Table of Contents
Advertisement
Quick Links
MPC-200 USB commands, version 1.10
General Information
The controller is ready to accept remote input about one second after power-on. Command
requests are single bytes. The data stream consists of full bytes (all 8 bits — not ASCII). The
lowest order byte (for example, of the four bytes encoding the X coordinate) is the first into the
controller and is the first out. There are no delimiters within command strings. The controller will
reply with carriage return (CR, 0Dh) at the completion of normal command processing. Wait for
the CR before sending a new stream. Full travel on each axis is 25000 m, so 0 to 25000 m are
valid values for the move command (note: position info is sent in microsteps, see Data Format).
The MPC200 firmware is field updatable. If your firmware is newer than the version listed
above, check with Sutter to see if new USB commands have been added.
Remote (USB) Commands
Change drive (manipulator)
command
returns
Get current position
command
returns
Get number N of connected manipulators and drive status n for all 4 drives
command
returns
Get currently active drive
command
returns
There are two generic move commands. Before using either, the manipulator to be moved must
be selected either manually or via the USB port using the I command. Only the active
manipulator can make USB moves.
The first move command, S, is for straight-line moves and should be used when you need to
move point-to-point at a fixed, user-defined, velocity. The second move command, M, is for
rapid moves that accelerate to the fastest velocity following a stereotypic, multiple-axis path. The
path taken in M moves is similar to that in the Home and Work Pos moves evoked from the ROE.
Straight-line movement with user defined velocity
command
returns
'I'D (D is 01-04h)
value of D if manipulator connected or E if not. Followed by CR
'C'
DxxxxyyyyzzzzCR (D designating the currently active drive +
three signed long integers + 0Dh)
'U'
NnnnnCR n=1 if connected, n=0 if not connected
'K'
D Vl Vh then CR (D designates the currently active drive, Vl and
Vh designate firmware version)
'S'X
xxxxyyyyzzzz
streams position info until the move is finished
053h + three signed long integers
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Summary of Contents for Sutter MPC-200
- Page 1 (note: position info is sent in microsteps, see Data Format). The MPC200 firmware is field updatable. If your firmware is newer than the version listed above, check with Sutter to see if new USB commands have been added. Remote (USB) Commands Change drive (manipulator) ‘I’D (D is 01-04h)
- Page 2 Fast, stereotypic movement with firmware controlled velocity ‘M’xxxxyyyyzzzz 04Dh + three signed long integers command returns Moves related to manual functions of the ROE200 Home command ‘H’ 048h returns Work Position command ‘Y’ 059h returns Center ‘N’ 048h command returns The final command is an interrupt to halt any USB move while in progress.
- Page 3 Other constraints on coordinates: Values cannot exceed the travel of each axis (0-25000 microns. “Coordinates” is actually passed in microsteps. See Data Format, below). After receiving the S command, the manipulator starts from its current location and moves to the specified final location along a straight line with the speed set in X. The actual speed is determined by the axis with the longest move.
- Page 4 the coordinates of drive2A. After the coordinate information is passed, the controller sends a CR (0x0D). It is not necessary to either keep track of the current manually active manipulator or to switch to the active manipulator to poll position via USB. Thus, one can keep track of position info of all manual movement by constantly polling with C.
- Page 5 Data format Position information is displayed on the ROE in microns relative to the absolute zero set using the Center routine. However, postion is not communicated in microns either in the microprocessor or over the USB interface. Rather, it is represented in stepper motor microsteps. The resolution of movement used over the USB port is the minimal microstep size of 0.0625 micrometers (2 micron whole steps divided by 32 microsteps per whole step).
Need help?
Do you have a question about the MPC-200 and is the answer not in the manual?
Questions and answers