Sutter Instrument TRIO MP-235, Руководство по эксплуатации

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TRIO MP-235 THREE-AXIS MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.23 (20190130) (FW V2.2 & 2.3)
Value Command Tx/-
Delay/-
Rx
Ver
.
Total
Bytes
Byte
Offset
(Len.) Dec. Hex. Binary
Alt-
key-
pad #
Ctrl-
char
ASCII
def./-
char.
Description
Tx All 5 0 100
or
68
64
or
44 0110 0100
or
0100 0100
0100
or
0068
‘d’
or
‘D’
Move D-axis to specified position
(see Ranges table) Move to
specified D
axis Position
(‘d’ or ‘D’)
1 (4)
D μ steps
Rx All 1 0 13 0D 0000 1101 <CR> Completion indicator
NOTES:
1. All positions sent to and received from the
controller are in microsteps. See
Microns/microsteps conversion table for
conversion between microns (micrometers
( μ m)) and microsteps ( μ steps).
2. See Ranges table for exact minimum and
maximum values for each axis of each
compatible device that can be connected.
3. A short delay (usually around 2 ms) is
recommended between commands (after the
reception of one command and the sending
of the next command).
4. All positions sent and received to and from
the controller are in microsteps and consist
of 32-bit positive integer values (four
contiguous bytes). For C/C++, these are
typed as “unsigned long”; “U32” for
LabVIEW. Although a signed type might be
desirable for computation and compatibility
purposes, the application must ensure that
only unsigned longs or U32 values are sent
to, and received from, the controller (i.e., no
negative values).
5. All 32-bit position values transmitted to, and
received from, the controller must be
bit/byte-ordered in “Little Endian” format.
This means that the least significant bit/byte
is last (last to send and last to receive). Byte-
order reversal may be required on some
platforms. Microsoft Windows, Intel-based
Apple Macintosh systems running Mac OS
X, and some Intel/AMD processor based
Linux distributions handle byte storage in
Little-Endian byte order so byte reordering
is not necessary before converting to/from
32-bit “long” values. LabVIEW always
handles “byte strings” in “Big Endian” byte
order irrespective of operating system and
CPU, requiring that the four bytes
containing a microsteps value be reverse-
ordered before/after conversion to/from a
multibyte type value (I32, U32, etc.).
MATLAB automatically adjusts the
endianess of multibyte storage entities to
that of the system on which it is running, so
explicit byte reordering is generally
unnecessary unless the underlying platform
is Big Endian. If your development platform
does not have built-in Little/Big Endian
conversion functions, bit reordering can be
accomplished by first swapping positions of
the two bytes in each 16-bit half of the 32-bit
value, and then swap positions of the two
halves. This method efficiently and quickly
changes the bit ordering of any multibyte
value between the two Endian formats (if
Big Endian, it becomes Little Endian, and if
Little Endian, it becomes then Big Endian).
6. “Move” commands might have short to long
distances of travel. If not polling for return
data, an appropriate delay should be
inserted between the sending of the
command sequence and reception of return
data so that the next command is sent only
after the move is complete. This delay can be
auto-calculated by determining the distance
of travel (difference between current and
target positions) and rate of travel. This
delay is not needed if polling for return data.
In either case, however, an appropriate
timeout must be set for the reception of data
so that the I/O does not time out before the
move is made and/or the delay expires.