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ZABER TECHNOLOGIES INC.
9.2. Binary Protocol
The following table offers a quick command reference for the X-MCB2. For convenience, you may
sort the table below by instruction name, command number, or reply number. Follow the links to
view a detailed description of each instruction or refer to the Binary Protocol Manual.
Instruction Name
Command#
Command
Data
Command
Type
Reply Data
Reset
0
Ignored
Command
None
Home
1
Ignored
Command
Final position (in this case 0)
Renumber*
2
Ignored
Command
Device ID
Read Register
5
Register
Address
Command
Data
Set Active Register
6
Register
Address
Setting
Register Address
Write Register
7
Data
Command
Data
Move Tracking
8
n/a
Reply
Tracking Position
Limit Active
9
n/a
Reply
Final Position
Manual Move Tracking
10
n/a
Reply
Tracking Position
Manual Move
11
n/a
Reply
Final Position
Slip Tracking
12
n/a
Reply
Tracking Position
Unexpected Position
13
n/a
Reply
Final Position
Store Current Position*
16
Address
Command
Address
Return Stored Position
17
Address
Command
Stored Position
Move To Stored Position
18
Address
Command
Final Position
Move Absolute
20
Absolute
Position
Command
Final Position
Move Relative
21
Relative
Position
Command
Final Position
Move At Constant Speed
22
Speed
Command
Speed
Stop
23
Ignored
Command
Final Position
Restore Settings*
36
Peripheral ID
Command
Peripheral ID
Set Microstep Resolution*
37
Microsteps
Setting
Microsteps
Set Running Current*
38
Value
Setting
Value
Set Hold Current*
39
Value
Setting
Value
