TRIO MPC-145 SERIES MICROMANIPULATOR SYSTEM OPERATION MANUAL – REV. 2.62C (20191001) (FW V2.62)
33
Tx/-
Delay/-
Rx
Ver. Total
Bytes
Byte
Offset
(Len.)
Value
Alt-key-
pad #
Ctrl-
char
ASCII
def./-
char.
Description
Dec. Hex.
Binary
Rx
All
1
0
13 0D 0000 1101
^M <CR>
Completion indicator
NOTE: All positions are in microsteps (µsteps): 32-bit (4 bytes) positive (unsigned) values, in
Little Endian bit order (see Notes).
While all move commands cause movement to occur at a rate of 5,000 microns/second, the
“Straight-Line Move ‘S’ command is specified with one of sixteen speeds. Actual speed for the
can be determined with the following formula: (5000 / 16) * (sp +1), where 5,000 is the
maximum speed in microns/second and “sp” is the speed level 0 (slowest) through 15
(fastest). For mm/second or microns/millisecond, multiply result by 0.001.
Table 4-12. Straight-Line Move ‘S’ Command Speeds.
Speed Setting
(2
nd
Argument of ‘S’
Command Seq.)
mm/sec
or
µm/ms
µm/sec
or
nm/ms
nm/sec
in/sec
or
mil/ms
Percentage
of
Maximum
15
5.0000
5000.0
5000000
0.196850394
100.00%
14
4.6875
4687.5
4687500
0.184547244
93.75%
13
4.3750
4375.0
4375000
0.172244094
87.50%
12
4.0625
4062.5
4062500
0.159940945
81.25%
11
3.7500
3750.0
3750000
0.147637795
75.00%
10
3.4375
3437.5
3437500
0.135334646
68.75%
9
3.1250
3125.0
3125000
0.123031496
62.50%
8
2.8125
2812.5
2812500
0.110728346
56.25%
7
2.5000
2500.0
2500000
0.098425197
50.00%
6
2.1875
2187.5
2187500
0.086122047
43.75%
5
1.8750
1875.0
1875000
0.073818898
37.50%
4
1.5625
1562.5
1562500
0.061515748
31.25%
3
1.2500
1250.0
1250000
0.049212598
25.00%
2
0.9375
0937.5
937500
0.036909449
18.75%
1
0.6250
0625.0
625000
0.024606299
12.50%
0
0.3125
0312.5
312500
0.012303150
6.25%
4.6.9
Interrupt Straight-Line Move (‘^C’) Command
This command interrupts a move in progress (only for moves initiated by the “Straight-line”
move (‘S’) command). The command sequence consists of one byte.
Table 4-13. Interrupt a straight-line move in progress (‘^C’) command.
Tx/-
Delay/-
Rx
Ver. Total
Bytes
Byte
Offset
(Len.)
Value
Alt-key-
pad #
Ctrl-
char
ASCII
def./-
char.
Description
Dec. Hex.
Binary
Tx
All 1
0
3 03 0000 0011 0003 ^C <ETX>
Command
Rx
1
0
13 0D 0000 1101
<CR>
Completion indicator