Sutter Instrument TRIO MP-245A, Operation Manual

Page: 45 / 52

TRIO MP-245A FOUR-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 3.12B (20191001)
43
these 32-bit position values must have their bytes
reverse-ordered after receiving from, or before
sending to, the controller. Examples of Big-Endian
platforms include many non-Intel-based systems,
LabVIEW (regardless of operating system & CPU),
and Java (programming language/environment).
MATLAB and Python (script programming
language) are examples of environments that adapt
to the system on which each is running, so Little-
Endian enforcement may be needed if running on a
Big-Endian system. Some processors (e.g., ARM) can
be configured for specific endianess.
Microsteps and Microns (Micrometers): All
coordinates sent to and received from the controller
are in microsteps. To convert between microsteps
and microns (micrometers), use the following
conversion factors (multipliers):
Table
D-4
. Microns/microsteps conversion.
TRIO MP-245A Controller
with Device
From/To
Units
Conversion Factor
(multiplier)
MP-845/M, MP-845S/M, or
MP-245/M* micromanipulator
µsteps  µm 0.09375
µm

µsteps 10.66666666667
MP-285/M micromanipulator;
3DMS or MT-78 stage; MOM
or SOM objective mover
µsteps  µm 0.125
µm

µsteps 8
* DB25 to DB26HD adapter required for MP-245/M.
For accuracy in your application, type these
conversion factors as “double” (avoid using the
“float” type as it lacks precision with large values).
When converting to microsteps, type the result as a
32-bit “long”, “signed long”, or “I32” integer. When
converting to microns, type the result as “double”
(64-bit double-precision floating-point values).
Table
D-5
. Ranges and bounds.
Device Axis Len.
(mm)
Origin Microns
(Micromet
ers (µm))
Microsteps
(µsteps)
MP-845/M,
MP-845S/M, or
MP-245/M*
micromanipulator
X, Y,
Z
25 BOT 0 – 25,000 0 – 266,667
MP-285/M micro-
manipulator;
3DMS or MT-78
stage; MOM or
SOM objective
mover
X, Y,
Z
25 BOT 0 – 25,000 0 – 200,000
* DB25 to DB26HD adapter required for MP-245/M.
NOTE: Origin is a physical position of travel that defines the
center of the absolute position coordinate system (i.e., absolute
position 0).
Physical Positions: BOT (Beginning Of Travel), COT (Center Of
Travel), & EOT (End Of Travel).
In the TRIO MP-245A, the Origin is fixed at BOT.
NOTE: Travel length of each axis is automatically determined by
end-of-travel sensor.
Command Reference: The following table lists all
the external-control commands for the TRIO MP-
245A.
Table D-6. TRIO MP-245A external control commands.
Command Tx/-
Delay/-
Rx
Ver. Total
Bytes
Byte
Offset
(Len.)
Value Alt-
key-
pad #
Ctrl-
char
ASCII
def./-
char.
Description
Dec. Hex. Binary
Get Current
Position and
Angle (‘c’ or
‘C’)
Tx All 1 0 99
or
67
63
or
43
0110 0011
or
0100 0011
0099
or
0043
‘c’
or
‘C’
Returns the current positions
(µsteps) of X, Y, & Z axes and
angle setting (degrees).
Rx. All 14
Three 4-byte (32-bit) values (current positions in µsteps of X, Y, & Z), + 1
byte for angle, & + 1 byte for completion indicator. See Ranges table for
minimum and maximum values.
0 (4)
X pos. in µsteps
4 (4)
Y pos. in µsteps
8 (4)
Z pos. in µsteps
12
Angle in degrees
13 13 0D 0000 1101 ^M <CR>
Completion indicator
Move to
HOME
Position (‘h’)
Tx
All 1 0 104 68 0110 1000 0104 ‘h’
Moves to the position saved by the
controller’s HOME button. X & Z
move first (angle determines
order/-simultaneity), and Y last.
Rx
All 1 0 13 0D 0000 1101 <CR>
Completion indicator