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www.zaber.com • s impl i fy ing mot ion control
Every motion controller has its own command protocol.
command protocol(n.) series of rules that dictates the format of conversation between you and the motion controller.
www.zaber.com • s impl i fy ing mot ion control
The command protocol affects:
How intuitive the controller is to use.
www.zaber.com • s impl i fy ing mot ion control
The command protocol affects:
How intuitive the controller is to use.
How quickly the controller can communicate.
www.zaber.com • s impl i fy ing mot ion control
The command protocol affects:
How intuitive the controller is to use.
How quickly the controller can communicate.
The type of device(s) that the controller can communicate with.
www.zaber.com • s impl i fy ing mot ion control
Having an open, consistent, easy-to-use protocol is important because...
www.zaber.com • s impl i fy ing mot ion control
Having an open, consistent, easy-to-use protocol is important because...
It makes it easy to integrate devices quickly into an application.
www.zaber.com • s impl i fy ing mot ion control
Having an open, consistent, easy-to-use protocol is important because...
It makes it easy to integrate devices quickly into an application.
It reduces the time it takes for users to become proficient with the controls.
www.zaber.com • s impl i fy ing mot ion control
Zaber’s devices use two command protocols.
ASCIIAn easy-to-use and intuitive protocol for communicating in plain text.
www.zaber.com • s impl i fy ing mot ion control
Zaber’s devices use two command protocols.
ASCIIAn easy-to-use and intuitive protocol for communicating in plain text.
BINARYA 6-byte binary protocol designed for relaying commands in a consistent, compact format.
www.zaber.com • s impl i fy ing mot ion control
Zaber’s A- and X-Series devices can use both Binary and ASCII protocols; T-Series can use just Binary.
ASCIIBINARY
www.zaber.com • s impl i fy ing mot ion control
Binary communicates in command numbers. ASCII communicates in plain text.
ASCIIBINARY
www.zaber.com • s impl i fy ing mot ion control
Each protocol has its own benefits. Binary is simple, with concise commands. ASCII is easy to use, and it is compatible with many devices. It also offers added support for new features.
ASCIIBINARY
www.zaber.com • s impl i fy ing mot ion control
Binary’s simplicity may limit the expandability and complexity of its command list. While ASCII offers ease of use, its commands do not have a consistent length.
ASCIIBINARY
www.zaber.com • s impl i fy ing mot ion control
More information about each protocol is available on Zaber’s Support wiki: www.zaber.com/support
www.zaber.com • s impl i fy ing mot ion control
Now, let’s focus on each protocol and how you can use them to communicate with your devices.
www.zaber.com • s impl i fy ing mot ion control
First, let’s look at Binary.
BINARYA 6-byte binary protocol designed for relaying commands in a consistent, compact format.
www.zaber.com • s impl i fy ing mot ion control
BINARY
Every command that is sent and every response that is received back from the controller contains three pieces of information.
www.zaber.com • s impl i fy ing mot ion control
Device number executing the command
(1 byte)
BINARY
Multiple devices can be chained in a series. The device number indicates which device in a daisy-chain should respond to the command.
www.zaber.com • s impl i fy ing mot ion control
Device number executing the command
(1 byte)
The number of the command or setting
(1 byte)
BINARY
The number of the command or setting indicates the action being executed.The number of the command or setting indicates the action being executed.
www.zaber.com • s impl i fy ing mot ion control
Device number executing the command
(1 byte)
The number of the command or setting
(1 byte)
A data value (4 bytes)
BINARY
The meaning of the data value will depend on the command.
www.zaber.com • s impl i fy ing mot ion control
For example: Let’s say you want to send a command to the first device in the series (device number 1) to find the home position (command number 1).
Command 1: 1, 1, 0, 0, 0, 0
www.zaber.com • s impl i fy ing mot ion control
For example: Then, you want to send another command to move forward relative to the current position (command number 21) by 1000 microsteps.
Command 1: 1, 1, 0, 0, 0, 0
Command 2: 1, 21, 232, 3, 0, 0
www.zaber.com • s impl i fy ing mot ion control
In the first command, the data value is 0 because the home command does not require any additional information to run.
Command 1: 1, 1, 0, 0, 0, 0
Command 2: 1, 21, 232, 3, 0, 0
www.zaber.com • s impl i fy ing mot ion control
In the second command, the four data bytes are arranged in order of least significant byte to most significant byte. Software is usually used to handle the data conversion.
Command 1: 1, 1, 0, 0, 0, 0
Command 2: 1, 21, 232, 3, 0, 0
www.zaber.com • s impl i fy ing mot ion control
Each time a command completes, the controller will send back a response in the same format.
Command to device 1, 1, 0, 0, 0, 0...stage retracts to home...
Response from device 1, 1, 0, 0, 0, 0
www.zaber.com • s impl i fy ing mot ion control
Now, let’s look at ASCII.
ASCIIAn easy-to-use and intuitive protocol for communicating in plain text.
www.zaber.com • s impl i fy ing mot ion control
Plain text commands
ASCII
The ASCII protocol is available on Zaber’s A-Series devices with firmware version 6.06, and all X-Series devices. ASCII allows for plain text communication between a computer and a controller.
www.zaber.com • s impl i fy ing mot ion control
For example: Let’s say you want to command a device to move to a position 1000 microsteps forward from the current position.
Command 1: /move rel 1000 9
www.zaber.com • s impl i fy ing mot ion control
For example: Then, let’s say you want to command the device to find the reference position.
Command 1: /move rel 1000
Command 2: /home9
9
www.zaber.com • s impl i fy ing mot ion control
The controller will respond, letting you know that the command has been received and that it will be executed, or that the command has been rejected and why.
Command to device /01 home
Response from device @01 1 OK IDLE -- 0...device begins to move...
9
9
www.zaber.com • s impl i fy ing mot ion control
Simple, right?
ASCIIAn easy-to-use and intuitive protocol for communicating in plain text.
www.zaber.com • s impl i fy ing mot ion control
Besides simplicity, there are a number of benefits to this protocol.
www.zaber.com • s impl i fy ing mot ion control
It’s simple to use because it’s text-based and designed for readability.
www.zaber.com • s impl i fy ing mot ion control
It’s simple to use because it’s text-based and designed for readability.
It’s easy for new users to be able to pick up the communication quickly.
www.zaber.com • s impl i fy ing mot ion control
It’s simple to use because it’s text-based and designed for readability.
It’s easy for new users to be able to pick up the communication quickly.
Using ASCII characters for control allows compatibility with a wide variety of devices, like PLCs (programmable logic controllers).
www.zaber.com • s impl i fy ing mot ion control
Faster communication speeds are supported, which allows for further compatibility.
www.zaber.com • s impl i fy ing mot ion control
Faster communication speeds are supported, which allows for further compatibility.
Added support for new features and commands, such as multiple limits, programmable actions, and I/Os.
www.zaber.com • s impl i fy ing mot ion control
Now that we know what these protocols are, how do we use them?
www.zaber.com • s impl i fy ing mot ion control
Software, such as our free, open-source Zaber Console, facilitates the use of these protocols on our positioners.
ASCII
Binary
www.zaber.com • s impl i fy ing mot ion control
Other programs, such as LabVIEW, can also be used. Zaber offers LabVIEW drivers for controlling devices with ASCII or Binary protocol.
ASCII
Binary
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