[\/et_pb_text][\/et_pb_column][\/et_pb_row][\/et_pb_section][et_pb_section admin_label=”Section” fullwidth=”off” specialty=”off” transparent_background=”off” allow_player_pause=”off” inner_shadow=”off” parallax=”off” parallax_method=”off” padding_mobile=”off” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” make_equal=”off” use_custom_gutter=”off”][et_pb_row admin_label=”Row” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” use_custom_gutter=”off” padding_mobile=”off” allow_player_pause=”off” parallax=”off” parallax_method=”off” make_equal=”off” parallax_1=”off” parallax_method_1=”off” column_padding_mobile=”on”][et_pb_column type=”4_4″][et_pb_text admin_label=”Text” background_layout=”light” text_orientation=”left” use_border_color=”off” border_color=”#ffffff” border_style=”solid”]<\/p>\n
The PTHAT is controlled by sending simple serial commands.<\/h3>\n\n- \n
\n- 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.
\n<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n- \n
\n- Each command has to be terminated with a *<\/strong><\/span> character and all letters\u00a0must be\u00a0in capitals. Replies from the PTHAT will also be returned with a *<\/span> character.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
\n- \n
\n- 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.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
\n- \n
\n- 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.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
\n- \n
\n- 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.
\nWe 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.
\nWe will cover this more in the examples page.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n- \n
\n- 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.<\/span><\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
\n- \n
\n- 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.<\/span><\/span><\/span><\/li>\n
- We also have messages that will come back from the limit switch inputs and Emergency Stop input it triggered when enabled. These are:<\/span>
\nESTrig*<\/span>
\nXLTrig*<\/span>
\nYLTrig*<\/span>
\nZLTrig*<\/span>
\nELTrig*
\n<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\nThere is a jumper on board the PTHAT that will let you select either Standard Speed or High Speed.<\/span><\/p>\nPlease 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.<\/span>
\nAnother 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.<\/span><\/p>\nThe communication settings should be:<\/span><\/p>\n
- \n
- 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.
\n<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n- \n
- \n
- \n
- Each command has to be terminated with a *<\/strong><\/span> character and all letters\u00a0must be\u00a0in capitals. Replies from the PTHAT will also be returned with a *<\/span> character.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- \n
- \n
- 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.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- \n
- \n
- 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.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- \n
- \n
- 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.
\nWe 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.
\nWe will cover this more in the examples page.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n- \n
- \n
- \n
- 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.<\/span><\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- \n
- \n
- 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.<\/span><\/span><\/span><\/li>\n
- We also have messages that will come back from the limit switch inputs and Emergency Stop input it triggered when enabled. These are:<\/span>
\nESTrig*<\/span>
\nXLTrig*<\/span>
\nYLTrig*<\/span>
\nZLTrig*<\/span>
\nELTrig*
\n<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\nThere is a jumper on board the PTHAT that will let you select either Standard Speed or High Speed.<\/span><\/p>\n
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.<\/span>
\nAnother 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.<\/span><\/p>\nThe communication settings should be:<\/span><\/p>\n
- We also have messages that will come back from the limit switch inputs and Emergency Stop input it triggered when enabled. These are:<\/span>
- 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.<\/span><\/span><\/span><\/li>\n
- \n
- 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.<\/span><\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- 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.
- \n
- 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.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- 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.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
- Each command has to be terminated with a *<\/strong><\/span> character and all letters\u00a0must be\u00a0in capitals. Replies from the PTHAT will also be returned with a *<\/span> character.<\/span><\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
- \n
![\"\"](\"https:\/\/pthat.com\/wp-content\/uploads\/2016\/12\/Jumper1BaudSetting.jpg\")
<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n