Current
Position note)
Rx
1
0
13
0D
0000 1101
^M
<CR>
Completion indicator
Set ROE
MODE (‘L’)
Tx
All
2
0
76
4C
0100 1100
0076
L
Command
1
0-9
0-9
0000 0000
-
0000 1001
0000
–
0009
Mode 0 - 9 (coarsest/fastest to
fi
nest/slowest)
Rx
All
1
0
13
0D
0000 1101
^M
<CR>
Task-completion indicator
NOTES:
1. Task-Complete Indicator: All commands will send back to the
computer the “Task-Complete Indicator” to signal the
command and its associated function in controller is complete.
The indicator consists of one (1) byte containing a value of 13
decimal (0D hexadecimal), and which represents an ASCII CR
(Carriage Return).
2. Intercommand Delay: A short delay (usually around 2 ms) is
recommended between commands (after sending a command
sequence and before sending the next command).
3. Clearing the I/O Send & Receive Buffers: Clearing (purging) the
transmit and receive buffers of the I/O port immediately
before sending any command is recommended. Note that this
clearing of the buffers affects only the computer-side I/O; it
does not (necessarily) clear the buffers on the controller side,
requiring, when necessary, to reset/power-cycle the controller.
Following the rules described will generally avoid problems
with getting garbage data in the I/O buffers of both the
computer and controller (i.e., using exact number of bytes for
both command sequences and return data (as per the