Differences

This shows you the differences between two versions of the page.

--- commands:rdsbyte [2018/02/07 17:24] – jon
+++ commands:rdsbyte [2026/03/12 17:25] (current) – jon
@@ Line 1: / Line 1: @@
+====== Command:RDSBYTE (RB) ======
+--> MS2000 or RM2000 syntax ^
+^Shortcut  |RB   |
+^Format  |RDSBYTE [axis] = [status_byte]… |
+<--
+--> Tiger syntax ^
+^Shortcut  |RB   |
+^Format  |RDSBYTE [axis] = [status_byte]… |
+^Type    |Axis-Specific  |
+<--
+Requests the TG-1000 and MS-2000 to respond with the ''Status Byte'' (see definition below).  Similar to [[commands:rdstat|RDSTAT]] but returns the raw byte.
+<WRAP center round info 80%>
+**Note:** If you don't see the serial response, it may be because the reply is in raw bytes, see the [[#python_helper_script|Python script]] below for an example of how to parse the data.  Or use the [[commands:rdstat|RDSTAT]] command without any modifier, which returns the same byte in decimal form.
+</WRAP>
+== Status Byte Format ==
+''76543210'' -> bit position (''0'' is ''LSB'') \\
+''00001010'' -> bit pattern for hex ''0x0A'', decimal ''10'' \\
+''MSB::LSB'' -> most significant bit - least significant bit
+The number is one byte, which can be broken down into 8 bits that represent the following internal flags:
+^Bit 0|0 = No commanded move is in progress. \\ 1 = A commanded move is in progress. \\ This bit is synonymous with the ''STATUS'' command.  If the bit is set, then ''STATUS'' returns ''B'', otherwise ''STATUS'' returns ''N''.|
+^Bit 1|0 = The axis is disabled. \\ 1 = The axis is enabled. \\ Axes can be re-enabled using one of the following: \\ High Level command ''MC <axis>+'', cycles the clutch switch for the Z-axis, Low Level Start Motor command (hex 47), or a system reset.\\ |
+^Bit 2|0 = Motor is inactive (off) \\  1 = Motor is active (on).|
+^Bit 3|0 = Joystick/Knob disabled \\  1 = Joystick/Knob enabled |
+^Bit 4|0 = Motor not ramping \\  1 = Motor ramping              |
+^Bit 5|0 = Ramping down \\  1 = Ramping up                       |
+^Bit 6|Upper Limit Switch: \\  0 = Open \\  1 = Closed             |
+^Bit 7|Lower Limit Switch: \\  0 = Open \\  1 = Closed             |
+== Reply ==
+<wrap reply>:<byte as hexadecimal></wrap> in the examples below
+<wrap reply><0x3A><byte as hexadecimal><0x0D><0x0A></wrap> as raw bytes
+The reply should be read as raw bytes, a common pattern for the ''Status Byte'' is ''0x0A'', which is ''<LF>'' when interpreted as ASCII. There is a Python script at the bottom of this page as an example.
+The total length of the reply will be the number of axes sent in the command plus 3. \\
+For example ''RB X Y Z'' will reply with 6 bytes.
+The response '':<0x0A><0x0A>'' below is ''[58, 10, 10, 13, 10]'' in raw bytes. \\
+''58 = ':', 13 = '\r', 10 = '\n''' are always a part of the response.
+== MS-2000 Example ==
+<asi> $ RB X
+:<0x8A>
+$ RB X Y
+:<0x8A><0x0A>
+$ RB X Y Z
+:<0x8A><0x0A><0x0A>
+</asi>
+== TG-1000 Example ==
+<asi> $ 1RB X Y
+:<0x8A><0x0A>
+</asi>
+\\ The X-axis example value of ''0x8A'' means the following: \\
+''Bit7: 1'' - X Axis is at its lower limit \\
+''Bit6: 0'' - X Axis upper limit switch open \\
+''Bit5: 0'' - Ramping down, if ramping \\
+''Bit4: 0'' - Motor not ramping \\
+''Bit3: 1'' - Joystick/Knob is enabled \\
+''Bit2: 0'' - Motor power is off \\
+''Bit1: 1'' - X Axis is enabled \\
+''Bit0: 0'' - No commanded move is in progress \\
+<WRAP center round info 60%>
+**Note:** Motor power can be on while a commanded move is not in progress and the stage appears not to be moving.  This happens when the motor is either making a final adjustment to a commanded move or when it is applying a force to maintain the stage position.
+</WRAP>
+=== Python Helper Script ===
+{{section>:python_code#status_byte&noheader&nofooter}}
+{{tag>commands tiger ms2000}}

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