TRIO MPC-165 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.67K2 (20201130) (FW V2.62)
50
Table
D-6. TRIO MPC-100 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 Active
Device &
Firmware
Version (‘K’)
Tx
All
1
0
75
4B 0100 1011 0075
K
Command. Returns the currently
active device, along with firmware
version number.
Rx
All
4
0 1 - 2 01
-
02
0000 0001
–
0000 0010
^A
-
^B
<SOH>
-
<STX>
Currently-active device (1 – 2 (A –
B)).
1
Major version number (e.g., if ver. =
2.62, then byte = 2)
2
Minor version number (e.g., if ver.
= 2.62, then byte = 62)
3
13
0D 0000 1101
^M <CR>
Completion indicator
Change
Active
Device (‘I’)
Tx
All
2
0
73
49 0100 1001 0073
I
Command. Makes the specified
device active, ensuring that all other
commands are directed to that
device.
1
1-2 01
-
02
0000 0001
-
0000 0010
0001
-
0002
^A
-
^B
<SOH>
-
<STX>
Manipulator to be made active (by
value: 1(for A) or 2 (for B)
Rx
All
2
0
1-2 01
-
02
0000 0001
-
0000 0010
^A
-
^B
<SOH>
-
<STX>
Manipulator value specified
1
13
0D 0000 1101
^M <CR>
Completion indicator
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’
Command. Returns the current
positions (µsteps) of X, Y, & Z axes
and angle setting (degrees).
Rx.
All
14
Current absolute positions of the X, Y, & Z axes, in microsteps, each consisting
of 4 contiguous bytes representing a single 32-bit unsigned (positive) integer
value in Little-Endian bit order. 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 0-90 00-5A 0000 0000
-
0101 1010
<NUL>
-
Z
Angle in degrees (0 – 90)
13
13
0D 0000 1101
^M <CR>
Completion indicator
Move to
HOME
Position (‘h’)
Tx
All
1
0
104 68 0110 1000 0104
‘h’
Command. 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
Move to
WORK
Position (‘w’)
Tx
All
1
0
119 77 0111 0111 0119
‘w’
Command. Moves to the position
saved by the controller’s WORK
button. Y moves first, and X & Z
last (angle determines order/-
simultaneity).
Rx
All
1
0
13
0D 0000 1101
<CR>
Completion indicator