Examples

PTHAT Test Rig used, while developing the code.

Select one of the examples below where you can see more information and download the software.

All the software supplied with these examples are full source code that needs to be compiled in Visual Studio 2015 as Universal Windows Applications and are for Windows 10.
Visual Studio Express can be downloaded for free from Microsoft.

At the moment they are written in C# but we will convert them over to other languages such as VB.NET if the demand is there.

In many of the examples the 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.

PTHAT Introduction using Instant Commands

Closer look at the PCB's

PTHAT Mainboard

£55/Ex VAT

Single Channel Main Board.
JTAG Programmer.
Set of Mounting Spacers and Bolts.

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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

Buy Now

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

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

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

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

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

Examples

PTHAT Introduction using Instant Commands

PTHAT High Speed RPM Testing with Nema 17 Motor using Instant Commands

Changing Speed on the Fly Example using Instant Commands

PTHAT controlling Parallel Scara Robot Arm using Instant Commands

PTHAT controlling a Coil Winding Machine using Instant Commands

PTHAT Jog Control of a CNC Machine using Instant Commands

PTHAT Pick and Place Example using Buffered and Instant Commands

PTHAT Xbox Gamepad Mecanum Bot Example using Instant Commands

PTHAT RC Transmitter Mecanum Bot Example using Instant Commands

Closer look at the PCB's

PTHAT Mainboard

PTHAT Add on Board

PTHAT Full Package

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

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

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

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

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