| SERIAL CONNECTION START |
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1. Open serial port at desired baudrate (for example 921600), 8 data bits, no parity, 1 stop bit, no handshaking 2. Reset Controller a. Set RTS off (embedded BSL line high) b. Set DTR on (embedded RST line low) c. Wait 0.1 second d. Set DTR off (embedded RST line high) 3. Wait 1 second 4. Send auto-baud initialization char - 0x41 ('A') 5. Send carriage return char - 0x0D 6. Receive carriage return char - 0x0D |
| BINARY COMMUNICATION |
| Query (from Host to Controller) |
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1. Send binary prefix char - 0x00 (one zero byte) 2. Send command char (one byte from Command Set) 3. Send four long integer values (4 x 4 = 16 bytes; 0x80000000L (-2147483648) as dummy) in little-endian (Intel) order |
| Answer (from Controller to Host) |
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1. Receive one byte defining the following data size: 0 (0x00) or 16 (0x10) 2. If data size is 16 then receive four long integer values (16 bytes) in little-endian order |
| LITERAL COMMUNICATION |
| Query (from Host to Controller) |
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1. Send literal string that includes: a. command char (from Command Set) b. up to four decimal numbers delimited with comma (','), any number may be omitted c. optional comment beginning with semicolon (';') 2. Send carriage return char - 0x0D |
| Answer (from Controller to Host) |
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1. Receive till carriage return char (0x0D) while getting: a. up to four decimal numbers delimited with comma (',') |
| INTERRUPT DIRECTIVES (from Host to Controller) after sending Query of Execute Queue, while waiting to Answer |
| Abort (Emergency Stop) |
| 1. Send Ctrl-A char - 0x01 |
| Break (Pause) |
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1. Send Ctrl-B char - 0x02 if Queue is still running, it will freeze and wait for Continue or Abort or Decelerate and Abort directive |
| Continue (Resume) |
| 1. Send Ctrl-C char - 0x03 |
| Decelerate and Abort (Graceful Stop mostly for Jog) |
| 1. Send Ctrl-D char - 0x04 |
| Report (available any time, not just on Queue Execution) |
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1. Send Ctrl-R char - 0x12 2. Wait for receiving Report data size byte - always 18 (0x12) 3. Collect Report data (all values are in little-endian order): a. Receive two bytes of short integer Queue Run Position (starts from 1 on Queue Execution, otherwise - 0) b. Receive four bytes of long integer X coordinate c. Receive four bytes of long integer Y coordinate d. Receive four bytes of long integer Z coordinate e. Receive four bytes of long integer W coordinate |