Ludl Electronic Products MAC 2002 User manual
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Ludl Electronic Products MAC 2002 INTERFACE User's Manual
STAGECPU Version 4.0 Page 1October 12, 1999
1. Introduction:
The MAC 2002 Communication Interface No. 73002040 is an interface between a terminal or host computer and
the controller. The communication is accomplished with an RS-232 serial connection. Programming protocol is
with text of ASCII alpha-numeric characters. Also included are some control characters such as carriage return,
backspacing, and tab.
There is a set of built-in commands with unique names. These commands can be executed by simply sending the
command name with some parameters if required. The reply received will be in a preset format and may include
the result required.
For example: Reading the position of motor X takes the form:
command: Where X
reply: :A 120000
1.1. Basic Rules:
Characters sent from a host computer are stored in a buffer and executed after receiving a carriage return. Each
line should be started with a command name and terminated with a carriage return character. Each line can only
contain one command name, such as CALIB or HALT, but more then one parameter can be appended to a
command, by respecting the command format. Each command is executed when a carriage return is received.
Commands and parameters should be separated by at least one space or tab character. When a parameter with
a number is involved, one or more spaces or tabs are permitted between them.
For example: The following formats are all the same:
where x=123 <cr>
where x =123<cr>
where x = 123 <cr>
The command termination character specified here as <cr> has the value of 13 decimal, 0d hexadecimal and
represented in C programming language by "\r" (carriage return).
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 2October 12, 1999
1.2. Reply:
A reply is sent back from controller to the host upon reception of a command. Every reply starts with an ASCII
colon character (":") and terminates by a character having value of 10 decimal,0A hexadecimal and represented as
"\n" in C programming language. Reception of a reply means controller is ready to accept the next command from
the host computer. The replies can be divided to two groups regarded as positive and negative. A positive reply is
sent back if there are no errors encountered within the command structure. A positive reply character is an ASCII
("A") following the reply start character. Internally every command received is assigned a reference number which
is sent to host with the positive reply. A negative reply is sent back if there are errors within the command
structure. A negative reply character is an ASCII ("N") following the reply start character. Sending a command that
does not exist, not respecting the command formats or trying to execute commands with no corresponding
modules installed, are some of the reasons that will cause negative replies.
1.3. Positive Reply Formats:
Positive reply without any other parameters.
Move X
:A
Positive reply with a value requested.
Where X Y
:A -2000 1000
In this case inquired X position is -2000 and Y is 1000.
A positive reply may have error code replacing the value requested.
Where X Y
:A -2000 N-2
Inquired X position is -2000, but Y axis is not installed.
1.4. Negative Reply Formats:
An error code is added to the negative replies:
Xyxter
:N -1
The command Xyxter is unknown to the controller.
Move X
:N -2
The axis X is not installed.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 3October 12, 1999
1.5. Error Code Table:
-1 Unknown command
-2 Illegal point type or axis, or module not installed
-3 Not enough parameters (eg. move r= )
-4 Parameter out of range
-21 Process aborted by HALT command
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 4October 12, 1999
2. Terminology:
Each module or function of a module is identified with a single alpha character referred to here as Modul-Id.
Signed integer values can be stored in Points for later usage or retrieval. A Point is a basic memory unit which is
identified with a number appended to the Modul-Id. Every point for different Modul-Id's is referred to here as
Point-Id. For example, X3 is a Point-Id for Modul-Id X and Point No. 3. The largest value a point can hold is 4
bytes long. Points may also be used to read and write ports. Certain Point-Id's are used by the interface and
should not be used for other purposes. For example, if CALIB command uses Point-Id number 99 for calibration
speed, Point-Id's X99 and Y99 should only be written when the calibration speed has to be changed.
The following table shows the standard settings for a basic controller. The numbers between [] are optional and
can be omitted.
Modul-Id Address Label Description
X1EMOT stage X axis
Y2EMOT stage Y axis
B3EMOT aux axis
R4EMOT aux axis
C5EMOT aux axis
Z6EMOT aux axis
T7EMOT aux axis
I9 & 8 EDAIO digital in ports
O9 & 8 EDAIO digital out ports
F11 EAFC auto focus finder
P[1] 12 HPHCD photometer No. 1
P2 13 HPHCD photometer No. 2
P3 14 HPHCD photometer No. 3
P4 15 HPHCD photometer No. 4
P5 16 HPHCD photometer No. 5
S[1] 17 EFILS filter shutter No. 1
S2 18 EFILS filter shutter No. 2
S3 19 EFILS filter shutter No. 3
S4 20 EFILS filter shutter No. 4
S5 21 EFILS filter shutter No. 5
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 5October 12, 1999
3. Remote Reset:
Command: REMRES
Format: Remres
This command is used to reset the whole controller. Upon receiving this command the
interface will restart from a power up condition. Which it will reset the other modules. This
command accomplishes the same task as if interface reset button is pressed.
Reply: There is no reply sent to host computer. All modules including the interface are reset.
Example: Remres
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 6October 12, 1999
4. Remote Key Readings:
Command: REMKEY
Format: Remkey
There are four optional switches in the interface. This command is used to read status of this
switches. The command will always return a value in a one character string form. The values
range from 0 to 4. If there is no switch closure is detected previous to this command the string
character "0" is returned. Otherwise string characters from "1" to "4" is returned, representing
the pressed switch number. The switch closures are buffered in a 10 byte long FIFO circular
buffer. Switches should closed and then opened in order to detect them.
Reply: A positive reply is sent back when command is received correctly. Reception of the reply
means the end of execution. Return value is included in the reply.
Example: Remkey
:A 0 will mean no switch pressed since last inquiry.
:A 2 switch number 2 is detected.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 7October 12, 1999
5. Interface Remote Control Byte:
Command: ISTAT
Istat parameter
Format: Istat [parameter]
This command is implemented to read and write one byte value to interface. The use of this
command is for future use. There are no assigned bits at the present time. The user may write
any value to interface and read it back. When parameter is omitted the value is returned from
interface. On power up default value is 0.
The parameter value is expressed as one byte. It can have values from 0 to 255.
Reply: A positive reply is sent back when command is received correctly. Reception of the reply also
means the end of execution. Return value is included in the reply if it exists.
Example: Istat 200
write 200 to interface status byte.
Istat
read the interface status byte.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 8October 12, 1999
6. Transmission Delay:
Command: TRXDEL
Trxdel parameter
Format: Trxdel [parameter]
This command is used to add delays between bytes, transmitted from controller to host
computer. When parameter is omitted the value is returned from interface.
The parameter is expressed as one byte and it can have values from 1 to 255. Unit of
measurement is expressed as 0.5 millisecond. On power up the default value is 4 which is 2
millisecond delay between transmitted bytes.
Reply: A positive reply is sent back when command is received correctly. Reception of the reply
means the end of execution.
Example: Trxdel 100
write 100 to interface transmission delay value, which is equal to 50 millisecond.
trxdel
read the interface transmission delay value.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 9October 12, 1999
7. Open Photometer Shutters:
Command: OPEN P
Format: Open P[device-number] [shutter-number]
Device-number and shutter-number are equal to 1 when omitted.
Open photometer shutters. Each controller may have 5 photometer boards installed. Where
each board is addressed with the number specified with [device- number], there is no space
between the board identifier P and the device-number (P2 or P3 etc.). The range of [d] is from
1 to 5. When this number is equal to 1, 1 may be omitted.
Each board has two shutters, which are numbered 1 and 2. The shutters are addressed with
the number specified with [shutter-number]. The value of [shutter-number] is either [1] or [2].
When this number is equal to 1, 1 may be omitted. Opening Shutter 1 enables backlight
illumination, and Opening Shutter 2 enables light to the photometer head. To take a
measurement, normally Shutter 1 should be closed and Shutter 2 should be opened.
Reply: A positive reply is sent back when command is received correctly. Reception of the reply
means the end of execution.
Example: Open P
Open shutter 1 of P1.
Open P2
Open shutter 1 of P2.
Open P 2
Open shutter 2 of P1.
Open P2 2
Open shutter 2 of P2.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 10 October 12, 1999
8. Close Photometer Shutter:
Command: CLOSE P
Format: Close P[device-number] [shutter-number]
Device-number and shutter-number are equal to 1 when omitted.
Close photometer shutters. This command has the same format as the Open command (see
Open Photometer Shutters). Closing Shutter 1 disables backlight illumination, and closing
Shutter 2 disables light to the photometer head. To take a measurement, normally Shutter 1
should be closed and Shutter 2 should be opened.
Reply: A positive reply is sent back when command is received correctly. Reception of the reply
means the end of execution.
Example: Close P
Close Shutter 1 of P1.
Close P2
Close Shutter 1 of P2.
Close P 2
Close Shutter 2 of P1.
Close P2 2
Close Shutter 2 of P2.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 11 October 12, 1999
9. Photometer Data:
Command: SIG P
Format: Sig P[device-number]
Read photometer signal channel. The value received is photometer reading and normalized to
from -32767 to +32767. Each controller may have 5 photometer boards installed. Where each
board is addressed with the number specified with [device-number], there is no space between
the board identifier P and the board number (P2 or P3 etc.). The range of [device- number] is
from 1 to 5 and may be omitted when it is equal to 1.
Reply: A positive reply with a value is sent back if a photometer board is installed. A negative reply is
sent otherwise.
Example: Sig P
Read photometer value of photometer number 1.
Sig P2
Read photometer value of photometer number 2.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 12 October 12, 1999
10. Photometer Reference Data:
Command: REF P
Format: Ref P[device-number]
Read photometer reference channel. The value received is reference reading and normalized
to from -32767 to +32767. Each controller may have 5 photometer boards installed. Where
each board is addressed with the number specified with [device-number], there is no space
between the board identifier P and the board number (P2 or P3 etc.). The range of [device-
number] is from 1 to 5 and may be omitted when it is equal to 1.
Reply: A positive reply with a value is sent back if a photometer board is installed. A negative reply
is sent otherwise.
Example: Ref P
Read reference value of photometer number 1.
Ref P2
Read reference value of photometer number 2.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 13 October 12, 1999
11. Autofocus Data:
Command: SIG F
Format: Sig F
Read auto-focus signal channel. The value returned is focus signal reading.
Reply: A positive reply with a value is sent back if a auto-focus board is installed. A negative reply is
sent otherwise.
Example: Sig F
Read focus signal value.
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 14 October 12, 1999
12. Back Light Illumination:
Command: BIL P
Format: Bil P[device-number]
or
Bil P[device-number] value
Read or write back light illumination duty cycle value. When the value is omitted, then the
reply received will contain the value stored in photometer device. The value's range is from 0
to 100. It represents the percentage of the full illumination value. The value of (0) will turn off
back light illumination and (100) will turn on the back light illumination with the full intensity.
Each controller may have 5 photometer boards installed. Where each board is addressed with
the number specified with [device-number], there is no space between the board identifier P
and the board number (P2 or P3 etc.). The range of [device-number] is from 1 to 5 and may
be omitted when it is equal to 1.
Reply: A positive reply is sent if no error. The reply will contain a value requested if there is no value
specified within the command line. The intensity of the back light will change after reception of
a command.
Example: Bil P 50
Turn the back light illumination to half of its full intensity ( 50% duty cycle).
Bil P 0
Turn the back light illumination off.
Bil P
Read the back light illumination duty cycle.
The reply will be:
:A 0
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 15 October 12, 1999
13. Analog Output:
Command: DAC P
Format: Dac P[device-number]
or
Dac P[device-number] value
Read or write auxiliary analog output value. When the value is omitted, then the reply received
will contain the value stored in photometer device. The value's range is from 0 to 10 volts. It
represents the analog output voltage. This output may be used as an extra DC power supply
for lamps, etc.
Each controller may have 5 photometer boards installed. Where each board is addressed with
the number specified with [device-number], there is no space between the board identifier P
and the board number (P2 or P3 etc.). The range of [device-number] is from 1 to 5 and may
be omitted when it is equal to 1.
Reply: A positive reply is sent if no error. The reply will contain a value requested if there is no value
specified within the command line. The output voltage will change after reception of a
command.
Example: Dac P 5
Make voltage to be 5 volt at the output.
Dac P
Read the last output voltage written.
The reply will be:
:A 5
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 16 October 12, 1999
14. Binary Analog Output:
Command: BDAC P
Format: Bdac P[device-number]
or
Bdac P[device-number] value
Read or write auxiliary analog output binary value. When the value is omitted, then the reply
received will contain the value stored in photometer device. The value's range is from 0 to
32767. This command is similar to DAC command described earlier. Internally, precision of
the DAC output is 0.000153 Volt, but due to incapability of loading floating numbers as a
command parameter, output voltage can only be programmed in increments of 1 volt. In order
correct this inconvenience, this command is added. The following equation should be helpful to
compute the correct value to be loaded:
value = ( 32767 / 5 ) * output voltage
With the same equation output voltage can be obtained from the value read as follows:
output voltage = ( 5 / 32767 ) * value
Each controller may have 5 photometer boards installed. Where each board is addressed with
the number specified with [device-number], there is no space between the board identifier P
and the board number (P2 or P3 etc.). The range of [device-number] is from 1 to 5 and may
be omitted when it is equal to 1.
Reply: A positive reply is sent if no error. The reply will contain a value requested if there is no value
specified within the command line. The output voltage will change after reception of a
command.
Example: Bdac P 5
Make voltage to be 5 volt at the output.
Bdac P
Read the last output voltage written.
The reply will be:
:A 5
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 17 October 12, 1999
15. Intensity Sampling Rate:
Command: AVER P
Format: Aver P[device-number]
or
Aver P[device-number] value
Read or write intensity sampling rate. When the value is omitted, then the reply received will
contain the value stored in photometer device. The value's range is from 0 to 255. When a
SIG command is executed, photometer device will sample the detector for the number of
times specified with the sampling value. The sampling rate is internally fixed to be 1, 2, 4, 8,
16, 32, 64, 128 and 256. Although the sampling rate may be specified from 0 to 255, it is
normalized to the nearest power of two. For example, if value is zero, then sampling rate is
256; if it is 9, it would be 16, etc.
The value read with SIG command is the result of the accumulations of the signals divided by
the sampling rate.
Each controller may have 5 photometer boards installed. Where each board is addressed with
the number specified with [device-number], there is no space between the board identifier P
and the board number (P2 or P3 etc.). The range of [device-number] is from 1 to 5 and may
be omitted when it is equal to 1.
Reply: A positive reply is sent if no error. The reply will contain a value requested if there is no value
specified within the command line.
Example: Aver P 4
Make photometer take 4 samples when reading signal intensities.
Aver P
Read the last number of samples written.
The reply will be:
:A 4
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 18 October 12, 1999
16. Photometer Gain Settings:
Command: GAIN P
Format: Gain P[device-number]
or
Gain P[device-number] value
Read or write Gain settings. When the value is omitted, then reply received will contain the
value stored in photometer device. The purpose is to change the gain to amplify the
photometer signal. The amplifier gain can only have one of the following set values:
1 10 100 1000 (power up default is 1)
Each controller may have 5 photometer boards installed. Where each board is addressed with
the number specified with [device-number], there is no space between the board identifier P
and the board number (P2 or P3 etc.). The range of [device-number] is from 1 to 5 and may
be omitted when it is equal to 1.
Reply: A positive reply is sent if no error. The reply will contain a value requested if there is no value
specified within the command line. The output gain will change after reception of a command.
Example: Gain P 10
Gain will change to 10 times.
Gain P
Read the last output gain written.
The reply will be:
:A 10
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Ludl Electronic Products MAC 2000 INTERFACE User's Manual
STAGECPU Version 4.0 Page 19 October 12, 1999
17. Photometer Data Step:
Command: STEP P
Format: Step P[device-number]
or
Step P[device-number] value
Read or write Data collection step interval. When the value is omitted, then the reply received
will contain the value stored in photometer device. Unit of the value is specified in motor
pulses, and the range is from 1 to 65535. When data collection is done with SYNC ON mode,
the interval is governed with the number of pulses coming from motor driver. Photometer data
is collected when the number of pulses counted is equal to number of pulses programmed with
this command. Data collection stops when incoming motor pulses are stopped.
Each controller may have 5 photometer boards installed. Where each board is addressed with
the number specified with [device-number] , there is no space between the board identifier P
and the board number (P2 or P3 etc.). The range of [device-number] is from 1 to 5 and may
be omitted when it is equal to 1.
Reply: A positive reply is sent if no error. The reply will contain a value requested if there is no value
specified within the command line.
Example: Step P 1000
Data collection is every 1000 pulses.
Step P
Read the last programmed step per data collection.
The reply will be:
:A 1000
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