Command Set

The PTHAT is controlled by sending simple serial commands.

    • All commands are sent as Text (ASCII) format. This may mean sending more data in the communications, but it saves the end programmer having to do LongToByte calculations and keeps things simpler.
    • Each command has to be terminated with a * character and all letters must be in capitals. Replies from the PTHAT will also be returned with a * character.
    • Also each command must have the full byte count. For example if you wanted to set a frequency of 1000Hz (1kHz), you can not just enter 1000 it must be formatted as 001000.000 in the Set Axis Command. Our software examples show the formatting.
    • After every command is sent, you will receive a Received command reply back and also a Completed command reply back. The Received command lets you know that the PTHAT has received the command okay and the Completed command reply lets you know if was executed ok. You can turn these replies off if needed, but be aware that it does not turn off all Completed command replies such as when an Axis finishes its pulse count.
    • All commands can be either sent as Instant commands that get executed straight away or a Buffered commands, where they get stored in the PTHAT memory and get executed one after the other.
      We also have RAW Buffered commands which is useful if sending lots of small motor movements where the latency of the serial port communications could an issue.
      We will cover this more in the examples page.
    • Multiple Set Axis Commands can be send before then sending a Start Command. This allows all four motors to be synchronized on start as well as keeping interpolation maintained if running a X’Y setup.
    • All replies except the Raw buffer Commands are 7 characters in length or can be divided by 7, which makes filtering replies easier in your application code when more than one reply is returned at the same time.
    • We also have messages that will come back from the limit switch inputs and Emergency Stop input it triggered when enabled. These are:
      ESTrig*
      XLTrig*
      YLTrig*
      ZLTrig*
      ELTrig*

There is a jumper on board the PTHAT that will let you select either Standard Speed or High Speed.

Please note that the Raspberry Pi 2 will work with the High Speed setting fine, but you may have to drop down to Standard Speed for the Raspberry Pi 3 due to the change in the UART hardware now used in the Raspberry Pi3 and not supporting Non-Standard Baud rates.
Another option around this is that we will probably release a different firmware that has the High Speed set to Standard of 460800 or even 921600 baud, but with testing we found at the top speed of 921600 and the amount of packets we were sending, that crashes could occur.

The communication settings should be:

Standard Speed High Speed
BaudRate = 115200
Parity = None
StopBits = One
DataBits = 8
Handshake = None		 BaudRate = 806400
Parity = None
StopBits = One
DataBits = 8
Handshake = None

Here is a quick list of the commands:

Instant Commands

Set Axis Command
Set Auto Direction
Set Auto Count Pulse Out Command
Start Axis Command
Stop Axis Command
Pause/Resume Axis Command
Request Current Pulse Count Command
Change Axis Speed on the fly Command
Enable/Disable Limit Switches
Request IO Port Status Command
Request ADC Reading Command
Set Aux Output Command 
Set Wait Delay Command
Toggle Motor Enable Line
Turn On/Off Received Command Replies
Turn On/Off Completed Command Replies
Request Firmware Version
Reset PTHAT

Pulse Width Modulation Commands

Set PWM Channel Command
Set Both PWM Channels Command

Buffer Commands

H Initiate the buffer
Z Buffer Start command
Buffer Loop Start command

Below we will show each command and break it down to show what each byte of the command does.

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⊗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.
Byte1Byte 2-3Byte 4-5Byte 6-15Byte 16-25Byte 26Byte 27Byte 28Byte 29-31Byte 32-34Byte 35Byte 36Byte 37
I00CX125000.000429496729511110001001*

Set Axis 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
RI00CX*RI00CY*RI00CZ*RI00CE*CI00CX*CI00CY*CI00CZ*CI00CE*

Set Axis Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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 6-15000000.000-500000.000Sets the frequency of the pulse train
Byte 16-250000000000-4294967295Sets the required pulse count.
Byte 260-1Direction
0=CW
1=CCW
Byte 270-1Start Ramp
0=No ramp
1=Ramp
Byte 280-1Finish Ramp
0=No ramp
1=Ramp
Byte 29-310-255Ramp divide. This will divide the target frequency by this value for each ramp increment.
Byte 32-340-255Ramp pause between each ramp increment.,
Byte 350-2Link to ADC
0=No ADC
1=Link to ADC1
2=Link to ADC2
Byte 360-1Enable Line Polarity
0=Enable Line 0 Volts
1=Enable Line 5 Volts
Byte 37*End of Command

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⊗

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.
Byte1Byte 2-3Byte 4-5Byte 6-15Byte 16
I00BX0000000100*

Set Auto Direction Change 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
RI00BX*RI00BY*RI00BZ*RI00BE*CI00BX*CI00BY*CI00BZ*CI00BE*

Set Auto Direction Change Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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 6-150000000000-4294967295Sets the Pulse count to change direction on the fly
Byte 16*End of Command

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⊗

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.
Byte1Byte 2-3Byte 4-5Byte 6-15Byte 16Byte 17Byte 18Byte 19Byte 20
I00JX00000001001111*

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=0000000000-4294967295Result=0000000000-4294967295Result=0000000000-4294967295Result=0000000000-4294967295

Set Auto Count Pulse Out Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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 6-150000000000-4294967295Sets 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

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⊗

Start Axis Command I00SX*

Start one of the pulse trains going or start all.
Byte1Byte 2-3Byte 4-5Byte 6
I00SX*

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 CompleteY Pulse Count CompleteZ Pulse Count CompleteE Pulse Count Complete
RI00SX*RI00SY*RI00SZ*RI00SE*RI00SA*CI00SX*CI00SY*CI00SZ*CI00SE*

Start Axis Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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

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⊗

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.
Byte1Byte 2-3Byte 4-5Byte 6
I00TX*

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 StoppedY Pulse StoppedZ Pulse StoppedE Pulse Stopped
RI00TX*RI00TY*RI00TZ*RI00TE*RI00TA*CI00SX*CI00SY*CI00SZ*CI00SE*

Stop Axis Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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

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⊗

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.
Byte1Byte 2-3Byte 4-5Byte 6Byte 7Byte 8Byte 9Byte 10
I00PX1000*

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=0000000000-4294967295Result=0000000000-4294967295Result=0000000000-4294967295Result=0000000000-4294967295Result=0000000000-4294967295

Pause/Resume Axis Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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 60-1Sends 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 70-1Sends back pulse count from Axis if set to 1 with:
PA=Y-Axis
Set to 0 for PX, PY,PZ,PE
Byte 80-1>Sends back pulse count from Axis if set to 1 with:
PA=Z-Axis
Set to 0 for PX, PY,PZ,PE
Byte 90-1Sends 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

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⊗

Request Current Pulse Count Command I00XP*

When this request is sent, it will return of the current pulse count of the running Axis.
Byte1Byte 2-3Byte 4-5Byte 6
I00XP*

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)XResultYP(D)YResultZP(D)ZResultEP(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=0000000000-4294967295YResult=0000000000-4294967295ZResult=0000000000-4294967295EResult=0000000000-4294967295

Request Current Pulse Count Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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

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⊗

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.
Byte1Byte 2-3Byte 4-5Byte 6-15Byte 16
I00QX001000.000*

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

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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 6-15000000.000-125000.000Sets the frequency of the pulse train
Byte 16*End of Command

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⊗

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
Byte1Byte 2-3Byte 4-5Byte 6Byte 7
I00KX1*

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 ReceivedZ Limit ReceivedE Limit ReceivedEmergency Stop ReceivedX Limit CompletedY Limit CompletedZ Limit CompletedE Limit CompletedEmergency Stop Completed
R00KX*R00KY*R00KZ*R00KE*R00KS*C00KX*C00KY*C00KZ*C00KE*C00KS*

Enable/Disable Limit Switches Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional 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 60=Disable
1=Enable		Switches selected Limit Switch to Enable/Disable
Byte 7*End of Command

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⊗

Request IO Port Status Command I00LI*

***Available Firmware V5.3 upwards***
When this request is sent, it will return the state of the Emergency Stop input port and each of the Limit Switch input ports. This allows them to be used as general inputs when limits disabled.
Byte1Byte 2-3Byte 4-5Byte 6
I00LI*

Request IO Port Status Command 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 state of the ES/Limit inputs and then completed command.
If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.
IO Port Status Received
*Result*		IO Port Status Completed
RI00LI**Result*CI00LI*
*Result* will show as
L11111*
Bit5=ES input
Bit4=X Limit input
Bit3=Y Limit input
Bit2=Z Limit input
Bit1=E Limit input

Request IO Port Status Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5LI= Port StatusRequest current Port Status
Byte 6*End of Command

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⊗

Request ADC Reading Command I00D1*

When this request is sent, it will return the value of the ADC requested.
Byte1Byte 2-3Byte 4-5Byte 6
I00D1*

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

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5
D1= ADC1 Result
D2= ADC2 Result

Request current ADC value
Byte 6*End of Command

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⊗

Set Aux Output Command I00A10*

When this request is sent, it will switch on/off one of the Aux ports.
Byte1Byte 2-3Byte 4-5Byte 6Byte 7
I00A11*

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 ReceivedAux3 ReceivedAux1 CompletedAux2 CompletedAux3 Completed
R00A1*R00A2*R00A3*C00A1*C00A2*C00A3*

Set on/off Aux Output Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5
A1= Set Aux1
A2= Set Aux2
A3= Set Aux3

Set Aux port for switching
Byte 60=Off
1=On		Switches selected Aux On or Off
Byte 7*End of Command

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⊗

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.
Byte1Byte 2-3Byte 4-5Byte 6-9Byte 10
I00WW1000*

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

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5WW=Milliseconds
WM=Microseconds		Set Wait Delay in either Milliseconds or Microseconds
Byte 6-90-9999Delay in ms so 1000ms=1 second delay
Delay is us so 1000us=0.001 of a second
Byte 10*End of Command

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⊗

Toggle Motor Enable Line I00HT*

Toggles the Motor Enable Line
Byte1Byte 2-3Byte 4-5Byte 6
I00HT*

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

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5
HT

Toggle Motor Enable Line On/Off
Byte 6*End of Command

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⊗

Turn On/Off Received Command Replies I00R1*

Turns on/off the Received Replies.
Byte1Byte 2-3Byte 4-5Byte 6
I00R1*

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

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5
R1= Turn On
R0= Turn Off

Turn on/off Received Command Replies
Byte 6*End of Command

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⊗

Turn On/Off Completed Command Replies I00G1*

Turns on/off the Completed Replies.
Byte1Byte 2-3Byte 4-5Byte 6
I00G1*

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

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5
G1= Turn On
G0= Turn Off

Turn on/off Completed Command Replies
Byte 6*End of Command

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⊗

Request Firmware Version I00FW*

Requests the Firmware Version from the PTHAT
Byte1Byte 2-3Byte 4-5Byte 6
I00FW*

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

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5
FW

Request Firmware
Byte 6*End of Command

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⊗

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.
Byte1Byte 2
N*

Reset PTHAT Reply

There is no reply when sending this command.
Reset Command ReceivedReset Command Completed
NothingNothing

Reset PTHAT Command Breakdown

ByteSettingDescription
Byte 1NSends a Reset to the PTHAT
Byte 2*End of Command

⊕Pulse Width Modulation Commands.

From Firmware V5.3 onwards we have added commands for controlling two dedicated PWM channels.

Feel free to check the Pulse Width Modulation page for an overview.

 

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⊕

Set PWM Channel Command I00UX000005002500*

***Available Firmware V5.3 upwards***
This Command sets the Frequency and Pulse Width for the desired channel.
It then also starts it.
Byte1Byte 2-3Byte 4-5Byte 6-12Byte 13-17Byte 18
I00UX000000000000*

Set PWM Channel Command 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		X set
Completed		Y set
Completed
RI00UX*RI00UY*CI00UX*CI00UY*

Set PWM Channel Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5UX= Set X-Axis
UY= Set Y-Axis		Sets which Axis is to be set
Byte 6-120000000-1000000Sets the Frequency for the channel in 1Hz steps
Byte 14-1700000Sets the Duty Cycle 0-100%
The last 2 digits are decimal places. So 08050 would be 80.5%
Byte 18*End of Command
 

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⊕

Set Both PWM Channels Command I00UA000005002500000005002500*

***Available Firmware V5.3 upwards***
This Command sets the Frequency and Pulse Width for both channels at the same time.
It then also starts both together.
Byte1Byte 2-3Byte 4-5Byte 6-12Byte 13-17Byte 18-24Byte 25-29Byte 30
I00UX000000000000000000000000*

Set Both PWM Channels Command 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.
Set both PWM channels
Received		Set both PWM channels
Completed
RI00UA*CI00UA*

Set Both PWM Channels Command Breakdown

ByteSettingDescription
Byte 1I=Instant Command
B=Buffer Command		Sets command to either Instant or Buffer.
Byte 2-30-99Optional Command ID
Byte 4-5UA= Set X-Axis and Y-AxisSets both X-Axis and Y-Axis settings
Byte 6-120000000-1000000Sets the Frequency for the channel in 1Hz steps for X-Axis
Byte 14-1700000Sets the Duty Cycle 0-100% for X-Axis
The last 2 digits are decimal places. So 08050 would be 80.5%
Byte 18-240000000-1000000Sets the Frequency for the channel in 1Hz steps for Y-Axis
Byte 25-2900000Sets the Duty Cycle 0-100% for Y-Axis
The last 2 digits are decimal places. So 08050 would be 80.5%
Byte 30*End of Command
 

⊕Buffering Instant Commands.

With all the Instant commands you can also send as buffered commands, but you will need to use a couple of extra commands to initiate the buffer first using the H0000* command.


Next you would need to decide how many commands you would like to store in the buffer (up to a maximum of 100 commands) before sending a Buffer Start command Z0000*.

With the release of Firmware V5.3 upwards you can now store 2000 commands in the buffer.

Buffering commands allow you to queue up your commands, so they execute one after the other and reduce latency between commands being executed.
Instant commands apart from the Stop command cannot be sent while sending Buffered commands.
We recommend to buffer around 20 commands before sending a Buffer Start command and then to send a new command when you get the Complete Reply back, until all your commands have been sent.
When all commands have been executed from the buffer you will get a **Buffer Empty** Reply come back and you will have to Initiate the buffer again to start.

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⊕

Initiate the buffer H0000*

Initiate the buffer before sending any buffered commands.
Byte1Byte 2-5Byte 6
H0000*

Initiate Buffer Reply

The PTHAT will send back a reply when it receives this command.
Initiate Buffer Command Received
RBH000*

Initiate Buffer Breakdown

ByteSettingDescription
Byte 1H
Byte 2-50000
Byte 6*End of Command
 

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⊕

Buffer Start command Z0000*

Start executing buffered commands.
Byte1Byte 2-5Byte 6
Z0000*

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

ByteSettingDescription
Byte 1Z
Byte 2-50000
Byte 6*End of Command
 

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⊕

Buffer Loop Start command W0000*

***Available Firmware V5.3 upwards***
Start executing buffered commands.
With this command it will run through the buffered commands and when it gets to the last, it will go back to the first command and repeat all commands in a loop until a Stop command is sent.
Byte1Byte 2-5Byte 6
W0000*

Buffer Loop Start command Reply

The PTHAT will send back a reply when it receives a command.
Initiate Buffer Command Received
RBW000*

Buffer Loop Start command Breakdown

ByteSettingDescription
Byte 1W
Byte 2-50000
Byte 6*End of Command
 

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⊕RAW Buffered Commands

⊕ At the moment the Raw Buffered command mode is still being developed and we will release a new firmware and software examples when complete.

These commands and firmware routines are being designed to speed up communications and allow for higher speeds with no latency when sending thousands of small movement commands.

We did hope to have this finished before release, but it is taking much longer than anticipated.

If you are purchasing the PTHAT for this feature, then please wait until it is released before purchasing as we cannot put a time frame on the delivery of this feature at this point in time.

Closer look at the PCB's

PTHAT Mainboard

£55/Ex VAT
  • Single Channel Main Board.
  • JTAG Programmer.
  • Set of Mounting Spacers and Bolts.
Buy Now

PTHAT Add on Board

£45/Ex VAT
  • Expansion Add on Board.
  • Increases the PTHAT to 4 channels.
  • Extra I/O Functionality.
  • Set of Mounting Spacers.
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PTHAT Full Package

£90/Ex VAT
  • Single Channel Main Board.
  • Expansion Add on Board.
  • Increases the PTHAT to 4 channels.
  • Extra I/O Functionality.
  • JTAG Programmer.
  • Set of Mounting Spacers and Bolts.
  • Save £10 with this Package
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