API¶

PTHat class¶

class pthat.PTHat(command_type='I', command_id=0, serial_device='/dev/ttyS0', baud_rate=115200, test_mode=False)¶

Bases: object

class PTHat¶

This is the main Pulse Train Hat class. It is used to run commands against the PTHat and to run general commands.

Parameters

command_type (str, optional) – type of command, I = instant, B = buffered - defaults to I
command_id (int, optional) – optional command ID, 0-99 - defaults to 0
serial_device (str, optional) – path to the serial device - defaults to /dev/ttyS0
baud_rate (int, optional) – serial port baud rate - defaults to 115200
test_mode (boolean, optional) – if true then serial commands will not actually be sent - defaults to False

debug = False¶: Sets debug mode. This just prints additional information. This must be set directly

wait_delay = 0¶

Wait delay between commands - 0-9999 - This can be set directly.

Delay in milliseconds: 1000ms = 1 second delay,
Delay in microseconds: 1000us = 0.001 of a second

auto_send_command = False¶: Automatically send the command when command methods are called. This can be set directly.

command_type = 'I'¶: Type of command, instant or buffer. This can be set directly.

I = Instant or B = Buffer.

command_id = 0¶: Optional command ID. This can be set directly.

Any value between 0 and 99.

test_mode = False¶: This lets all methods to be run without actually sending them to the serial port. This can be set directly.

serial = None¶: The path to the serial device such as /dev/ttyS0. This can be set directly.

property motor_enabled¶

Specifies if the motor is enabled or not. Do not set this as it is set internally.

Read-only property

Returns: True or False
Return type: bool

property received_command_replies_enabled¶

If received command replies are enabled or not.

Read-only property

Returns: True or False
Return type: bool

property completed_command_replies_enabled¶

If completed command replies are enabled or not.

Read-only property

Returns: True or False
Return type: bool

property command_end¶

Serial command ending character. Set to *.

Read-only property

Returns: command end character
Return type: str

property version¶

Version of this API.

Read-only property

Returns: version number
Return type: str

init_serial_interface(write_timeout=2, timeout=2)¶

Initializes the serial port

Parameters

write_timeout – write timeout - default 2
timeout – read timeout - default 2

Returns

serial port object

Return type

class:serial.Serial

send_command(command)¶

This method sends the command to the serial port asynchronously

Parameters: command – command to send

get_all_responses()¶

This method gets all responses until no more can be returned

Returns: a list of responses
Return type: list

get_response()¶

This method gets a single response. A response is the value returned up to an *.

Returns: a single response as a string
Return type: str

parse_responses(responses)¶

Parse the list of responses and set the various values in the class. Returns responses that were not parsed as some responses may come from the other classes such as Axis or AUX.

Parameters: responses – list of responses to parse

Todo

finish parsing

get_io_port_status()¶

When this request is sent, it will return the state of the Emergency Stop input port and each of the Limit Switch input ports. This allows them to be used as general inputs when limits disabled.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	LI	*

Command breakdown

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	LI = Port Status	Request current Port Status
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. In this case the received command will be sent back along with the state of the ES/Limit inputs and then completed command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

IO Port Status Received Result	IO Port Status Completed
RI00LI*Result	CI00LI*
Result will show as L11111* Bit5=ES input Bit4=X Limit input Bit3=Y Limit input Bit2=Z Limit input Bit1=E Limit input

set_wait_delay(period='W', delay=None)¶

When this request is sent, it causes a wait delay between buffered commands. Typical use is when switching one of the AUX outputs and you want to wait a while for it to complete. Note this is a wait and will pause the firmware routines, so do not use if a pulse train channel is running. You can set the Wait period to be in Milliseconds or Microseconds.

Parameters

period – period of time for the delay, W = Milliseconds, M = Microseconds - default W
delay – length of delay - default 0

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6-9	Byte 10
I	00	WW	1000	*

Command breakdown

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

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Received	Completed
R00WW*	C00WW*

toggle_motor_enable_line()¶

Toggles the Motor Enable Line

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	HT	*

Command breakdown

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	HT	Toggle Motor Enable Line On/Off
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Toggle Enable Command Received	Toggle Enable Command Completed
R00HT*	C00HT*

received_command_replies_on()¶

Turns on the Received Replies.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	R1	*

Command breakdown

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	R1 = Turn On R0 = Turn Off	Turn on/off Received Command Replies
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Received Command Replies Turned On Received	Received Command Replies Turned Off Received	Received Command Replies Turned On Completed	Received Command Replies Turned Off Completed
RI00R1*	RI00R0*	CI00R1*	CI00R0*

received_command_replies_off()¶

Turns off the Received Replies.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	R0	*

Command breakdown

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	R1 = Turn On R0 = Turn Off	Turn on/off Received Command Replies
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Received Command Replies Turned On Received	Received Command Replies Turned Off Received	Received Command Replies Turned On Completed	Received Command Replies Turned Off Completed
RI00R1*	RI00R0*	CI00R1*	CI00R0*

completed_command_replies_on()¶

Turns on the Completed Replies.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	G1	*

Command breakdown

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	G1 = Turn On G0 = Turn Off	Turn on/off Completed Command Replies
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Received Command Replies Turned On Received	Received Command Replies Turned Off Received	Received Command Replies Turned On Completed	Received Command Replies Turned Off Completed
RI00G1*	RI00G0*	CI00G1*	CI00G0*

completed_command_replies_off()¶

Turns off the Completed Replies.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	G0	*

Command breakdown

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	G1 = Turn On G0 = Turn Off	Turn on/off Completed Command Replies
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Received Command Replies Turned On Received	Received Command Replies Turned Off Received	Received Command Replies Turned On Completed	Received Command Replies Turned Off Completed
RI00G1*	RI00G0*	CI00G1*	CI00G0*

get_firmware_version()¶

Requests the Firmware Version from the PTHAT

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	FW	*

Command breakdown

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 version
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Firmware Command Received Version	Firmware Command Completed Turned Off
RI00FW*Version	CI00FW*

reset()¶

Resets the PTHAT back to turn on state and resets all pulse generators. Can be used in an emergency to close everything down and stop the pulse trains.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2
N	*

Command breakdown

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

Reply

The PTHAT will send back a reply when it receives this command.

Reset Command Received	Reset Command Completed
Nothing	Nothing

initiate_buffer()¶

With all the Instant commands you can also send as buffered commands, but you will need to use a couple of extra commands to initiate the buffer first using the H0000* command.

Next you would need to decide how many commands you would like to store in the buffer (up to a maximum of 100 commands) before sending a Buffer Start command Z0000*.

With the release of Firmware V5.3 upwards you can now store 2000 commands in the buffer.

Buffering commands allow you to queue up your commands, so they execute one after the other and reduce latency between commands being executed. Instant commands apart from the Stop command cannot be sent while sending Buffered commands. We recommend to buffer around 20 commands before sending a Buffer Start command and then to send a new command when you get the Complete Reply back, until all your commands have been sent. When all commands have been executed from the buffer you will get a Buffer Empty Reply come back and you will have to Initiate the buffer again to start.

Initiate the buffer before sending any buffered commands.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-5	Byte 6
H	0000	*

Command breakdown

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

Reply

The PTHAT will send back a reply when it receives this command.

Initiate Buffer Command Received
RBH000*

start_buffer()¶

Start executing buffered commands.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-5	Byte 6
Z	0000	*

Command breakdown

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

Reply

The PTHAT will send back a reply when it receives a command.

Start Buffer Command Received
RBZ000*

start_buffer_loop()¶

*Available Firmware V5.3 upwards* Start executing buffered commands. With this command it will run through the buffered commands and when it gets to the last, it will go back to the first command and repeat all commands in a loop until a Stop command is sent.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-5	Byte 6
W	0000	*

Command breakdown

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

Reply

The PTHAT will send back a reply when it receives a command.

Start Buffer Loop Command Received
RBW000*

rpm_to_frequency(rpm, steps_per_rev, round_digits)¶: Convert RPM to frequency

Formula for calculating stepping motor speed.

Below is the RPM formula for stepping motor drives that use pulse signals to create motion.

RPM = a/360 * fz * 60

RPM = Revolutions per minute.

“a” = step angle (degrees of rotation per step)

“fz” = pulse frequency in hertz

step angle = degrees of rotation (360) / steps per revolution

Example 1: Drive step resolution is set for 1000 steps per revolution.

Find step angle: 360 (degrees of rotation) divided by 1000 (steps per revolution) =

.36 (degrees of rotation per step)

With input frequency of 1000hz, .36 / 360 * 1000 * 60 = 60 rpm

Example 2: Drive step resolution is set for 500 steps per revolution.

Find step angle: 360 (degrees of rotation) divided by 500 (steps per revolution) =

.72 (degrees of rotation per step)

With input frequency of 1000hz, .72 / 360 * 1000 * 60 = 120 rpm.

:param round_digits number of digits to round to :param rpm RPM to convert :param steps_per_rev steps per revolution :returns: frequency :rtype: float

frequency_to_rpm(frequency, steps_per_rev)¶: Convert frequency to RPM

Formula for calculating stepping motor speed.

Below is the frequency formula for stepping motor drives that use pulse signals to create motion.

To find required frequency to meet desired speed we must find Fz:

Fz = RPM / ( (a/360) * 60)

“fz” = pulse frequency in hertz

“a” = step angle (degrees of rotation per step)

RPM = Revolutions per minute.

step angle = degrees of rotation (360) / steps per revolution

Step 1. Divide step angle by 360: .36/360 = .001, then multiply by 60 (seconds) .001 * 60 = .06

Step 2. Divide desired speed by .06: Desired speed of 500 rpm’s. Therefore ; 500 / .06 = 8333.33

( 8333.33 is the frequency in hertz required to reach 500 rpm’s for drive set at 1000 steps per revolution)

:param frequency the frequency :param steps_per_rev steps per revolution :returns: RPM :rtype: int

calculate_pulse_count(steps_per_rev, total_revs)¶

Calculates the pulse count from the steps per revolution and the total revolutions desired.

Calculation is

pulse count = steps per rev * total revs

Parameters

steps_per_rev – steps per revolution
total_revs – total revolutions desired

Returns

pulse count

Return type

int

calculate_revolutions(steps_per_rev, pulse_count)¶

Calculates the number of revolutions from the steps per revolution and the pulse count.

Calculation is

total revs = pulse count / steps per rev

Parameters

steps_per_rev – steps per revolution
pulse_count – total pulse count

Returns

number of revolutions

Return type

int

Axis class¶

class pthat.Axis(axis, command_type='I', command_id=0, serial_device='/dev/ttyS0', baud_rate=115200, test_mode=False)¶

Bases: pthat.PTHat

class Axis¶

This is an Axis object that contains info about an axis. It inherits from PTHat so contains all functionality needed to communicate with the PTHat via the serial interface.

Parameters

command_type – type of command, I = instant, B = buffered - default I
command_id – optional command ID, 0-99 - default 0
serial_device – serial device - default /dev/ttyS0
baud_rate – serial port baud rate - default 115200
test_mode – if true then serial commands will not actually be sent - default False

frequency = 0.0¶: Frequency of the pulse train - 000000.000 - 500000.000. This can be set directly.

pulse_count = 0¶: Required pulse count - 0000000000 - 4294967295. This can be set directly.

direction = 0¶: Direction - 0 = clockwise (cw - forward), 1 = counter clockwise (ccw - reverse). This can be set directly.

start_ramp = 0¶: Start ramp - 0 = No Ramp, 1 = Ramp. This can be set directly.

finish_ramp = 0¶: Finish ramp - 0 = No Ramp, 1 = Ramp. This can be set directly.

ramp_divide = 0¶: Ramp divide. Divides target frequency by this value for each ramp increment. 0 - 255. This can be set directly.

ramp_pause = 0¶: Ramp pause between each ramp increment. 0 - 255. This can be set directly.

link_to_adc = 0¶: Link to ADC - 0 = No ADC, 1 = Link to ADC1, 2= Link to ADC2. This can be set directly.

enable_line_polarity = 0¶: Enable line polarity - 0 = Enable Line 0 Volts, 1 = Enable Line 5 Volts. This can be set directly.

pulse_count_change_direction = 0¶: Sets the Pulse count to change direction on the fly - 0000000000-4294967295. This can be set directly.

pulse_counts_sent_back = 0¶: Sets the Pulse count at which all Axis pulse counts will be sent back - 0000000000-4294967295. This can be set directly.

enable_disable_x_pulse_count_replies = 1¶: Enable/disable X axis pulse count replies. This can be set directly.

0=Disable X Axis Pulse Replies, 1=Enable X Axis Pulse Reply

enable_disable_y_pulse_count_replies = 0¶: Enable/disable Y axis pulse count replies. This can be set directly.

0=Disable Y Axis Pulse Replies, 1=Enable Y Axis Pulse Reply

enable_disable_z_pulse_count_replies = 0¶: Enable/disable Z axis pulse count replies. This can be set directly.

0=Disable Z Axis Pulse Replies, 1=Enable Z Axis Pulse Reply

enable_disable_e_pulse_count_replies = 0¶: Enable/disable E axis pulse count replies. This can be set directly.

0=Disable E Axis Pulse Replies, 1=Enable E Axis Pulse Reply

pause_all_return_x_pulse_count = 0¶: Pause all and send back pulse count replies for X axis. This can be set directly.

0=Disable X Axis Pulse Count Replies, 1=Enable X Axis Pulse Count Reply

pause_all_return_y_pulse_count = 0¶: Pause all and send back pulse count replies for Y axis.This can be set directly.

0=Disable X Axis Pulse Count Replies, 1=Enable X Axis Pulse Count Reply

pause_all_return_z_pulse_count = 0¶: Pause all and send back pulse count replies for Z axis. This can be set directly.

0=Disable X Axis Pulse Count Replies, 1=Enable X Axis Pulse Count Reply

pause_all_return_e_pulse_count = 0¶: Pause all and send back pulse count replies for E axis. This can be set directly.

0=Disable X Axis Pulse Count Replies, 1=Enable X Axis Pulse Count Reply

axis = 'X'¶: The axis this object represents. This can be set directly.

X, Y, Z or E or A (all)

set_axis(frequency=None, pulse_count=None, direction=None, start_ramp=None, finish_ramp=None, ramp_divide=None, ramp_pause=None, link_to_adc=None, enable_line_polarity=None)¶

This Command sets the properties of each Axis, but does not start the pulse train on that Axis. A Start Command must be used after to activate.

Parameters

frequency – frequency of the pulse train, 0.0-500000.0 - default 0.0 or self.frequency
pulse_count – required pulse count, 0-4294967295 - default 0 or self.pulse_count
direction – direction, 0 = forward (CW), 1 = reverse (CCW) - default 0 (forward - CW) or self.direction
start_ramp – start ramp, no ramp = 0, ramp = 1 - default 0 or self.start_ramp
finish_ramp – finish ramp, no ramp = 0, ramp = 1 - default 0 or self.finish_ramp
ramp_divide – ramp divide, 0-255, will divide the target frequency by this value for each ramp increment - default 0 or self.ramp_divide
ramp_pause – ramp pause between each ramp increment, 0-255 - default 0 or self.ramp_pause
link_to_adc – link to ADC, no ADC = 0, ADC1 = 1, ADC2 = 2 - default 0 or self.link_to_adc
enable_line_polarity – enable line polarity, enable line 0 volts = 0, enable line 5 volts = 1 - default 0 or self.enable_line_polarity

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6-15	Byte 16-25	Byte 26	Byte 27	Byte 28	Byte 29-31	Byte 32-34	Byte 35	Byte 36	Byte 37
I	00	CX	125000.000	4294967295	1	1	1	100	010	0	1	*

Command breakdown

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	CX = Set X-Axis CY = Set Y-Axis CZ = Set Z-Axis CE = Set E-Axis	Sets which Axis is to be set
Byte 6-15	000000.000-500000.000	Sets the frequency of the pulse train
Byte 16-25	0000000000-4294967295	Sets the required pulse count.
Byte 26	0-1	Direction 0=CW (forward) 1=CCW (reverse)
Byte 27	0-1	Start Ramp 0=No ramp 1=Ramp
Byte 28	0-1	Finish Ramp 0=No ramp 1=Ramp
Byte 29-31	0-255	Ramp divide. This will divide the target frequency by this value for each ramp increment
Byte 32-34	0-255	Ramp pause between each ramp increment
Byte 35	0-2	Link to ADC 0=No ADC 1=Link to ADC1 2=Link to ADC2
Byte 36	0-1	Enable Line Polarity 0=Enable Line 0 Volts 1=Enable Line 5 Volts
Byte 37	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply. These can be turned off if needed.

X set Received	Y set Received	Z set Received	E set Received	X set Completed	Y set Completed	Z set Completed	E set Completed
RI00CX*	RI00CY*	RI00CZ*	RI00CE*	CI00CX*	CI00CY*	CI00CZ*	CI00CE*

set_direction_forward()¶

Sets the direction to forward

Returns: the command to send to the serial port
Return type: str

set_direction_reverse()¶

Sets the direction to reverse

Returns: the command to send to the serial port
Return type: str

enable_start_ramp()¶

Enables the start ramp

Returns: the command to send to the serial port
Return type: str

disable_start_ramp()¶

Disables the start ramp

Returns: the command to send to the serial port
Return type: str

enable_finish_ramp()¶

Enables the finish ramp

Returns: the command to send to the serial port
Return type: str

disable_finish_ramp()¶

Disables the finish ramp

Returns: the command to send to the serial port
Return type: str

enable_line_polarity_0_volts()¶

Enable the line polarity at 0 volts

Returns: the command to send to the serial port
Return type: str

enable_line_polarity_5_volts()¶

Enable the line polarity at 5 volts

Returns: the command to send to the serial port
Return type: str

set_auto_direction_change(pulse_count=None)¶

This Command sets the Auto Direction Change of each Axis, but does not start the pulse train on that Axis. A Start Command must be used after to activate.

Parameters: pulse_count – pulse count to change direction on the fly, 0-4294967295 - default 0 or self.pulse_count
Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6-15	Byte 16
I	00	BX	0000000100	*

Command breakdown

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	BX = Set X-Axis BY = Set Y-Axis BZ = Set Z-Axis BE = Set E-Axis	Sets which Axis is to be set to auto change direction
Byte 6-15	0000000000-4294967295	Sets the Pulse count to change direction on the fly
Byte 16	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply. These can be turned off if needed.

X set Received	Y set Received	Z set Received	E set Received	X set Completed	Y set Completed	Z set Completed	E set Completed
RI00BX*	RI00BY*	RI00BZ*	RI00BE*	CI00BX*	CI00BY*	CI00BZ*	CI00BE*

set_auto_count_pulse_out(pulse_count=None, xreplies=None, yreplies=None, zreplies=None, ereplies=None)¶

This Command sets which Axis and at what pulse count it should send back the current pulse count of each axis. It also sends back direction of travel. You can also choose what pulse replies are sent back X, Y, Z or E. A Start Command must be used after to activate.

Be aware that this command can cause a lot of data being sent back over the serial port and if you try to send other commands while it is sending data back, there could be a clash.

param pulse_count

pulse count at which all Axis pulse counts will be sent back, 0-4294967295 - default 0 or self.pulse_count

param xreplies

enable/disable X axis pulse count replies, disable = 0, enable = 1 - default 1 or self.enable_disable_x_pulse_count_replies

param yreplies

enable/disable Y axis pulse count replies, disable = 0, enable = 1 - default 0 or self.enable_disable_y_pulse_count_replies

param zreplies

enable/disable Z axis pulse count replies, disable = 0, enable = 1 - default 0 or self.enable_disable_z_pulse_count_replies

param ereplies

enable/disable E axis pulse count replies, disable = 0, enable = 1 - default 0 or self.enable_disable_e_pulse_count_replies

returns

the command to send to the serial port

rtype

str

Command

Byte 1

Byte 2-3

Byte 4-5

Byte 6-15

Byte 16

Byte 17

Byte 18

Byte 19

Byte 20

I

00

JX

0000000100

1

1

1

1

*

I01JX00000064001111

Command breakdown

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	JX = Set X-Axis JY = Set Y-Axis JZ = Set Z-Axis JE = Set E-Axis	Sets which Axis is to be set to auto send pulse counts on
Byte 6-15	0000000000-4294967295	Sets the Pulse count at which all Axis pulse counts will be sent back
Byte 16	0-1	Enable/Disable X Axis Pulse Replies 0 = Disable 1 = Enable
Byte 17	0-1	Enable/Disable Y Axis Pulse Replies 0 = Disable 1 = Enable
Byte 18	0-1	Enable/Disable Z Axis Pulse Replies 0 = Disable 1 = Enable
Byte 19	0-1	Enable/Disable E Axis Pulse Replies 0 = Disable 1 = Enable
Byte 20	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. The Pulse Count and direction that the motor is travelling will be sent back when pulse target is hit. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply. These can be turned off if needed.

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)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00JY* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00JZ* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00JE* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295

start()¶

Start one of the pulse trains running.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	SX	*

Command breakdown

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	SX = Start X-Axis SY = Start Y-Axis SZ = Start Z-Axis SE = Start E-Axis SA = Start All	Sets which Axis is to be started
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. In this case the completed command will be sent back when the Axis that has been started completes the Pulse Count. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Start Received	Y Start Received	Z Start Received	E Start Received	All Start Received	X Pulse Count Completed	Y Pulse Count Completed	Z Pulse Count Completed	E Pulse Count Completed
RI00SX*	RI00SY*	RI00SZ*	RI00SE*	CI00SA*	CI00SX*	CI00SY*	CI00SZ*	CI00SE*

start_all()¶

Start all of the pulse trains running.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	SA	*

Command breakdown

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	SX = Start X-Axis SY = Start Y-Axis SZ = Start Z-Axis SE = Start E-Axis SA = Start All	Sets which Axis is to be started
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. In this case the completed command will be sent back when the Axis that has been started completes the Pulse Count. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Start Received	Y Start Received	Z Start Received	E Start Received	All Start Received	X Pulse Count Completed	Y Pulse Count Completed	Z Pulse Count Completed	E Pulse Count Completed
RI00SX*	RI00SY*	RI00SZ*	RI00SE*	CI00SA*	CI00SX*	CI00SY*	CI00SZ*	CI00SE*

stop()¶

Stop one of the pulse trains from running. This is a controlled stop, in that the Axis will ramp down and not just stop to protect the motors. If you want to use a sudden stop then we recommend a external Emergency Stop button that cuts the power or send a Reset command.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	TX	*

Command breakdown

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	TX = Stop X-Axis TY = Stop Y-Axis TZ = Stop Z-Axis TE = Stop E-Axis TA = Stop All	Sets which Axis is to be stopped
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. In this case the completed command will be sent back when the Axis that has came to a stop. If the Command sent ID number was set for bytes 2-3, then this will be returned in the Received reply, but the completed command ID will be from the original ID used in the Start command.

X Stop Received	Y Stop Received	Z Stop Received	E Stop Received	All Stop Received	X Pulse Stopped	Y Pulse Stopped	Z Pulse Stopped	E Pulse Stopped
RI00TX*	RI00TY*	RI00TZ*	RI00TE*	RI00TA*	CI00TX*	CI00TY*	CI00TZ*	CI00TE*

stop_all()¶

Stop all of the pulse trains from running. This is a controlled stop, in that the Axis will ramp down and not just stop to protect the motors. If you want to use a sudden stop then we recommend a external Emergency Stop button that cuts the power or send a Reset command.

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	TA	*

Command breakdown

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	TX = Stop X-Axis TY = Stop Y-Axis TZ = Stop Z-Axis TE = Stop E-Axis TA = Stop All	Sets which Axis is to be stopped
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. In this case the completed command will be sent back when the Axis that has came to a stop. If the Command sent ID number was set for bytes 2-3, then this will be returned in the Received reply, but the completed command ID will be from the original ID used in the Start command.

X Stop Received	Y Stop Received	Z Stop Received	E Stop Received	All Stop Received	X Pulse Stopped	Y Pulse Stopped	Z Pulse Stopped	E Pulse Stopped
RI00TX*	RI00TY*	RI00TZ*	RI00TE*	RI00TA*	CI00TX*	CI00TY*	CI00TZ*	CI00TE*

pause(return_x_pulse_cnt=None, return_y_pulse_cnt=None, return_z_pulse_cnt=None, return_e_pulse_cnt=None)¶

Pauses one of the pulse trains from running. Bytes 6-9 choose to send Pulse count back after pause for each Axis.

Parameters

return_x_pulse_cnt – X axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_x_pulse_count
return_y_pulse_cnt – Y axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_y_pulse_count
return_z_pulse_cnt – Z axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_z_pulse_count
return_e_pulse_cnt – E axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_e_pulse_count

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6	Byte 7	Byte 8	Byte 9	Byte 10
I	00	PX	1	0	0	0	*

Command breakdown

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 X-Axis PY = Pause Y-Axis PZ = Pause Z-Axis PE = Pause E-Axis PA = Pause All	Sets which Axis is to be Paused
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 10	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If Pulse Count is selected then it will also send back the pulse count of chosen Axis. In this case the completed command will be sent back when the Axis is resumed, after a Pause. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Pause Received	Y Pause Received	Z Pause Received	E Pause Received	Pause All Received
RI00PX*	RI00PY*	RI00PZ*	RI00PE*	RI00PA*
DI00PX* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PY* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PZ* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PE* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PX to E* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295

pause_all(return_x_pulse_cnt=None, return_y_pulse_cnt=None, return_z_pulse_cnt=None, return_e_pulse_cnt=None)¶

Pauses all of the pulse trains from running. Bytes 6-9 choose to send Pulse count back after pause for each Axis.

Parameters

return_x_pulse_cnt – X axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_x_pulse_count
return_y_pulse_cnt – Y axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_y_pulse_count
return_z_pulse_cnt – Z axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_z_pulse_count
return_e_pulse_cnt – E axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_e_pulse_count

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6	Byte 7	Byte 8	Byte 9	Byte 10
I	00	PA	1	0	0	0	*

Command breakdown

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 X-Axis PY = Pause Y-Axis PZ = Pause Z-Axis PE = Pause E-Axis PA = Pause All	Sets which Axis is to be Paused
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 10	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If Pulse Count is selected then it will also send back the pulse count of chosen Axis. In this case the completed command will be sent back when the Axis is resumed, after a Pause. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Pause Received	Y Pause Received	Z Pause Received	E Pause Received	Pause All Received
RI00PX*	RI00PY*	RI00PZ*	RI00PE*	RI00PA*
DI00PX* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PY* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PZ* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PE* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295	DI00PX to E* XP(D)XResult* YP(D)XResult* ZP(D)XResult* EP(D)XResult* (D)=Direction of motor travel Result= 0000000000- 4294967295

resume(return_x_pulse_cnt=None, return_y_pulse_cnt=None, return_z_pulse_cnt=None, return_e_pulse_cnt=None)¶

Resumes one of the pulse trains from running. Bytes 6-9 choose to send Pulse count back after pause for each Axis.

Parameters

return_x_pulse_cnt – X axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_x_pulse_count
return_y_pulse_cnt – Y axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_y_pulse_count
return_z_pulse_cnt – Z axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_z_pulse_count
return_e_pulse_cnt – E axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_e_pulse_count

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6	Byte 7	Byte 8	Byte 9	Byte 10
I	00	PX	1	0	0	0	*

Command breakdown

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 X-Axis PY = Pause Y-Axis PZ = Pause Z-Axis PE = Pause E-Axis PA = Pause All	Sets which Axis is to be Paused
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 10	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If Pulse Count is selected then it will also send back the pulse count of chosen Axis. In this case the completed command will be sent back when the Axis is resumed, after a Pause. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Resume Received	Y Resume Received	Z Resume Received	E Resume Received	Resume All Received
CI00PX*	CI00PY*	CI00PZ*	CI00PE*	CI00PA*

resume_all(return_x_pulse_cnt=None, return_y_pulse_cnt=None, return_z_pulse_cnt=None, return_e_pulse_cnt=None)¶

Resumes all of the pulse trains from running. Bytes 6-9 choose to send Pulse count back after pause for each Axis.

Parameters

return_x_pulse_cnt – X axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_x_pulse_count
return_y_pulse_cnt – Y axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_y_pulse_count
return_z_pulse_cnt – Z axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_z_pulse_count
return_e_pulse_cnt – E axis pulse count replies, disable = 0, enable = 1 - default 0 or self.pause_all_return_e_pulse_count

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6	Byte 7	Byte 8	Byte 9	Byte 10
I	00	PA	1	0	0	0	*

Command breakdown

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 X-Axis PY = Pause Y-Axis PZ = Pause Z-Axis PE = Pause E-Axis PA = Pause All	Sets which Axis is to be Paused
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 10	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If Pulse Count is selected then it will also send back the pulse count of chosen Axis. In this case the completed command will be sent back when the Axis is resumed, after a Pause. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Resume Received	Y Resume Received	Z Resume Received	E Resume Received	Resume All Received
CI00PX*	CI00PY*	CI00PZ*	CI00PE*	CI00PA*

get_current_pulse_count()¶

When this request is sent, it will return of the current pulse count of the running Axis.

Returns: the command to send to the serial port
Return type: str

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	XP	*

Command breakdown

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	XP = Pulse Count X-Axis YP = Pulse Count Y-Axis ZP = Pulse Count Z-Axis EP = Pulse Count E-Axis	Request current pulse count for Axis specified
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. In this case the received command will be sent back along with the Pulse Count and direction that the motor is travelling, then completed command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Pulse Count Received Result	Y Pulse Count Received Result	Z Pulse Count Received Result	E Pulse Count Received Result	X Pulse Count Completed	X Pulse Count Completed	X Pulse Count Completed	X Pulse Count Completed
RI00XP*	RI00YP*	RI00ZP*	RI00EP*	CI00XP*	CI00YP*	CI00ZP*	CI00EP*
XP(D)XResult* (D)=Direction of X motor travel XResult= 0000000000- 4294967295	YP(D)XResult* (D)=Direction of Y motor travel XResult= 0000000000- 4294967295	ZP(D)XResult* (D)=Direction of Z motor travel XResult= 0000000000- 4294967295	EP(D)XResult* (D)=Direction of E motor travel XResult= 0000000000- 4294967295

change_speed(new_frequency)¶

This Command changes the speed of each Axis on the fly. A Set Axis Command and a Start Command must be used to set the Axis running before this command can be used. Note that this command does not have a ramp up and ramp down value so speed adjustments must be made in smaller increments with a stepper motor so as to not cause it to stall.

Parameters: new_frequency – new frequency to change the speed to, 0.0-125000.0 - required
Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6-15 \| Byte 16
I	00	QX	001000.000 \| *

Command breakdown

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	QX = Set X-Axis QY = Set Y-Axis QZ = Set Z-Axis QE = Set E-Axis	Sets which Axis is to be set
Byte 6-15	000000.000-125000.000	Sets the new frequency of the pulse train
Byte 16	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply. These can be turned off if needed.

X Set Received	Y Set Received	Z Set Received	E Set Received	X Set Completed	Y Set Completed	Z Set Completed	E Set Completed
RI00QX*	RI00QY*	RI00QZ*	RI00QE*	CI00QX*	CI00QY*	CI00QZ*	CI00QE*

enable_limit_switches()¶

When this request is sent, it will Enable Limit Switch or Emergency Stop inputs. A reset on the PTHAT will set them to default of Disable

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6 \| Byte 7
I	00	KX	1 \| *

Command breakdown

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	Set Limit Switch or Emergency Stop Enable/Disable
Byte 6	0-1	Switches selected Limit Switch to Enable/Disable 0=Disable 1=Enable
Byte 7	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Limit Received	Y Limit Received	Z Limit Received	E Limit Received	Emergency Stop Received	X Limit Completed	Y Limit Completed	Z Limit Completed	E Limit Completed	Emergency Stop Completed
R00KX*	R00KY*	R00KZ*	R00KE*	R00KS*	C00KX*	C00KY*	C00KZ*	C00KE*	C00KS*

disable_limit_switches()¶

When this request is sent, it will Disable Limit Switch or Emergency Stop inputs. A reset on the PTHAT will set them to default of Disable

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6 \| Byte 7
I	00	KX	0 \| *

Command breakdown

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	Set Limit Switch or Emergency Stop Enable/Disable
Byte 6	0-1	Switches selected Limit Switch to Enable/Disable 0=Disable 1=Enable
Byte 7	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Limit Received	Y Limit Received	Z Limit Received	E Limit Received	Emergency Stop Received	X Limit Completed	Y Limit Completed	Z Limit Completed	E Limit Completed	Emergency Stop Completed
R00KX*	R00KY*	R00KZ*	R00KE*	R00KS*	C00KX*	C00KY*	C00KZ*	C00KE*	C00KS*

enable_emergency_stop()¶

When this request is sent, it will Disable Limit Switch or Emergency Stop inputs. A reset on the PTHAT will set them to default of Disable

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6 \| Byte 7
I	00	KS	1 \| *

Command breakdown

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	Set Limit Switch or Emergency Stop Enable/Disable
Byte 6	0-1	Switches selected Limit Switch to Enable/Disable 0=Disable 1=Enable
Byte 7	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Limit Received	Y Limit Received	Z Limit Received	E Limit Received	Emergency Stop Received	X Limit Completed	Y Limit Completed	Z Limit Completed	E Limit Completed	Emergency Stop Completed
R00KX*	R00KY*	R00KZ*	R00KE*	R00KS*	C00KX*	C00KY*	C00KZ*	C00KE*	C00KS*

disable_emergency_stop()¶

When this request is sent, it will Disable Limit Switch or Emergency Stop inputs. A reset on the PTHAT will set them to default of Disable

Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6 \| Byte 7
I	00	KS	0 \| *

Command breakdown

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	Set Limit Switch or Emergency Stop Enable/Disable
Byte 6	0-1	Switches selected Limit Switch to Enable/Disable 0=Disable 1=Enable
Byte 7	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

X Limit Received	Y Limit Received	Z Limit Received	E Limit Received	Emergency Stop Received	X Limit Completed	Y Limit Completed	Z Limit Completed	E Limit Completed	Emergency Stop Completed
R00KX*	R00KY*	R00KZ*	R00KE*	R00KS*	C00KX*	C00KY*	C00KZ*	C00KE*	C00KS*

reset()¶: Call reset on the parent class and then reset all the variables

ADC class¶

class pthat.ADC(adc_number, command_type='I', command_id=0, serial_device='/dev/ttyS0', baud_rate=115200, test_mode=False)¶

Bases: pthat.PTHat

class ADC¶

This is an ADC class containing info about an ADC. It inherits from PTHat so contains all functionality needed to communicate with the PTHat via the serial interface.

Parameters

adc_number – ADC number, 1 or 2
command_type – type of command, I = instant, B = buffered - default I
command_id – optional command ID, 0-99 - default 0
serial_device – serial device - default /dev/ttyS0
baud_rate – serial port baud rate - default 115200
test_mode – if true then serial commands will not actually be sent - default False

adc_number = 1¶: ADC number - Currently 1 or 2. This can be set directly.

get_reading(adc_number=None)¶

When this request is sent, it will return the value of the ADC requested.

:param adc_number ADC number, 1 or 2 - default 1 or self.adc_number :returns: the command to send to the serial port :rtype: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6
I	00	D1	*

Command breakdown

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	D1 = ADC1 Result D2 = ADC2 Result	Request current ADC value
Byte 6	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. In this case the received command will be sent back along with the ADC result and then completed command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

ADC1 Received Result	ADC1 Received Result		ADC1 Completed	ADC2 Completed
RI00D1*Result	RI00D2*Result		CI00D1*	CI00D2*

reset()¶: Call reset on the parent class and then reset all the variables

AUX class¶

class pthat.AUX(aux_number, command_type='I', command_id=0, serial_device='/dev/ttyS0', baud_rate=115200, test_mode=False)¶

Bases: pthat.PTHat

class AUX¶

This is an AUC class containing info about an AUX. It inherits from PTHat so contains all functionality needed to communicate with the PTHat via the serial interface.

Parameters

aux_number – AUX number, 1-3
command_type – type of command, I = instant, B = buffered - default I
command_id – optional command ID, 0-99 - default 0
serial_device – serial device - default /dev/ttyS0
baud_rate – serial port baud rate - default 115200
test_mode – if true then serial commands will not actually be sent - default False

aux_number = 1¶: ADC number, currently 1, 2 or 3. This can be set directly.

output_on(aux_number=None)¶

When this request is sent, it will switch on the Aux port.

Parameters: aux_number – AUX number, 1-3, default 1 or self.aux_number
Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6 \| Byte 7
I	00	A1	1 \| *

Command breakdown

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	A1 = Set Aux1 A2 = Set Aux2 A3 = Set Aux3	Set Aux port for switching
Byte 6	0-1	Switches selected Aux On or Off 0 = Off 1 = On
Byte 7	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Aux1 Received	Aux2 Received	Aux3 Received	Aux3 Completed	Aux3 Completed	Aux3 Completed
R00A1*	R00A2*	R00A3*	C00A1*	C00A1*	C00A1*

output_off(aux_number=None)¶

When this request is sent, it will switch off the Aux port.

Parameters: aux_number – AUX number, 1-3, default 1 or self.aux_number
Returns: the command to send to the serial port
Return type: str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6 \| Byte 7
I	00	A1	0 \| *

Command breakdown

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	A1 = Set Aux1 A2 = Set Aux2 A3 = Set Aux3	Set Aux port for switching
Byte 6	0-1	Switches selected Aux On or Off 0 = Off 1 = On
Byte 7	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply.

Aux1 Received	Aux2 Received	Aux3 Received	Aux3 Completed	Aux3 Completed	Aux3 Completed
R00A1*	R00A2*	R00A3*	C00A1*	C00A1*	C00A1*

reset()¶: Call reset on the parent class and then reset all the variables

PWM class¶

class pthat.PWM(axis, command_type='I', command_id=0, serial_device='/dev/ttyS0', baud_rate=115200, test_mode=False)¶

Bases: pthat.PTHat

class PWM¶

This is an PWM class containing info about an PWM. It inherits from PTHat so contains all functionality needed to communicate with the PTHat via the serial interface.

From Firmware V5.3 onwards there are commands for controlling two dedicated PWM channels. Details for PWM can be found here: http://pthat.com/index.php/pwm/

Parameters

axis – axis for this class
command_type – type of command, I = instant, B = buffered - default I
command_id – optional command ID, 0-99 - default 0
serial_device – serial device - default /dev/ttyS0
baud_rate – serial port baud rate - default 115200
test_mode – if true then serial commands will not actually be sent - default False

frequency = 0¶: Frequency for the channel is in 1Hz steps - 0000000-1000000. This can be set directly.

duty_cycle = 0¶: Sets the Duty Cycle 0-100%, The last 2 digits are decimal places. So 08050 would be 80.5%. This can be set directly.

frequency_x = 0¶: Used for Set Both PWM Channels Command only

Sets the Frequency for the channel in 1Hz steps for X-Axis. This can be set directly.

frequency_y = 0¶: Used for Set Both PWM Channels Command only

Sets the Frequency for the channel in 1Hz steps for Y-Axis. This can be set directly.

duty_cycle_x = 0¶: Used for Set Both PWM Channels Command only

Sets the Duty Cycle 0-100% for X-Axis. This can be set directly.

duty_cycle_y = 0¶: Used for Set Both PWM Channels Command only

Sets the Duty Cycle 0-100% for Y-Axis. This can be set directly.

axis = 'X'¶: Sets which Axis is to be set - X or Y, if UA then this doesn’t matter as it will do both X and Y. This can be set directly.

set_channel(frequency=None, duty_cycle=None)¶

*Available Firmware V5.3 upwards* This Command sets the Frequency and Pulse Width for the desired channel. It then also starts it.

Parameters

frequency – frequency for the channel in 1Hz steps, 0000000-1000000 - default 0 or self.frequency
duty_cycle – duty cycle 0-100%. The last 2 digits are decimal places. So 08050 would be 80.5% - default 0 or self.duty_cycle

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6-12 \| Byte 13-17 \| Byte 18 \|
I	00	UX	0000000 \| 00000 \| * \|

Command breakdown

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	UX = Set X-Axis UY = Set Y-Axis	Sets which Axis is to be set
Byte 6-12	0000000-1000000	Sets the Frequency for the channel in 1Hz steps
Byte 13-17	00000	Sets the Duty Cycle 0-100%
Byte 18	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply. These can be turned off if needed.

X Set Received	X Set Received	X Set Received	X Set Received
RI00UX*	RI00UY*	CI00UX*	CI00UY*

set_frequency(frequency)¶

Set the PWM frequency

Parameters: frequency – frequency for the channel in 1Hz steps, 0000000-1000000 - default 0
Returns: the command to send to the serial port
Return type: str

set_duty_cycle(duty_cycle)¶

Set the PWM duty cycle

Parameters: duty_cycle – duty cycle 0-100%. The last 2 digits are decimal places. So 08050 would be 80.5% - default 0
Returns: the command to send to the serial port
Return type: str

set_both_channels(frequencyx=None, frequencyy=None, duty_cyclex=None, duty_cycley=None)¶

*Available Firmware V5.3 upwards* This Command sets the Frequency and Pulse Width for both channels at the same time. It then also starts both together.

Parameters

frequencyx – frequency for the X channel in 1Hz steps, 0000000-1000000 - default 0 or self.frequency_x
frequencyy – frequency for the Y channel in 1Hz steps, 0000000-1000000 - default 0 or self.frequency_y
duty_cyclex – duty cycle for X channel 0-100%. The last 2 digits are decimal places. So 08050 would be 80.5% - default 0 or self.duty_cycle_x
duty_cycley – duty cycle for Y channel 0-100%. The last 2 digits are decimal places. So 08050 would be 80.5% - default 0 or self.duty_cycle_x

Returns

the command to send to the serial port

Return type

str

Command

Byte 1	Byte 2-3	Byte 4-5	Byte 6-12	Byte 13-17	Byte 18-24	Byte 25-29	Byte 30
I	00	UA	0000000	00000	0000000	00000	*

Command breakdown

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	UA=Set X-Axis and Y-Axis	Sets both X-Axis and Y-Axis settings
Byte 6-12	0000000-1000000	Sets the Frequency for the channel in 1Hz steps for X-Axis
Byte 13-17	00000	Sets the Duty Cycle 0-100% for X-Axis
Byte 18-24	0000000-1000000	Sets the Frequency for the channel in 1Hz steps for Y-Axis
Byte 25-29	00000	Sets the Duty Cycle 0-100% for Y-Axis
Byte 30	*	End of Command

Reply

The PTHAT will send back a reply when it receives a command and also when it has completed a command. If the Command sent ID number was set for bytes 2-3, then this will be returned in the reply. These can be turned off if needed.

Set both PWM channels Received	Set both PWM channels Completed
RI00UA*	CI00UA*

reset()¶: Call reset on the parent class and then reset all the variables

API¶

PTHat class¶

Axis class¶

ADC class¶

AUX class¶

PWM class¶

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