Pulse Train Hat Parallel Scara Example

by Admin | Apr 13, 2017 | 0 comments

Version 1.3
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File Size 0.14 KB
Create Date 13th April 2017
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The example application was developed in Visual Studio 2015 that can be used with Windows 10 IOT on the Raspberry PI or compiled to x86/x64 for use on a PC.
The example has been written in C# as a Universal Windows Platform (UWP).

The download contains the full source code that you are free to use.

This code is not optimised and laid out as easy as we can to give you examples of working programs for controlling the PTHAT.

If you improve the code or expand the application then it would be great if you could send it to us and we will add it as a download to help other developers out.

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Set Wait Delay between commands

⊗

Set Wait Delay between commands I00WW1000*

When this request is sent, it causes a wait delay between buffered commands.
Typical use is when switching one of the AUX outputs and you want to wait a while for it to complete.
Note this is a wait and will pause the firmware routines, so do not use if a pulse train channel is running.
You can set the Wait period to be in Milliseconds or Microseconds.

Byte1	Byte 2-3	Byte 4-5	Byte 6-9	Byte 10
I	00	WW	1000	*

Set Wait Delay between commands Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Received	Completed
R00WW*	C00WW*

Set Wait Delay between commands Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	WW=Milliseconds WM=Microseconds	Set Wait Delay in either Milliseconds or Microseconds
Byte 6-9	0-9999	Delay in ms so 1000ms=1 second delay Delay is us so 1000us=0.001 of a second
Byte 10	*	End of Command

Buffer Start command

⊕

Buffer Start command Z0000*

Start executing buffered commands.

Byte1	Byte 2-5	Byte 6
Z	0000	*

Buffer Start command Reply

The PTHAT will send back a reply when it receives a command.

Initiate Buffer Command Received
RBZ000*

Buffer Start command Breakdown

Byte	Setting	Description
Byte 1	Z
Byte 2-5	0000
Byte 6	*	End of Command

Initiate the buffer

⊕

Initiate the buffer H0000*

Initiate the buffer before sending any buffered commands.

Byte1	Byte 2-5	Byte 6
H	0000	*

Initiate Buffer Reply

The PTHAT will send back a reply when it receives this command.

Initiate Buffer Command Received
RBH000*

Initiate Buffer Breakdown

Byte	Setting	Description
Byte 1	H
Byte 2-5	0000
Byte 6	*	End of Command

Reset PTHAT

⊗

Reset PTHAT N*

Resets the PTHAT back to turn on state and resets all pulse generators.
Can be used in an emergency to close everything down and stop the pulse trains.

Byte1	Byte 2
N	*

Reset PTHAT Reply

There is no reply when sending this command.

Reset Command Received	Reset Command Completed
Nothing	Nothing

Reset PTHAT Command Breakdown

Byte	Setting	Description
Byte 1	N	Sends a Reset to the PTHAT
Byte 2	*	End of Command

Request Firmware Version

⊗

Request Firmware Version I00FW*

Requests the Firmware Version from the PTHAT

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	FW	*

Request Firmware Version Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Firmware Command Received Version	Firmware Command Completed
RI00FW*Version	CI00FW*

Request Firmware Version Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	FW	Request Firmware
Byte 6	*	End of Command

Turn On/Off Completed Command Replies

⊗

Turn On/Off Completed Command Replies I00G1*

Turns on/off the Completed Replies.

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	G1	*

Turn On/Off Completed Command Replies Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Completed Replies Turned On Received	Completed Replies Turned Off Received	Completed Replies Turned On Completed	Completed Replies Turned Off Completed
RI00G1*	RI00G0*	CI00G1*	CI00G0*

Turn On/Off Completed Command Replies Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	G1= Turn On G0= Turn Off	Turn on/off Completed Command Replies
Byte 6	*	End of Command

Turn On/Off Received Command Replies

⊗

Turn On/Off Received Command Replies I00R1*

Turns on/off the Received Replies.

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	R1	*

Turn On/Off Received Command Replies Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Received Command Replies Turned On Received	Received Command Replies Turned Off Received	Received Command Replies Turned On Completed	Received Command Replies Turned Off Completed
RI00R1*	RI00R0*	CI00R1*	CI00R0*

Turn On/Off Received Command Replies Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	R1= Turn On R0= Turn Off	Turn on/off Received Command Replies
Byte 6	*	End of Command

Toggle Motor Enable Line

⊗

Toggle Motor Enable Line I00HT*

Toggles the Motor Enable Line

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	HT	*

Toggle Motor Enable Line Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Toggle Enable Command Received	Toggle Enable Command Completed
R00HT*	C00HT*

Toggle Motor Enable Line Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	HT	Toggle Motor Enable Line On/Off
Byte 6	*	End of Command

Set Aux Output Command

⊗

Set Aux Output Command I00A10*

When this request is sent, it will switch on/off one of the Aux ports.

Byte1	Byte 2-3	Byte 4-5	Byte 6	Byte 7
I	00	A1	1	*

Set on/off Aux Output Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Aux1 Received	Aux2 Received	Aux3 Received	Aux1 Completed	Aux2 Completed	Aux3 Completed
R00A1*	R00A2*	R00A3*	C00A1*	C00A2*	C00A3*

Set on/off Aux Output Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	A1= Set Aux1 A2= Set Aux2 A3= Set Aux3	Set Aux port for switching
Byte 6	0=Off 1=On	Switches selected Aux On or Off
Byte 7	*	End of Command

Request ADC Reading Command

⊗

Request ADC Reading Command I00D1*

When this request is sent, it will return the value of the ADC requested.

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	D1	*

Request ADC Reading Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
In this case the received command will be sent back along with the ADC result and then completed command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

ADC1 Received Result	ADC2 Received Result	ADC1 Completed	ADC2 Completed
RI00D1*Result	RI00D2*Result	CI00D1*	CI00D2*

Request ADC Reading Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	D1= ADC1 Result D2= ADC2 Result	Request current ADC value
Byte 6	*	End of Command

Enable/Disable Limit Switches

⊗

Enable/Disable Limit Switches I00KX1*

When this request is sent, it will Disable/Enable Limit Switch or Emergency Stop inputs. A reset on the PTHAT will set them to default of Disable

Byte1	Byte 2-3	Byte 4-5	Byte 6	Byte 7
I	00	KX	1	*

Enable/Disable Limit Switches Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Limit Received	Y Limit Received	Z Limit Received	E Limit Received	Emergency Stop Received	X Limit Completed	Y Limit Completed	Z Limit Completed	E Limit Completed	Emergency Stop Completed
R00KX*	R00KY*	R00KZ*	R00KE*	R00KS*	C00KX*	C00KY*	C00KZ*	C00KE*	C00KS*

Enable/Disable Limit Switches Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	KX= Set Limit Switch X KY= Set Limit Switch Y KZ= Set Limit Switch Z KE= Set Limit Switch E KS= Set Emergency Stop	Set Limit Switch or Emergency Stop Enable/Disable
Byte 6	0=Disable 1=Enable	Switches selected Limit Switch to Enable/Disable
Byte 7	*	End of Command

Change Axis Speed on the fly Command

⊗

Change Axis Speed on the fly Command I00QX001000.000*

This Command changes the speed of each Axis on the fly.
A Set Axis Command and a Start Command must be used to set the Axis running before this command can be used.

Byte1	Byte 2-3	Byte 4-5	Byte 6-15	Byte 16
I	00	QX	001000.000	*

Change Axis Speed on the fly Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.
These can be turned off if needed.

X set Received	Y set Received	Z set Received	E set Received	X set Completed	Y set Completed	Z set Completed	E set Completed
RI00QX*	RI00QY*	RI00QZ*	RI00QE*	CI00QX*	CI00QY*	CI00QZ*	CI00QE*

Change Axis Speed on the fly Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	QX= Set X-Axis QY= Set Y-Axis QZ= Set Z-Axis QE= Set E-Axis	Sets which Axis is to be set
Byte 6-15	000000.000-125000.000	Sets the frequency of the pulse train
Byte 16	*	End of Command

Pause/Resume Axis Command

⊗

Pause/Resume Axis Command I00PX1000*

Pause/Resume one or all of the pulse trains from running.
Bytes 6-9 choose to send Pulse count back after pause for each Axis.

Byte1	Byte 2-3	Byte 4-5	Byte 6	Byte 7	Byte 8	Byte 9	Byte 10
I	00	PX	1	0	0	0	*

Pause/Resume Axis Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
If Pulse Count is selected then it will also send back the pulse count of chosen Axis.s.
In this case the completed command will be sent back when the Axis is resumed, after a Pause.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Pause Received	Y Pause Received	Z Pause Received	E Pause Received	Pause All Received	X Resume Received	Y Resume Received	Z Resume Received	E Resume Received	All Resume Received
RI00PX*	RI00PY*	RI00PZ*	RI00PE*	RI00PA*	CI00PX*	CI00PY*	CI00PZ*	CI00PE*	CI00PA*
DI00PX* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PY* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PZ* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PE* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00PX to E* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*
(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel
Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295

Pause/Resume Axis Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	PX= Pause/Resume X-Axis PY= Pause/Resume Y-Axis PZ= Pause/Resume Z-Axis PE= Pause/Resume E-Axis PA= Pause/Resume All	Sets which Axis is to be Paused/Resumed
Byte 6	0-1	Sends back pulse count from Axis if set to 1 with: PA=X-Axis PX=X-Axis PY=Y-Axis PZ=Z-Axis PE=E-Axis
Byte 7	0-1	Sends back pulse count from Axis if set to 1 with: PA=Y-Axis Set to 0 for PX, PY,PZ,PE
Byte 8	0-1>	Sends back pulse count from Axis if set to 1 with: PA=Z-Axis Set to 0 for PX, PY,PZ,PE
Byte 9	0-1	Sends back pulse count from Axis if set to 1 with: PA=E-Axis Set to 0 for PX, PY,PZ,PE
Byte 6	*	End of Command

Stop Axis Command

⊗

Stop Axis Command I00TX*

Stop one or all of the pulse trains from running. This is a controlled stop, in that the Axis will ramp down and not just stop to protect the motors. If you want to use a sudden stop then we recommend a external Emergency Stop button that cuts the power or send a Reset command.

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	TX	*

Stop Axis Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
In this case the completed command will be sent back when the Axis that has came to a stop.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the Received reply, but the completed command ID will be from the original ID used in the Start command..

X Stop Received	Y Stop Received	Z Stop Received	E Stop Received	Stop All Received	X Pulse Stopped	Y Pulse Stopped	Z Pulse Stopped	E Pulse Stopped
RI00TX*	RI00TY*	RI00TZ*	RI00TE*	RI00TA*	CI00SX*	CI00SY*	CI00SZ*	CI00SE*

Stop Axis Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	TX= Stop X-Axis TY= Stop Y-Axis TZ= Stop Z-Axis TE= Stop E-Axis TA= Stop All	Sets which Axis is to be stopped
Byte 6	*	End of Command

Start Axis Command

⊗

Start Axis Command I00SX*

Start one of the pulse trains going or start all.

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	SX	*

Start Axis Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
In this case the completed command will be sent back when the Axis that has been started completes the Pulse Count.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Start Received	Y Start Received	Z Start Received	E Start Received	All Start Received	X Pulse Count Complete	Y Pulse Count Complete	Z Pulse Count Complete	E Pulse Count Complete
RI00SX*	RI00SY*	RI00SZ*	RI00SE*	RI00SA*	CI00SX*	CI00SY*	CI00SZ*	CI00SE*

Start Axis Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	SX= Start X-Axis SY= Start Y-Axis SZ= Start Z-Axis SE= Start E-Axis SA= Start All	Sets which Axis is to be started
Byte 6	*	End of Command

Set Auto Count Pulse Out Command

⊗

Set Auto Count Pulse Out Command I00JX00000001001111*

This Command sets which Axis and at what pulse count it should send back the current pulse count of each axis.
It also sends back direction of travel.
You can also choose what pulse replies are sent back X'Y'Z or E.
A Start Command must be used after to activate.

Be aware that this command can cause a lot of data being sent back over the serial port and if you try to send other commands while it is sending data back, there could be a clash.

Byte1	Byte 2-3	Byte 4-5	Byte 6-15	Byte 16	Byte 17	Byte 18	Byte 19	Byte 20
I	00	JX	0000000100	1	1	1	1	*

Set Auto Count Pulse Out Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
The Pulse Count and direction that the motor is travelling will be sent back when pulse target is hit.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.
These can be turned off if needed.

X set Received	Y set Received	Z set Received	E set Received	X set Completed	Y set Completed	Z set Completed	E set Completed
RI00JX*	RI00JY*	RI00JZ*	RI00JE*	CI00JX*	CI00JY*	CI00JZ*	CI00JE*
DI00JX* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00JY* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00JZ* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*	DI00JE* XP(D)XResult* YP(D)YResult* ZP(D)ZResult* EP(D)EResult*
(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel	(D)=Direction of motor travel
Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295	Result=0000000000-4294967295

Set Auto Count Pulse Out Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	JX= Set X-Axis JY= Set Y-Axis JZ= Set Z-Axis JE= Set E-Axis	Sets which Axis is to be set to auto send pulse counts on
Byte 6-15	0000000000-4294967295	Sets the Pulse count at which all Axis pulse counts will be sent back
Byte 16	0-1	0=Disable X Axis Pulse Replies 1=Enable X Axis Pulse Reply
Byte 17	0-1	0=Disable Y Axis Pulse Replies 1=Enable Y Axis Pulse Reply
Byte 18	0-1	0=Disable Z Axis Pulse Replies 1=Enable Z Axis Pulse Reply
Byte 19	0-1	0=Disable E Axis Pulse Replies 1=Enable E Axis Pulse Reply
Byte 20	*	End of Command

Set Auto Direction Change Command

⊗

Set Auto Direction Change Command I00BX0000000100*

This Command sets the Auto Direction Change of each Axis, but does not start the pulse train on that Axis.
A Start Command must be used after to activate.

Byte1	Byte 2-3	Byte 4-5	Byte 6-15	Byte 16
I	00	BX	0000000100	*

Set Auto Direction Change Reply

X set Received	Y set Received	Z set Received	E set Received	X set Completed	Y set Completed	Z set Completed	E set Completed
RI00BX*	RI00BY*	RI00BZ*	RI00BE*	CI00BX*	CI00BY*	CI00BZ*	CI00BE*

Set Auto Direction Change Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	BX= Set X-Axis BY= Set Y-Axis BZ= Set Z-Axis BE= Set E-Axis	Sets which Axis is to be set to auto change direction
Byte 6-15	0000000000-4294967295	Sets the Pulse count to change direction on the fly
Byte 16	*	End of Command

Set Axis Command

⊗Standard Commands that can be used as Instant or Buffered.

If sending as Buffered commands, remember you will need to initiate the buffer first and also use a buffer start command. This will be covered further down the page.

⊗

Set Axis Command I00CX125000.000429496729511110001001*

This Command sets the properties of each Axis, but does not start the pulse train on that Axis.
A Start Command must be used after to activate.

Byte1	Byte 2-3	Byte 4-5	Byte 6-15	Byte 16-25	Byte 26	Byte 27	Byte 28	Byte 29-31	Byte 32-34	Byte 35	Byte 36	Byte 37
I	00	CX	125000.000	4294967295	1	1	1	100	010	0	1	*

Set Axis Reply

X set Received	Y set Received	Z set Received	E set Received	X set Completed	Y set Completed	Z set Completed	E set Completed
RI00CX*	RI00CY*	RI00CZ*	RI00CE*	CI00CX*	CI00CY*	CI00CZ*	CI00CE*

Set Axis Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	CX= Set X-Axis CY= Set Y-Axis CZ= Set Z-Axis CE= Set E-Axis	Sets which Axis is to be set
Byte 6-15	000000.000-500000.000	Sets the frequency of the pulse train
Byte 16-25	0000000000-4294967295	Sets the required pulse count.
Byte 26	0-1	Direction 0=CW 1=CCW
Byte 27	0-1	Start Ramp 0=No ramp 1=Ramp
Byte 28	0-1	Finish Ramp 0=No ramp 1=Ramp
Byte 29-31	0-255	Ramp divide. This will divide the target frequency by this value for each ramp increment.
Byte 32-34	0-255	Ramp pause between each ramp increment.,
Byte 35	0-2	Link to ADC 0=No ADC 1=Link to ADC1 2=Link to ADC2
Byte 36	0-1	Enable Line Polarity 0=Enable Line 0 Volts 1=Enable Line 5 Volts
Byte 37	*	End of Command

Request Current Pulse Count Command

⊗

Request Current Pulse Count Command I00XP*

When this request is sent, it will return of the current pulse count of the running Axis.

Byte1	Byte 2-3	Byte 4-5	Byte 6
I	00	XP	*

Request Current Pulse Count Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command.
In this case the received command will be sent back along with the Pulse Count and direction that the motor is travelling, then completed command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Pulse Count Received Result	Y Pulse Count Received Result	Z Pulse Count Received Result	E Pulse Count Received Result	X Pulse Count Completed	Y Pulse Count Completed	Z Pulse Count Completed	E Pulse Count Completed
RI00XP*	RI00YP*	RI00ZP*	RI00EP*	CI00XP*	CI00YP*	CI00ZP*	CI00EP*
XP(D)XResult	YP(D)YResult	ZP(D)ZResult	EP(D)EResult
(D)=Direction of X motor travel	(D)=Direction of Y motor travel	(D)=Direction of Z motor travel	(D)=Direction of E motor travel
XResult=0000000000-4294967295	YResult=0000000000-4294967295	ZResult=0000000000-4294967295	EResult=0000000000-4294967295

Request Current Pulse Count Command Breakdown

Byte	Setting	Description
Byte 1	I=Instant Command B=Buffer Command	Sets command to either Instant or Buffer.
Byte 2-3	0-99	Optional Command ID
Byte 4-5	XP= Pulse Count X-Axis YP= Pulse Count Y-Axis ZP= Pulse Count Z-Axis EP= Pulse Count E-Axis	Request current pulse count for Axis specified
Byte 6	*	End of Command