# Applied Scientific Instrumentation

### Products

 Custom Optics diSPIM FTP FW1000: Filter Wheel Hardware MPPI MS2000, MFC2000, and RM2000 Controller Piezo Systems RAMM, MIM and VTS Portal Serial Command Software TG-1000/Tiger Controller Tracking & Stabilization XY Stage Z-Drive and Focus Stage

products:tiger

# TG-1000/Tiger Controller

Latest version of software for tiger controller opperation Tiger Control Panel

## Tiger Controller Console

Tiger Controller console, used to reprogram/update firmware and interact with TG-1000 controllers. Video walkthru of the application is below.

## Serial Commands

### Command:AALIGN (AA)

MS2000 or RM2000 syntax
Shortcut AA AALIGN [axis] = ### … 0-99, hardware potentiometer value
Tiger syntax
Shortcut AA AALIGN [axis] = ### … 0-99, hardware potentiometer value Axis-Specific

Adjusts the drive strength by writing to a non-volatile on-board potentiometer. Normally done once at the factory (to a very conservative value) and never adjusted again. If the AA is off, the stage may be sluggish (too low) or it may oscillate, buzz, or sound like it's grinding (too high). After changing the AA value the AZERO command should be run until zeroed.

To optimize stage performance a high AA is desirable, but too high and there are big problems. AA can be increased until oscillations occur and then decreased by 1 or 2 as described at the page on tuning stages to minimize move time.

WARNING – The stage may move when the AALIGN command is sent.

2016/03/14 17:32

### Command:ACCEL (AC)

MS2000 or RM2000 syntax
Shortcut AC ACCEL [axis] = [time in msec]… millisecond Using SS Z
Tiger syntax
Shortcut AC ACCEL [axis] = [time in msec]… millisecond Axis-Specific Using [addr#]SS Z

This command sets the amount of time in milliseconds that it takes an axis motor speed to go from stopped to the maximum speed (S command) during commanded moves long enough that the maximum speed is reached. It is also the duration of the deceleration / ramp-down time at the end of the move.

Setting the acceleration time to less than the motor's intrinsic time constant (~7 ms for the most common motors) is generally foolish. Overly-aggressive acceleration times lead to performance degradation over millions of moves. 25 ms acceleration time is generally only safe for short moves with small stages (i.e. when maximum speed is never reached, see section on small moves) and/or when the speed setting is a small fraction of the maximum. Larger values, e.g. 75ms or 100ms, are recommended for larger stages and/or long moves (where the speed is reached) with speed settings near the maximum, especially in heavy use applications.

2016/03/14 17:25

### Command:AFLIM (AL)

For CRISP
Tiger Syntax
Shortcut AL [Addr#]AL [X=Log_amp_AGC] [Y=LED_intesity_pot] [Z=in_focus_mm] Card-Addressed Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Shortcut AL AL [X=Log_amp_AGC] [Y=LED_intesity_pot] [Z=in_focus_mm] Using SS Z

X and Y arguments of this command to directly read and write values (0 to 255) to the CRISP electronics digital potentiometers. (Not recommended for use with host software.)

The Z-argument specifies the focus precision (in millimeters) when the lock state changes from K or k to F. Useful for automatic checking of desired focus stability. Also useful to enforce a tighter or looser focus state before indicating a lock condition. Note that this value is overwritten whenever the NA of the objective is specified via the LR Y command as of November 2015.

For Video Autofocus
Tiger Syntax
Shortcut AL [Addr#]AL [X= x-axis highlight] [Y= y-axis highlight] [Z= safety limit enable] Card-Addressed Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Shortcut AL AL [X= x-axis highlight] [Y= y-axis highlight] [Z= safety limit enable] Using SS Z

The X and Y values set the length and breadth of the Sampled/Highlighted Video area. Range is 0 to 100, with the value of 0 covering 0% of the video frame and 100 covering 90% of video frame.

The Z value enables or disables the 200 µm safety limit described in the AUTOFOCUS OPERATION section on page 4. Setting safety limit enable = 1 enables the safety limit; safety limit enable = 0 disables the safety feature. The default value is 1.

Caution: Disabling the safety limit could result in damage to your optics, your sample, or your focus drive.

AL X=80 Y=50 Z=1
:A<CR><LF>

AL
:N-3


Error indicates missing arguments

AL X=1000 Y=-12
:N-4


Error indicates arguments out of range

AL X=90 Y=90
:N-5


Error indicates operation failed, try entering one argument at a time

AL X? Y? Z?
:A X=80 Y=50 Z=1

2016/02/23 19:18

### Command:AHOME (AH)

MS2000 or RM2000 syntax
Shortcut AH AH [X=x0] [Y=y0] millimeters ARRAY Using SS Z
Tiger syntax
Shortcut AH [addr#]AH [X=x0] [Y=y0] millimeters Card-Addressed ARRAY Using [addr#]SS Z

Set the location of the first array position when using the array module.

Without arguments, the command reads the current location and sets it to the first array position. Using arguments x0 and y0 are coordinates expressed in millimeters.

2016/03/14 17:49

### Command:AIJ

Array Module
MS2000 or RM2000 syntax
Shortcut IJ AIJ [X=i] [Y=j] array location ARRAY
Tiger syntax
Shortcut IJ [addr#]AIJ [X=i] [Y=j] array location Card-Addressed ARRAY

Used with the ARRAY command to move to array location (i,j), where i and j are the indices of the desired array location. The AHOME location is position (1,1). The query “AIJ X? Y?” will return the i and j locations where the stage is currently.

Tiger MicroMirror Phototargeting
Shortcut IJ [addr#]AIJ [X=horiz_position] [Y=vert_position] axis units Card-Addressed MM_TARGET Using [addr#]SS Z

Moves to the specified location (horiz_position, vert_position) subsequently pulses the laser TTL signal. Positions are specified in axis units (the same as used by the WHERE or MOVE command). If the X and/or Y argument is omitted, the corresponding position from the last AIJ command will be used. Note that the position is changed as a side effect of this command. The WHERE or MOVE command will change the beam position without pulsing the laser TTL signal.

The TTL output used was the micromirror card itself (rarely wired to anything) until v3.35, but as of v3.36 the laser trigger backplane line is used instead so that the signal is more accessible.

The settling delay before turning on the laser and the laser pulse high time are specified using the WAIT and RTIME commands respectively.

The assignments of horizontal and vertical axes are done using the SCAN command (most users will never need to change the defaults: the horizontal or X axis is the card’s first axis and the vertical or Y axis is the card’s second axis).

2016/03/14 17:52

### Command:ARRAY (AR)

MS2000 or RM2000 syntax
Shortcut AR AR [X=Nx] [Y=Ny] [Z=Δx] [F=Δy] [T=θ] X and Y in integer, Z and F in mm, θ tilt degrees from X axis ARRAY Using SS Z
Tiger syntax
Shortcut AR [addr#]AR [X=Nx] [Y=Ny] [Z=Δx] [F=Δy] [T=θ] X and Y in integer, Z and F in mm, θ tilt degrees from X axis Card-Addressed ARRAY Using [addr#]SS Z

The ARRAY command specifies the grid size and interval for the array module. Briefly, this sets up a grid of points that can be traversed automatically with simple TTL control or with the RBMODE or AIJ commands.

The size of the array is Nx by Ny points, with points spaced apart distance Δx and Δy (expressed in millimeters). The location of the first point in the array is set with the AHOME command. Small tilt corrections can be included using the T=tilt angle in degrees from the X-axis. The actual Δx and Δy for each move will be modified to account for the tilt angle.

Without arguments, the AR command starts self-scanning of the array. When the stage arrives on target, it will delay for a period of time set by the command RT Z=time_delay before continuing on to the next position. It is possible to repeat the array using the RM F byte.

Whether a raster or serpentine pattern is used is set using the SCAN F setting (default is serpentine).

2016/03/14 18:13

### Command:AZERO (AZ)

MS2000 or RM2000 syntax
 Shortcut AZ AZERO [axis]… Integers 0-255
Tiger syntax
Shortcut AZ AZERO [axis]… none Axis-Specific

Automatically adjusts the zero balance of the motor drive card. The expected “zeroed” values of AZ are typically around 127, though acceptable values may fall between 90 and 164. If an axis is not zeroed, the stage may have very different performance in one direction compared to the other, e.g. it may have trouble landing from one direction.

If AZ replies with NOT Zerod , run it again. If its unable to zero, then you may need to change AA setting.

2016/03/14 17:35

### Command:BACKLASH (B)

Motorized Actuator
MS2000 or RM2000 syntax
Shortcut B BACKLASH [axis] = [distance]… millimeter Using SS Z
Tiger syntax
Shortcut B BACKLASH [axis] = [distance]… millimeter Axis-Specific Using [addr#]SS Z

This command sets (or displays) the amount of distance in millimeters of the anti-backlash move which absorbs the lash in the axis' gearing at the end of commanded moves1). This behind-the-scenes move ensures that the controller approaches the final target from the same direction, which improves repeatability when using rotary encoders. A value of zero (0) disables the anti-backlash algorithm for that axis. The default value depends on motor build but is 0.04 for most common 4 TPI leadscrew pitch with rotary encoder, 0.01 for most common 16 TPI leadscrew pitch, and 0.02 for the x-axis of scan-optimized stages. For linear encoders a backlash move is not necessary and there is no reason to change the setting from the default value of zero (0). Moves with manual input devices (joystick or knobs) do not have any anti-backlash move.

Example:

B X=.05 Y=.05 Z=0
:A
B x?
:X=0.040000 A


The command in this example will make the controller move the X and Y axes to a location 50 microns away from the final target before moving to the final target, while the anti-backlash algorithm for the Z axis is disabled.

MicroMirror, Tiger Galvo and Tunable Lens Cards
Shortcut B B [axis]=[0.1 to 650] … Frequency in kHZ Axis-Specific Using [addr#]SS Z

This command is “recycled” for a different use in MicroMirror axes than for motor axes. In the context of a MicroMirror axis this command is used to set the cut off frequency of the 5th order Bessel filter. Units are in KHz. The lowest acceptable value is 0.1 (100Hz) and highest is 650 (650kHz). For a typical micro-mirror to avoid mechanical resonance this should be set no higher than 0.8 kHz.
Example:

B R=0.1 S=0.1
:A


Sets 100Hz filter cut off freq for R and S axes

B P? Q?
:P=0.4 B=0.4 A


Queries the filter cut off freq for P and Q axes

2016/03/14 18:19

### Command:BCUSTOM (BCA)

MS2000 or RM2000 syntax
Shortcut BCA BCA [X = @ Normal Press] [Y = @ Long Press] [Z = @ Extra Long Press] [F = Home Long Press] [T = Home Extra Long Press] [R = JS Normal Press] [M = JS Long Press] Integer code (see table below) 9.2g+ Automatically on powerdown. Not affected by SS Z or SS X. Before version 9.2m, SS Z used to save settings.
Tiger syntax
Shortcut BCA [addr#]BCA [X = @ Normal Press] [Y = @ Long Press] [Z = @ Extra Long Press] [F = Home Long Press] [T = Home Extra Long Press] [R = JS Normal Press] [M = JS Long Press] Integer code (see table below) Card-Addressed 3+ Automatically on powerdown. Not affected by [addr]SS Z or [addr]SS X. Before version 3.3, [addr]SS Z used to save settings.

In Tiger version 3.0+ and MS2000 version 9.2g+ the Button Function assignment has been rewritten to be more flexible. Every possible button function is now assigned a number. This function can be assigned to any button (@, Home, and Joystick Button) and any press duration (Normal, Long and Extra Long Press) through the BCA commands X, Y, Z, F, T, R, and M arguments.

The settings of BCUSTOM are automatically saved in non-volatile memory when changed, they will be available even on controller restart.

As of Tiger version 3.18 and MS2000 version 9.2l a button function can be initiated over serial using the BE F command (BENABLE). The function doesn't need to be assigned to a particular button for this to work. Note: this function does not interact with the button_flag_byte, use EXTRA M=# if you need that functionality.

Note: Behavior of this command is very different pre-Tiger version 3.0 and MS2000 version 9.2g

As of MS000 version 9.2m+ and Tiger v3.35+, it's possible to assign button functions to Home Normal Press and Joystick Extra Long Press using the BENABLE command. The parameters R and T are used, and follow the same behavior as BCUSTOM. The parameter M to sets the Zero/Halt Normal Press button function with BENABLE M=#.

Note: The Zero/Halt button will always halt all axes on a button press unless you set the button function to 0 - No Function Performed, which disables the halting routine. The halting routine happens as soon as you press the button, not in the release handler.

Example: #BENABLE R=0 to disable the home button normal press, where # is the Tiger card address.

2016/03/14 18:34

### Command:BENABLE (BE)

MS2000 or RM2000 syntax
Shortcut BE BENABLE [X=Toggle] [Z=Enable_Byte] [F=Button_Function] [R=Home Normal Press] [T=JS Extra Long Press] [M=Zero/Halt Normal Press] None Using SS Z
Tiger syntax
Shortcut BE [Addr#]BENABLE [X=Toggle] [Y?] [Z=Enable_Byte] [F=Button_Function] [R=Home Normal Press] [T=JS Extra Long Press] [M=Zero/Halt Normal Press] None Card-Addressed Using [addr#]SS Z

Enables or disables button functions for the specified card and specified buttons, either all/none (X, or Toggle) or with finer granularity (Z, or Enable_byte). Toggle=0 disables all buttons and pulses; i.e. BE X=0 is equivalent to BE Z=0. Toggle=1 enables all buttons and pulses (default settings); i.e. BE X=1 is equivalent to BE Z=15. Querying X returns the same as querying Z. Specific buttons can be enabled/disabled by explicitly setting the Enable_Byte. The bits are set to one 1 when enabled or zero 0 when disabled, and are defined as follows:

Z parameter Enable_Byte is bit-mapped number that determines which buttons are enabled or disabled as tabulated below. Bit5 is a special case; it changes the behavior of the physical button to zero the Z axis only and has been removed from Tiger code after v3.20.

Bit# Button
0 “Zero” Button
1 “Home” Button
2 “@” Button
3 Joystick Button
4 Reserved
5 Zero Z Only (removed from Tiger after v3.20)
6 Reserved
7 Reserved

F parameter Button_Function is a positive integer code for the button function that will be executed. See documentation of BCUSTOM for a list of available button functions. This allows a button press to be simulated using a serial command. This is available from Tiger v3.19 onward and in middle of Whizkid v9.2l.

If you need to call button functions that interact with the button_flag_byte use EXTRA M=# instead.

Button Function Assignment Parameters

As of MS2000 9.2m+ and Tiger v3.35+ you can assign functions from from the button function table in BCUSTOM to additional Home and Joystick button press durations.

R - assign a button function to Home Normal Press.

T - assign a button function to Joystick Extra Long Press .

M - assign a button function to Zero/Halt Normal Press.

Note: The Zero/Halt button will always halt all axes on a button press unless you set the button function to 0 - No Function Performed, which disables the halting routine. The halting routine happens as soon as you press the button, not in the release handler.

Tiger Example
To make Axis on Card#1 ignore the zero and home button, and only respond to Joystick and @ buttons. Bit 3 and Bit 2 set to '1' , Bit 1 and Bit 0 set to '0'. Binary '1100' is Decimal '12'
1BE Z=12
:A

MS2000 Example
To make all the axis on controller ignore the zero and home button, and only respond to Joystick and @ buttons. Bit 3 and Bit 2 set to '1' , Bit 1 and Bit 0 set to '0'. Binary '1100' is Decimal '12'
BE Z=12
:A

Additional Feature in Tiger Version 3.14+
Addressing the COMM card specifically (or omitting the address on the command) results in a different behavior. Disabling a button on the COMM card will result in disabling that functionality for all cards in the rack. This disabling happens at the COMM card so the other cards in the rack never receive notification of a change in the button's state. In this way, individual cards may be set to the desired functionality and a layer of control over all cards may be applied without affecting the settings on individual cards.

The 0BE Y? query command provides a report of past button states. Every time one of the inputs is activated, the COMM card notes the activation by setting a bit in a status byte. That bit will remain set until the status byte is queried again on the COMM card with 0BE Y?. The result of the query will return the current status byte to the host, then clear the status byte (set all bits representing input sources to 0), thereby preparing the status byte for further button press detection. The format of the bits in the returned status byte is the same as the table above. A one 1 on the specified bit represents the input has been activated since the last query.

Starting with v3.21, a button that is held down during a serial query of button state will be reported as activated every query up through the one immediately following release. This can be used by high-level software to time button presses, e.g. if querying happens every second and the button is held down for 1.001 seconds then it will be reported as being held down twice. If the button is held down for 0.1 seconds then most of the time it will only be reported once, unless the query happens to occur during that 0.1 seconds in which case it will be reported twice.

2016/03/14 18:49

### Command:BUILD (BU)

MS2000 syntax
Shortcut BU BUILD [X] [Y] none
Tiger syntax
Shortcut BU [Addr#]BUILD [X] [Y] none Card-Addressed (defaults to COMM)
2016/03/14 19:18

### Command:CDATE (CD)

MS2000 or RM2000 syntax
Shortcut CD CDATE Card-Addressed
Tiger syntax
Shortcut CD [Addr#]CDATE Card-Addressed

This command returns the date and time the current firmware were compiled

Tiger Example
1CD
Dec 19 2008:16:19:59

MS2000 Example
CD
Dec 19 2008:16:19:59


This example shows that the firmware running was compiled on December 19th year 2008 at 4:19:59 PM.

2016/03/14 19:51

### Command:CNTS (C)

MS2000 or RM2000 syntax
Shortcut C CNTS [axis] = [encoder counts per mm]… encoder counts per mm Using SS Z
Tiger syntax
Shortcut C CNTS [axis] = [encoder counts per mm]… encoder counts per mm Axis-Specific Using [addr#]SS Z

Changes axis' encoder counts per mm. For example, doubling this number would cause a given number of mm to be converted internally to twice as many encoder counts as before. A command to move the stage 2 mm would instead cause it to move 4 mm. MOST USERS DO NOT NEED THIS FUNCTION! If your stage is not moving as expected try making sure the leadscrew pitch is set appropriately with the CUSTOMA command.

$$Cnts = {(6.5536 * 107) \over d}$$

where d is the total range of movement in microns. For example, if the range of movement is -100um to +100um, then d = 200, and Cnts = 327680.

Note: For a piezo device, always set CNTS first, then limits (SL and SU) afterward.

2019/04/18 19:33

### Command:CUSTOMA (CCA)

MS2000 Syntax
Shortcut CCA,CA CCA X=n Y=m Z=o X automatically saved, Y and Z need SS Z
Tiger Syntax
Shortcut CCA,CA [Addr#]CCA X=n Y=m Z=o Card-Addressed X automatically saved, Y and Z need [Addr#]SS Z

For the Tiger programmable logic card this command is used very differently; for that see Tiger Programmable Logic Card (TGPLC) documentation and ignore this page.

2016/03/11 18:17

### Command:DACK (D)

Motorized Actuator
MS2000 or RM2000 syntax
Shortcut D D [axis]=[ratio in mm/sec] … ratio in mm/sec Using SS Z
Tiger syntax
Shortcut D D [axis]=[ratio in mm/sec] … ratio in mm/sec Axis-Specific Using [addr#]SS Z

Sets motor speed control ratio, in mm/sec, of movement per DAC count. A DAC count is a value change of one (1) in the 8-bit integer written to the motor speed control register. MOST USERS DO NOT NEED THIS FUNCTION!

Example:

D X=.055
:A
D X?
:A X=0.055000


Incrementing/decrementing the motor speed control register by one DAC count increases/decreases X-axis stage speed by 0.055 mm/sec.

MicroMirror
Shortcut D D [axis]=[0 to 1] … Unitless float between 0 and 1 Axis-Specific Using [addr#]SS Z

This command is “recycled” for a different use in MicroMirror axes than for motor axes. For MicroMirror axes it sets up a calibration constant or scale factor that is used to attenuate the scanner motion when used in internal input mode (as the implementation is in software it does not apply in external input mode). In tests we found that the two axis of the MEMS MicroMirror does not tilt by the same amount when similar inputs are applied. This may be critical for some applications. This parameter sets an attenuation, so both axes can be made to tilt the same amount. For example, if the S axis was found to be doing 85% travel of R axis then we could attenuate R to compensate by setting D R=0.85 S=1. Note that behavior is undefined if changed in the middle of a single-axis move or SPIM move on the same axis. N.B: This command was retired in v3.14 of the firmware because it wasn't being used and the internal implementation was complex.

Example:

D R=0.85 S=1
:A


Attenuates the travels of R axis by 15%.

2016/03/14 20:27

### Command:DUMP (DU)

MS2000 or RM2000 syntax
Shortcut DU DUMP [X] [Y][F] none
Tiger syntax
 Shortcut DU [addr#]DUMP [X][Y][F][R=mode][T=interval] none Card-Addressed not possible

Dump internal buffers to terminal screen.

The Tiger and MS-2000 controller has several built-in diagnostic capabilities that are useful for troubleshooting difficulties and for tuning the servo motion parameters. It is often useful to see how well the servo motion is tracking the theoretical trajectory. The controller has a built-in buffer that can hold 200 to 500 move steps. For best results, restrict testing to a single axis at a time; otherwise information from multiple axes will be interleaved in the dump buffer. Any motion from any axis will write information into the dump buffer until it is full.

DU, without arguments, dumps the Trajectory Buffer.

DU X clears the trajectory buffer and error buffer.

DU Y dumps Error Buffer. See Error Codes for MS2000,RM2000 and TG-1000 Diagnostics

DU F Prints controller log, it has information like total time controller was ON, Total distance XY stage traveled and others. The log first has to be initialized with command DU F=999 . This is done in the factory, and we suggest users not reset the log as it may wipe data that is useful for later reliability tracing.

DU R=mode sets the trajectory buffer mode (introduced in Tiger v3.19). Mode 0 (default) means the trajectory buffer, once full, will not be changed further. Mode 1 continuously overwrites the trajectory buffer information so that the most recent move information is always present.

DU T=interval sets the sampling interval for the trajectory buffer (introduced in Tiger v3.19). Default is 1 which adds to the trajectory buffer on every axis loop. Setting to e.g. 10 will add to the buffer once and then skip the next 9 axis loops. Handy for looking at longer-term trends.

Tiger Example
1DU X Clears the dump buffers on card#1
Then make a short move, e.g.: M X=12345 [Moves about 1.23 mm] After the move is complete, you can dump the buffer to the screen: 1DU Dumps Trajectory Buffer on card #1
2DU Y Dumps Error Buffer on card #2
4DU F Dumps Card#4's Piezo History
4DU F=999 Resets Card#4's Piezo History
MS2000 Example
DU X Clears the dump buffers
Then make a short move, e.g.: M X=12345 [Moves about 1.23 mm]
After the move is complete, you can dump the buffer to the screen:
DU Dumps Trajectory Buffer
DU Y Dumps Error Buffer
DU F Dumps Piezo History
DU F=999 Resets Piezo History
2016/03/14 20:37

### Command:ENSYNC (ES)

MS2000 or RM2000 syntax
Shortcut ES ENSYNC [axis]=[position in mm]… position in millimeter Using SS Z
Tiger syntax
Shortcut ES ENSYNC [axis]=[position in mm]… position in millimeter Axis-Specific Using [addr#]SS Z

This command lets the user set a position, in millimeters - absolute, which will toggle a TTL output when the stage crosses that position. When ENSYNC is issued, the TTL output is reset low. Whenever the stage crosses the ENSYNC position, the output will toggle low to high and if crossed again, from high to low. ENSYNC will only work with one axis at a time, either X or Y and depends on how JP1 is jumped.

2016/03/15 19:36

### Command:EPOLARITY (EP)

MS2000 or RM2000 syntax
Shortcut EP EP [axis]=[-1 or 1]… only -1 or +1 accepted Using SS Z
Tiger syntax
Shortcut EP EP [axis]=[-1 or 1]… only -1 or +1 accepted Axis-Specific Using [addr#]SS Z

Values are -1 and 1. Adapts the firmware to the counting direction of the motor encoders. This setting is normally set by ASI and not changed.

2016/03/15 19:43

### Command:ERROR (E)

Motorized axis
MS2000 or RM2000 syntax
Shortcut E ERROR [axis]=[position in mm]… millimeter Using SS Z
Tiger syntax
Shortcut E ERROR [axis]=[position in mm]… millimeter Axis-Specific Using [addr#]SS Z

This command sets the Drift Error setting. This setting controls the crossover position error (in millimeters) between the target and position at which the MS 2000 and TG-1000 controller considers an axis to be too far out of position. When this limit is reached, the controller will re-attempt to move the axis back within the Finish Error (PC) limit. The current value for this setting can be viewed using the INFO command or by placing a ? after the axis name. Entries of zero value, e.g., ERROR X=0 are ignored.

Example

E X=.0004
:A
e x?
:X=0.000400 A


Input values equal to or less than zero are acknowledged by :A , but ignored.

The command in this example would cause the controller to consider a difference between the target and the current position greater than 400nm to be too large. If this large of an error were detected, the controller would re-engage the move algorithm to place the position error back inside of the Finish Error (PC) limit.

TGPMT card
Shortcut E ERROR [axis]=[0 to 5]… integer code Axis-Specific Using [addr#]SS Z

On a TGPMT card , ERROR command has a different purpose and function. ERROR command sets the ADC averaging's sample size. Its a card wide setting, that affects both the PMT tubes. This only affects the value reported with the RDADC command. The Analog signal output on the BNC isn't affected.

ERROR [axis]= Simple Moving Average sample size
0 1 Avg routine disabled, reports RAW reading
1 2
24
38
416
532

Example

If TGPMT card axis is m

e m=2
:A


Sets the ADC averaging routine sample size to 4.

e m?
:M=2.000000 A


Query the TGPMT card for ADC averaging routine sample size, 2 is reported, hence sample size is 4.

MicroMirror card
Shortcut E ERROR [axis]=[correction in %]… integer code Axis-Specific Using [addr#]SS Z

On a Micromirror card ERROR command has a different purpose and function. It sets the amount of bow correction applied to the axis. It is specified in units of percent deflection of the paired axis when the specified axis is at full deflection. The sign indicates whether a positive or negative deflection will be applied to the paired axis. It was introduced in Tiger firmware v3.18 along with the bow correction described below.

Bow is an optical effect where the motion of a scanned beam takes on a slightly curved shape whenever the axis of the moving mirror's rotation is not orthogonal to the plane formed by input and output beams. Because the MEMS mirror inside the ASI scanner tilts in two dimensions, at least one axis will be subject to this effect. In a typical ASI light sheet scanner, the motion of the “fast axis” (e.g. the axis that is scanned to make a light sheet) will deflect slightly in the slow axis during scanning, whereas the motion of the slow axis is unaffected by the bow phenomenon. To counteract this optical effect, starting in firmware v3.18 the firmware applies a small opposite correction to the slow axis as the fast axis moves, and the magnitude of this correction is specified by the ERROR command. The correction is quadratic relative to the displacement from the center of the mirror range (generally position 0), so maximum correction is applied at the edge of the mirror range.

The default is -2% for the “fast axis” and 0.0 for the “slow axis” in each axis pair because this seems to be about right for a typical ASI scanner. This means that the slow axis position will be adjusted as the fast axis moves but not vice versa. The bow correction is applied during regular commanded moves, during single axis commands, and during the SPIM state machine. In the SPIM state machine it is assumed that only the fast axis has a non-zero bow correction coefficient.

The allowable range of correction is between -6.22% to +6.22%.

Tunable Lens Card
Shortcut E ERROR [axis]=[DPT to DAC coefficient]… float Axis-Specific Automatically

On a Tunable card ERROR command has a different purpose and function. It sets the relation between the DAC(current) and Tunable lens's Diopter. Its used to compensate for temperature drift. More info here

2016/03/15 19:46

### Command:EXTRA

Tiger Syntax
Format [Addr#]EXTRA [X?] [Y?] [Z=ki_lock] [M?] Card-Addressed Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Format EXTRA [X?] [Y?] [Z=ki_lock] [M?] [M=button_code] Using SS Z

X? Provides the CRISP bottom line string as is shown on the LCD display.

Y? Returns the SNR value shown on the LCD after log amp calibration.

The Z argument sets the integral error servo parameter. The default is 1. Higher values may improve speed settling but can also generate instability. Use sparingly.

T? (MS2000 9.2o+): The controller detects the resolution of the ADC during initialization.

• 0 ⇒ 10-bit ADC
• 1 ⇒ 12-bit ADC

M? Returns the button_flag_byte and resets the value to 0. (MS2000 9.2m+ and Tiger v3.35+)

M=# Modify the button_flag_byte with the button code and call the button functions associated with that code. (MS2000 9.2m+)

This command differs from BE F which does not modify the button_flag_byte and only calls a single button function.

Additional Details About M?
The button_flag_byte stores the state of the last detected button press for each button. When the controller is powered on, the value is initialized to 0. As the user presses buttons the value of the button_flag_byte changes, it is important to note that this value only changes when you release the button.

After receiving the EXTRA M? command, the internal value on the controller is reset to 0, enabling you to detect new button presses.

If a button has already been pressed, and then is pressed again, the new state overwrites the old state for that button. Example: if you do a Normal Press and then a Long Press on the Joystick Button, the next time you send the “EXTRA M?” command the state of the Joystick Button will be Long Press.

Zero/Halt button presses only have the states 0 and 1. (Not Pressed and Normal Press)

The button_flag_byte is divided into four 2-bit sections that each contain the state of a button:

Bits Button
1-2 @ Button
3-4 Home Button
5-6 Joystick Button
7-8 Zero/Halt Button

Each 2-bit section can take on the values 0-3, these codes represent the state of the button.

Code Type
0 Not Pressed
1 Normal Press
2 Long Press
3 Extra Long Press

Example:

1. @ Button Normal Press
2. Home Button Long Press
3. Joystick Extra Long Press
4. Zero/Halt Normal Press
5. Send serial command EXTRA M?

Results of steps 1-5 in binary:

1. button_flag_byte = 00 00 00 01
2. button_flag_byte = 00 00 10 01
3. button_flag_byte = 00 11 10 01
4. button_flag_byte = 01 11 10 01
5. button_flag_byte = 00 00 00 00 (serial command reset)

Example Python code for extracting button states from the button_flag_byte
# the value returned from EXTRA M?
button_flag_byte = 127

# bit masks
mask_at   = 0x03 # 00000011
mask_home = 0x0C # 00001100
mask_js   = 0x30 # 00110000
mask_zero = 0xC0 # 11000000

# get the button states from button_flag_byte
btn_at   = button_flag_byte & mask_at
btn_home = (button_flag_byte & mask_home) >> 2
btn_js   = (button_flag_byte & mask_js) >> 4
btn_zero = (button_flag_byte & mask_zero) >> 6

# show the results in decimal and binary
print(f"{button_flag_byte = } (binary {button_flag_byte :08b})")
print(f"{btn_at = } (binary {btn_at:02b})")
print(f"{btn_home = } (binary {btn_home:02b})")
print(f"{btn_js = } (binary {btn_js:02b})")
print(f"{btn_zero = } (binary {btn_zero:02b})")

# console output:
# button_flag_byte = 127 (binary 01111111)
# btn_at = 3 (binary 11)
# btn_home = 3 (binary 11)
# btn_js = 3 (binary 11)
# btn_zero = 1 (binary 01)
Additional Details About M=button_code
This function allows you to simulate button presses programmatically through a serial command.

This command modifies the button_flag_byte and calls the button functions associated with that button code.

The button codes are the same values that are returned by EXTRA M?. The input value is clamped to the range: 0-127.

If a button code represents multiple button presses then the button functions will be called in the order ⇒
@, Home, Joystick, Zero/Halt (LSB ⇒ MSB)

You can expect the same behavior as if you were pressing physical buttons ⇒

1. Send the command EXTRA M=3: button_flag_byte = 3, @ Extra Long Press button function called.
2. Send the command EXTRA M=1: button_flag_byte = 1, @ Normal Press button function called.
3. Send the command EXTRA M=5: button_flag_byte = 5, @ Normal Press and Home Normal Press button functions called.

This demonstrates that button presses are overwritten as if you were interacting with the physical controller pressing buttons.

Example Python code for creating a button_code
def create_button_code(at: int = 0, home: int = 0, joystick: int = 0, zero_halt: int = 0) -> int:
assert at in range(4), "Must be in the range 0-3."
assert home in range(4), "Must be in the range 0-3."
assert joystick in range(4), "Must be in the range 0-3."
assert zero_halt == 0 or zero_halt == 1, "Must be 0 or 1."

button_code = 0

# bit masks
BITMASK_AT   = 0x03 # 00000011
BITMASK_HOME = 0x0C # 00001100
BITMASK_JS   = 0x30 # 00110000
BITMASK_ZERO = 0xC0 # 11000000

# set bits
button_code &= ~BITMASK_AT
button_code |= at & BITMASK_AT

button_code &= ~BITMASK_HOME
button_code |= (home << 2) & BITMASK_HOME

button_code &= ~BITMASK_JS
button_code |= (joystick << 4) & BITMASK_JS

button_code &= ~BITMASK_ZERO
button_code |= (zero_halt << 6) & BITMASK_ZERO

return button_code

def main():
button_code = create_button_code(at=1, home=1)
print(button_code)
# prints 5

if __name__ == "__main__":
main()

2016/02/23 19:06

### Command:HALT (\)

MS2000 or RM2000 syntax
Shortcut \ (the backslash character) HALT
Tiger syntax
Shortcut \ (the backslash character) HALT Broadcast or Card-Addressed command

This command will stop all active motors and other actuators too. If there are no errors, a positive reply of :A will be returned. If the HALT command is given while a commanded move is in motion, the controller will reply with the :N-21 error.

Additional Notes regarding usage on Tiger
It’s usually a Broadcast command but can be used as a Card-Addressed Command as well. When addressed to a specific card, it stops motion on that card only. Note that to use as a Card-Addressed Command the full command HALT must be used instead of the shortcut \, because \ is handled quickly in the command parser.
2016/03/15 19:52

### Command:HERE (H)

The 'here' command differs on a TGPMT card from our other systems.

Actuators, Piezos, MicroMirror etc
MS2000 or RM2000 syntax
The HERE command sets the current reported position(s) of the axis(es) provided.
Shortcut H HERE [axis]=[position in 1/10 microns]… 1/10 microns Automatically
Tiger syntax
Shortcut H HERE [axis]=[position in 1/10 microns] or see below for clocked devices 1/10 microns Axis-Specific Automatically

Assign the specified number to the axis’s current position buffer. If no position is specified, 0 is assumed. For non-clocked devices, the unit of measurement is in tenths of microns. This defines the current position to be a specific distance from the origin (0).

Clocked Devices:

On clocked devices (filter slider, turret, mirrored port switch, etc), you can change position #1 or you can change the spacing between positions.

Change position #1“

1. Remove all axes from either the joystick or a knob (for example, the Z-axis from the Z-knob J Z=0).
2. Assign the clocked device axis to that joystick or knob (for example, the M-axis to the Z-knob J M=22).
3. Use the joystick or knob to adjust the axis to the desired position.
4. Issue the 'here' command to set the position (for example, the M-axis H M=1).
5. Restore (assign and unassign) the desired axes to the joystick / knobs as desired (for example, the M-axis from and the Z-axis to the Z-knob J M=0 Z=22).

Change the spacing between positions:

1. Move to position #2 (for example, the M-axis M M=2).
2. Remove all axes from either the joystick or a knob (for example, the Z-axis from the Z-knob J Z=0).
3. Assign the clocked device axis to that joystick or knob (for example, the M-axis to the Z-knob J M=22).
4. Use the joystick or knob to adjust the axis to the desired position.
5. Issue the 'here' command to set the spacing (for example, the M-axis H M+.
6. Restore (assign and unassign) the desired axes to the joystick / knobs as desired (for example, the M-axis from and the Z-axis to the Z-knob J M=0 Z=22).

Only available on MS2000 version 9.2m and above, TG1000 version 3.28 and above.

If there are no errors, the positive reply :A will be sent back from the controller

DOES NOT WORK FOR PIEZOS AND MICROMIRRORS. DOES NOT WORK FOR “CLOCKED DEVICES” SUCH AS FILTER SLIDERS AND TURRETS.

Example

H X=1234 Y=4321 Z
:A


The X position will change to 123.4 microns from the origin, Y will change to 432.1 microns, and the Z will be zeroed. Example

H X=1234 Y=4321 Z
:A


The X position will change to 123.4 microns from the origin, Y will change to 432.1 microns, and the Z will be zeroed.

TGPMT usage
Shortcut H HERE [axis] or HERE [axis]=0 Axis-Specific Automatically

On a TGPMT card , this command this used to Zero the PMT signal reported by the RDADC command. When this command is issue , the current PMT signal is saved , and the controller begins subtracting it from the current PMT signal. Users can use this as a background subtract or offset feature.

User can cancel the zeroing by issuing HERE [axis]=0 . Readings reported by RDADC command will not be altered anymore.

Only the readings reported by the RDADC command are altered. 0-4V Analog PMT signal on the BNC connector is not altered.

This is a card wide-settings , both PMT0 and PMT1's reading are altered.

More details here.

Example

h m
:A


If the TGPMT card axis char is m. Saves the current PMTs readings and starts subtracting them from RDADC commands reported readings.

h m=0
:A


If the TGPMT card axis char is m. Clears the saved PMTs readings and stops subtracting them from RDADC commands reported readings.

2016/03/15 19:56

### Command:HOME (!)

MS2000 or RM2000 syntax
Shortcut ! (the exclamation point character) HOME axis [axis] [axis] …
Tiger syntax
Shortcut ! (the exclamation point character) HOME axis [axis] [axis] … Axis-Specific

Executes a halt and then moves specified axis motors toward their HOME position. The default location for the HOME position (1000 mm) is far past the positive limit of the stage travel. If a hardware or firmware limit switch is encountered, the motor will stop.

If there are no errors, an :A is returned.

2016/03/15 20:00

### Command:INFO (I)

MS2000 or RM2000 syntax
Shortcut I I axis [Axis] …
Tiger syntax
Shortcut I I axis [Axis] … Axis-Specific

This command returns the current values of various variables and constants that control the way the specified axis performs, as well as its current status.

2016/03/15 20:03

### Command:JOYSTICK (J)

MS2000 or RM2000 syntax
Shortcut J JOYSTICK [axis]± or JOYSTICK [axis] = [Manual Input #] Unitless integer , see table below Using SS Z
Tiger syntax
Shortcut J JOYSTICK [axis]± or JOYSTICK [axis] = [Manual Input #] Unitless integer , see table below Axis-Specific Using [addr#]SS Z

This command enables (+) or disables (–) the input from the default manual control device for the axis (joystick or knob). If you specify an input device number dev, the axis specified will be connected to that input device

2016/03/15 20:13

### Command:JSSPD (JS)

MS2000 or RM2000 syntax
Shortcut JS JSSPD [X=fast] [Y=slow] [Z=knob_speed] [F=xy_knobs_fast] [T=xy_knobs_slow] integer Using SS Z
Tiger syntax
Shortcut JS [Addr#]JSSPD [X=fast] [Y=slow] [Z=knob_speed] [F=xy_knobs_fast] [T=xy_knobs_slow] integer Card-Addressed Using [addr#]SS Z

This command sets the relative motor speed for maximum deflection of the joystick to the values specified. Values between 0.1 and 100 (%) are acceptable, or -100 to -0.1 (negative setting reverses the direction). Pressing the Joystick button toggles between the high and low settings.

Knob_speed is a signed value that sets the relative speed and direction of the encoder knob (not commonly used on TG-1000).

xy_knobs_high and xy_knobs_low are used to set the fast and slow speeds for XY_KNOBS and ZF_KNOB, which respond to input from the two knobs on the side of the TG-1000 joystick. Note this is different from MS-2000 where the F parameter sets the slow speed and the fast speed is equal to the low speed multiplied by the T parameter raised to the third power. Note that prior to stage firmware version 2.87 the implementation for F and T was like MS-2000.

If there are no errors, the positive reply :A will be sent back from the controller.

Tiger Example
1JS X? Y?
:A X=80.000000 Y=3.000000

MS2000 Example
JS X? Y?
:A JS_FAST=100 JS_SLOW=5

2016/03/15 20:21

### Command:KA

Tiger Syntax
Shortcut KA KA [axis]=n… unitless integer Axis Specific Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Shortcut KA KA [axis]=n… unitless integer Using SS Z

Adjusts acceleration gain parameter in the servo loop where n is a signed integer. The default value is 0. MOST USERS DO NOT NEED TO USE THIS FUNCTION!

Note: Before Tiger v3.20 and Whizkid 9.2l, the KA and KADC commands adjusted the overall servo gain. KADC was primarily used for CRISP. The KA command sets the servo acceleration gain feed forward constant. The LR T command replaced KADC for CRISP.

KA Z?
:A Z=0

2016/02/23 19:37

### Command:KADC

Warning! This command has been deprecated since early 2018.

Before Tiger v3.20 and Whizkid 9.2l, the KA and KADC commands adjusted the overall servo gain. KADC was primarily used for CRISP. The KA command sets the servo acceleration gain feed forward constant.

2019/04/18 15:51

### Command:KD

Motorized Axis
MS2000 or RM2000 syntax
Shortcut KD KD [Axis]=### integer Using SS Z

Sets the servo derivative error term constant, the integer value kd. Usually set to zero (0). Especially useful when inertia is a factor to improve settling time and stability. MOST USERS DO NOT NEED TO USE THIS FUNCTION!

Tiger syntax
Shortcut KD KD [Axis]=### integer Axis-Specific Using [addr#]SS Z

Sets the servo derivative error term constant, the integer value kd. Usually set to zero (0). Especially useful when inertia is a factor to improve settling time and stability. MOST USERS DO NOT NEED TO USE THIS FUNCTION!

2016/03/15 20:26

### Command:KI

MS2000 or RM2000 syntax
Shortcut KI KI [Axis]=### … integer Using SS Z
Tiger syntax
Shortcut KI KI [Axis]=### … integer Axis-Specific Using [addr#]SS Z

Sets the servo integral error term constant, the integer value ki. Larger values of ki reduce the time for small errors to be corrected at the finish of a move, but decreases stability if set too large. MOST USERS DO NOT NEED TO USE THIS FUNCTION!

2016/03/15 20:27

### Command:KP

MS2000 or RM2000 syntax
 Shortcut KP KP [Axis]=### … integer Using SS Z
Tiger syntax
Shortcut KP KP [Axis]=### … integer Axis-Specific Using [addr#]SS Z

Sets the servo proportional error term constant, the integer value kp. Larger values of kp increase the stiffness of the response to loss of position, but decreases stability if set too large. MOST USERS DO NOT NEED TO USE THIS FUNCTION!

2016/03/15 20:29

### Command:KV

Tiger Syntax
Shortcut KV KV [axis]=n… unitless integer Axis Specific Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Shortcut KV KV [axis]=n… unitless integer Using SS Z

Adjusts motor gain parameter in the servo loop where n is a signed integer. Default depends on motor and leadscrew pitch but is generally within 10% of the ideal value. Ideal value will change with speed setting, especially when AA is far from maximum.

MOST USERS DO NOT NEED TO USE THIS FUNCTION!

KV Z?
:A Z=39

KV Z=40
:A

2020/10/01 12:37

### Command:LED

On Tiger with Two Axis Card
Format [Addr#]LED X=[0 to 100] Percentage between 0 and 100 Using [Addr#]SS Z STD_XY_LED

Sets the brightness of ASIs LED illuminator by generating PWM thru TTL out. TTL out mode should be set to ‘9’ (i.e. TTL y=9). Enable out from the LED illuminator should be connected to TTL out on controller. This setting can be saved in non-volatile memory using the SAVESET command. The PWM frequency is 1.3KHz. It’s a Card-Addressed command.

The LED command has a slightly different format on a TGLED card. Refer to TGLED card user guide for more details.

NOTE: If you are encountering flickering, try adjusting your shutter speed to integer multiples of the PWM period (0.77 ms).

On Tiger and TGLED card
Format [Addr#]LED X=[1 to 100] Y=[1 or 100] Z=[1 or 100] F=[1 or 100] Percentage between 0 and 100 Using [Addr#]SS Z

This command is “recycled” for a slightly different use in TGLED than for other cards . In the context of a TGLED card this command is used to set the individual brightness percentage of the LEDs connected to the card. Setting the brightness to 0% results in LED to be off. Setting the brightness to 50% results the in the LED being driven with PWM with 50% duty cycle. Setting the percentage to be 100% results in the LEDs to turn on fully.

X sets the brightness for LED connected to channel 1, Y sets the brightness for LED connected to channel 2, Z sets the brightness for LED connected to channel 3, and F sets the brightness for LED connected to channel 4.

Default is 50.

Example

1LED X=10 Y=50 F=0
:A


Sets the Brightness of LED connected to Channel #1 to be 10% , Channel #2 to be 50% and Channel #4 to OFF. Brightness of Channel #3 will be unchanged.

1LED X? Y? Z? F?
X=10 Y=50 Z=50 F=0 :A


Queries the card for Brightness of LEDs connected to Channel #1,#2,#3 and #4

On Tiger with Micro-mirror card
Format [Addr#]LED X=[output] Y=[switich_time] Z=[laser_mode] R=[Side0_state] T=[Side1_state] Integer (see below) Using [Addr#]SS Z MM_LASER_TTL

The LED commands are used to control the laser outputs of the card (Micro-mirror card backplane connectors, usually output by the Programmable Logic Card or TTL card in early versions). The origin of these commands was for MM_SPIM firmware, but a separate define MM_LASER_TTL was created so that it could be used in other situations as well. This documentation for v2.88+, though the Y parameter was added ~v2.86. In general these only apply when the auxiliary TTL output mode is set to 1 (TTL T) and when the SPIM state machine is not running.

output (X): selects which logical laser is on when the SPIM state machine is not running. The exact hardware output depends on bits 0-2 of the LED Z setting. X=0 means neither laser is on, X=1 means the Side0 laser is on, X=2 means the Side1 laser is on, and X=3 means both lasers are on (LED Y setting applies in this case). Requires TTL T (aux_IO_mode) setting to be 1. Setting is overridden during SPIM state machine operation.

switch_time (Y): sets the switching time in ms between the laser outputs when the SPIM state machine is not running and when both lasers are active per the LED X command. Used to simulate the effect of a passive 50/50 beam splitter, which is particularly useful during alignment. Default is 10ms, cannot be set less than 1ms.

laser_mode (Z): determines the behavior of the laser TTL outputs, both when using the LED settings and also during the SPIM state machine.

• Bits 0-2 form a code 0-7 selecting how the logical laser outputs are converted to physical TTL outputs. Setting should correspond to the physical hardware connected to the laser TTL outputs. Specifically
• code 0 for individual laser shutters for the two sides (default until v3.01)
• code 1 for single laser with side switch (Side0 is laser shutter for both sides and Side1 is high when the second side is active) (default v3.01+)
• code 2 for Side0 high when the first side of SPIM is active, Side1 high when the second side of SPIM is active
• code 3 for single laser (Side0) automatically turned on during a FAST_CIRCLES move
• codes 4-7 are reserved for future use
• Bits 3-7 are reserved for future use and currently cannot be set

Side0_state (R): can be set to 1 or 0 as shorthand for turning on/off the Side0 laser without affecting the state of the Side1 laser. It is equivalent to querying the logical laser output state (X), changing the LSB, and then setting the output state (X). Introduced in v3.11.

Side1_state (T): can be set to 1 or 0 as shorthand for turning on/off the Side1 laser without affecting the state of the Side0 laser. It is equivalent to querying the logical laser output state (X), changing the 2nd bit, and then setting the output state (X). Introduced in v3.11.

On MS2000 or RM2000
Format LED X=[1 to 100] Y=[0 or 1] Z=[0 or 1] F=[0 or 1] Percentage between 0 and 100 Using SS Z LED DIMMER

X argument sets the brightness of ASIs LED illuminator by generating PWM thru TTL out. TTL out mode should be set to ‘9’ (i.e. TTL y=9). Enable out from the LED illuminator should be connected to TTL out on controller. This setting can be saved in non-volatile memory using the SAVESET command.

If you encountering flickering in a live image, try adjusting your shutter speed to avoid aliasing with the LED PWM frequency. The PWM frequency is 1 KHz.

Y, Z, and F arguments provide on/off control for additional LED lamp connectors on some controllers. Not PWM dimmable.

On MS2000 with Dual LED
Format LED X=[0 to 100] Y=[0 or 100] R=[0 or 100] T=[0 or 100] Percentage between 0 and 100 Using SS Z DUAL_LED X=20 Y=20 R=100 T=100

Dual LED is a modern two LED driver for MS2000. Instead of using PWM to dim the LED, DUAL LED varies the current applied to dim the LEDs (DC constant current driver) resulting in very little flicker even at high shutter speeds. The brightness of the two LEDs can be independently set using the X and Y arguments of the LED command. At 100% brightness about 900ma is applied to the connected LED. The DUAL LED board can supply up to 900mA to two LEDs simultaneously, with both channels independently controllable.

The DUAL LED command also has a current limiting feature, where the user can set the maximum allowed brightness of the two LEDs with R and T arguments. This setting is saved in a non volatile memory on the PCB , so this setting is preserved even after firmware upgrade. R and T are both defined as the upper-limit that X and Y can be set to. R corresponds to X and T corresponds to Y.

For example, an LED with maximum rated current of 100ma is attached to channel 1. Then setting LED R=10 will limit the maximum applied current to 90ma by limiting X to no greater than 10.

X sets the brightness for LED connected to channel 1,
Y sets the brightness for LED connected to channel 2,
R sets the maximum brightness for LED connected to channel 1, and
T sets the maximum brightness for LED connected to channel 2.

Example

LED X=10 Y=50
:A


Sets the Brightness of LED connected to Channel #1 to be 10% , Channel #2 to be 50% .

LED X? Y?
X=10 Y=50 :A


Queries the card for Brightness of LEDs connected to Channel #1,and #2.

LED R=10
:A
LED X=50
:A
LED X?
X=10 :A


User sets the maximum brightness of LED#1 to 10%. If the user tries to increase the brightness beyond 10%, its overwritten by maximum brightness settings and limited to 10%.

2016/02/22 17:57

### Command:LOAD (LD)

MS2000 or RM2000 syntax
Shortcut LD LOAD [Axis]=### … position in 1/10 microns not saved RING BUFFER
Tiger syntax
Shortcut LD LOAD [Axis]=### … position in 1/10 microns Axis-Specific not saved RING BUFFER

The LOAD function places a set of position coordinates in the next available internal ring-buffer memory location. The position values are expressed as floating point numbers representing tenths of a micron, the same as the MOVE command. If a + is specified instead of =###, then the current position of the axis is stored in the ring buffer (as of Tiger firmware v2.81 and MS2000 firmware v9.2g). For example, the command LOAD X+ Y+ Z=0.1 would store the current position of the X and Y axes and the Z position of 10nm to the ring buffer. The ring buffer contains 50 positions by default; contact ASI for the option of having 250 positions in the ring buffer (but this entails certain tradeoffs).

The coordinates for the next move may be queried by using the command LD X? Y? Z?. Setting the current buffer position and initiating moves to locations stored in the buffer can be done using the RBMODE command (see below), or by using a front panel button. The LOAD operation increments the number-of-positions counter accessed using RM X? (see the RBMODE command). In TG-1000 the ring-buffer is stored and executed on a per-card basis. If positions for one or more axes on one card are specified but others are not, the position of the unspecified axes during the ring buffer execution will not be well-defined. To clear the buffer, type RM X=0.

The current stage position (for all axes with RING_BUFFER firmware) may be loaded into the ring-buffer by pressing the Joystick button for 3 seconds and releasing.

CAUTION: If you are using TTL mode 12 (see the TTL command), the values entered into the ring buffer using the LOAD command represent RELATIVE coordinates, not ABSOLUTE coordinates. You must drive the stage to the appropriate starting position before triggering any ring buffer sequence.
2016/03/16 13:36

### Command:LOCK (LK)

This command has slightly different usage for CRISP, Phototrack, and SERVOLOCK_TTL, and very different use for TGPMT card.

CRISP usage
Tiger Syntax
Shortcut LK [Addr#]LK [X] [Y] [Z=lock_offset] [F=code] [M=calibration_offset] [T=sum] Card-Addressed Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Shortcut LK LK [X] [Y] [Z=lock_offset] [F=code] [M=calibration_offset] [T=sum] Using SS Z

The LOCK command without any arguments advances to the next system state just as would a short-press of the @ button.

X [crisp_state]: LK X? returns the single character indicating the current CRISP system state as described in the table CRISP System States. For historical reasons, do not use LK X to set the current state, instead use LK F.

Y [error_number]: LK Y? returns the current value of the focus error which is also shown on the LCD display. As of Tiger 3.39 and MS2000 9.2n this command returns the exact value on the LCD, previously it didn't account for the system state and only returned the relative focus error.

Z [lock_offset]: LK Z? returns the current value of the focus error lock_offset. The offset is automatically determined during calibration and is modified when the command wheel on the controller is used to focus a locked system. The offset is also reset with a >10 sec. press of the @ button. A particular value of lock_offset may be set using LK Z=lock_offset.

F [crisp_state]: LK F=code will unconditionally set the focus state. Code is the ASCII decimal equivalent for the 'state' character that is displayed on the LCD. For example, to unconditionally enter the B state the command would be LK F=66. Not all states are best entered directly. See the CRISP System States table for the appropriate ASCII code to enter a particular state gracefully.

M [calibration_offset]: LK M? will query the value set by the calibration routine and you can use LK M=# to set it manually. See Saving Calibration and Offsets for more details. Available on Tiger v3.39 and MS2000 9.2n firmware.

T [sum]: LK T? returns the current CRISP sum value which is also shown on the LCD display. Available on Tiger v3.39 and MS2000 9.2n firmware.

Note: The results of LK Y? and LK T? can change depending on the system state, more information can be found in the LCD Display section of the CRISP manual. For the most part you don't have to worry about it, as the results only change in the diagnostic states A, B, and M.

Example:

LK X?
:A R


Shows that CRISP is in the READY state.

SERVOLOCK_TTL usage
Tiger Syntax
Shortcut LK [Addr#]LK [X] [F=code] Card-Addressed Using [Addr#]SS Z

The LOCK command without any arguments toggles the SERVOLOCK_TTL function from active to inactive. As short-press of the @ button will also do unless the firmware build also has CRISP, in which case CRISP takes priority. See full documentation of SERVOLOCK_TTL firmware module.

LK X? returns the single character indicating the current state, which for SERVOLOCK_TTL is the letter T for enabled and Z for disabled. If CRISP is also present in the firmware module then those states will also appear. LK F=code will unconditionally set the focus state. Use LK F=84 (ASCII letter T) to enable SERVOLOCK_TTL control and LK F=90 (ASCII letter Z) to disable it when done

TGPMT usage
 Shortcut LK [Addr#]LK [X] [Y] or [Addr#]LK [X?] [Y?] Card-Addressed Using [Addr#]SS Z

This command has a different function on a TGPMT card. Here its used to check the status of PMT (overloaded or not). Then if it is overloaded, issue a reset pulse to clear the overload. Duration of the reset pulse is set with the RT Y command

[addr#] LK X?, Query PMT0's status. Controller return a 0 if Overloaded, and 1 if not overloaded.

[addr#] LK Y?, Query PMT1's status. Controller return a 0 if Overloaded, and 1 if not overloaded.

[addr#] LK X, Issue a reset pulse to PMT0.

[addr#] LK Y, Issue a reset pulse to PMT1.

Alternately, the status of the PMTs is also indicated by the LEDs on the TGPMT card (Green is ok, Red is overloaded). And the reset button can be pressed to clear the overload state.

Example

7lock x?
:A 0


Query the status of PMT0 on TGPMT card at address 7 for status. 0 is returned, indication PMT0 is overloaded

7lock x
:A


Issue reset pulse to PMT0 on TGPMT card at address 7.

7lock x?
:A 1


Overloaded was cleared, Query the status of PMT0 on TGPMT card at address 7 for status again. 1 is returned, indication PMT0 is NOT overloaded

On Phototrack systems
Shortcut LK LK [X] [Y] [Z=sum_min] [F=quad_order] Using SS Z

LK with no argument performs same action as “@” short press.

LK X performs same action as “@” long press.

LK Y performs same action as “HOME” very long press.

Use sum_min to set the minimum sum-signal level required for tracking the sample. If the sum signal is less than sum_min, tracking will PAUSE.

The quad_order is the relative orientation of the PMT assembly and is normally set during calibration.

2016/02/23 20:02

### Command:LOCKRG (LR)

This commands function changes if the system has a Phototrack module or CRISP/SERVOLOCK_TTL module.

On CRISP systems
Tiger Syntax
Shortcut LR [Addr#]LR [X=cal_gain] [Y=objective_na] [Z=lock_range] [F=cal_range] [T=loop_gain] Card-Addressed Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Shortcut LR LR [X=cal_gain] [Y=objective_na] [Z=lock_range] [F=cal_range] [T=loop_gain] Using SS Z

The LOCKRG command allows the user to control of several system variables.

X [cal_gain]: The X parameter, cal_gain, is the gain variable normally obtained from running the calibration sequence. Although not recommended, it can be changed with this command, but it will be reset upon running the calibration sequence.

Y [objective_na]: The Y parameter sets both the cal_range focus depth (LR F) and also the in_focus_mm range (AFLIM Z) appropriately for the specified numerical aperture of the objective. The computed values can be read and/or overridden using the LR F and AFLIM Z commands respectively.

Z [lock_range]: The Z parameter controls the maximum excursion (in either direction) of the stage from the position where the Lock state was initiated before the system generates an error condition and unlocks. The value lock_range is in units of millimeters. The default value is 1.0 mm.

F [cal_range]: The F parameter controls the excursion of the stage when going through the calibration sequence. The default value for cal_range is 0.005 mm. Setting the objective's NA using LR Y will override this value.

T [loop_gain]: The T parameter controls the gain multiplier or loop gain. The default value is 4.

Note: Firmware with a compile date prior to November 2016 used the KADC command to the set loop gain. Firmware builds from November 2016 to March 2018 have both KADC and LR T commands which have an identical effect. Note: with LR T the axis character does not need to be specified.

With SERVOLOCK_TTL
Tiger Syntax
Shortcut LR [Addr#]LR [Z=lock_range] Card-Addressed Using [Addr#]SS Z

The SERVOLOCK_TTL module uses the LOCKRG Z command to set the maximum excursion. If CRISP is also present then the same setting is shared by both modules.

The Z parameter controls the maximum excursion of the stage from the position where it was initially locked before the system generates an error condition and unlocks. The value lock_range is in units of millimeters. The default value is 1.0 mm.

On Phototrack system
Shortcut LR LR [X=cal_value] [Y=xy_lock_range] [Z=z_ lock_range] [F=cal_range] Using SS Z

This command sets range limits for tracking and autofocus systems. For XY tracking systems, the excursion from the point of lock for both the X and Y axes in millimeters is set with the lock_range value using the Y parameter. If the system encounters a lock_range or focus_range limit, servo tracking is terminated.

Cal_range is the distance in millimeters of the stage movement for automatic calibration of the Tracking or Focus system, set using the F parameter. The result of such a calibration is the cal_value, which can be set explicitly with the X parameter or queried using LR X?. The tracking parameters can be displayed on the serial terminal using LR Z.

Query: LR X? Y? F? returns the current value of the parameters.

2016/02/23 19:42

### Command:MAINTAIN (MA)

The Maintain command has a different function in case of a piezo actuator then a motorized actuator

MS2000 or RM2000 syntax
Shortcut MA MAINTAIN [Axis] = [0 to 3]… integer codes, see table below Using SS Z
Tiger syntax
Shortcut MA MAINTAIN [Axis] = [0 to 3]… integer codes, see table below Axis-Specific Using [addr#]SS Z
Function for Motorized Actuator (xy stage, z drive etc)
The maintain command specifies the behavior of the controller after move completion. Move commands complete when the stage moves to within the finish error tolerance of the target position (''PCROS'' or ''PC'' command). Another relevant setting is the drift error (''ERROR'' or ''E'' command). The actions for various code values are:
code = 0 [default] Post-move, when the controller detects drift from target specified by the drift error value, it will return the stage axis to the target several times (18) within a timeout period (~0.5 sec.) before declaring a move error code 60 and giving up further attempts. Post-move, the controller will indefinitely continue to try to reach target when drifts greater than the drift error are detected. With codes 0 and 1, the motor drivers are turned off when the stage reaches the finish error tolerance. The motor drivers remain on and the servo loop remains active. NB: making a manual move (e.g. joystick) may turn the motors off. Drivers remain on and servos active for the post-move time set by the ''WAIT'' or ''WT'' command. The system BUSY is released when the finish error tolerance is first achieved. Setting the WAIT time sufficiently long can stabilize post-move drifts during data recording, but then allow for less power consumption of the driver amplifiers when waiting between moves. Reserved Servos Disengage. For example with motorized turrets this will allow the user to manually move the turret.

If there are no errors, the positive reply :A will be sent back from the controller.

Function for Piezo actuator

This feature is only available on Tiger system

This command is “recycled” for a different use in piezo axes than for motor axes. For ADEPT piezo cards sets the maintain code. Currently 2 modes are implemented with the following codes:

MA [axis] = Mode
0 default
1 Overshoot algorithm

Mode 0 is the default where the piezo DAC is set and the piezo drive electronics apply a voltage to the piezo to move the piezo to the correct position as measured by the strain gauge.

Mode 1 is the overshoot algorithm which may reduce the setting time in many circumstances where speed is critical and the user is willing to do some tuning. The piezo DAC is set as if the move were traveling past the actual target according to an overshoot percentage set by the PZ T setting. The idea is to slew more quickly initially. When an exit condition is reached the piezo DAC is set to the desired final position. There are two exit conditions, meeting either one or the other is sufficient:
(1) the strain gauge indicates that the piezo is at least halfway to the final position or
(2) the maximum time for the overshoot to be applied set by the PZ R is reached.

Note: At one point this behavior was controlled using the PM command. It was shifted over to MA starting in v3.06 but not in its current form until v3.11. Using this anything besides the default setting with firmware between v3.06 and v3.10 is not recommended.

2016/03/16 13:52

### Command:MOTCTRL (MC)

MS2000 or RM2000 syntax
Shortcut MC MOTOCTRL [Axis]±
Tiger syntax
Shortcut MC MOTOCTRL [Axis]± Axis-Specific

This command enables + or disables - the controller’s ability to control the motor of a certain axis. The motor control voltage is set to zero and the position feedback control is not monitored when the motor is in disable - mode. The electronics of the controller will attempt to keep the motor from moving while disabled, however, it should be noted that this is an open-loop brake control only, and any movement or drift is not corrected. When queried, the controller returns values of 1 or 0 representing enabled and disabled respectively.

If there are no errors, the positive reply :A will be sent back from the controller.

2016/03/16 14:00

### Command:MOVE (M)

MS2000 or RM2000 syntax
Shortcut M MOVE [Axis]=[units 1/10 microns]… 1/10 microns
Tiger syntax
Shortcut M MOVE [Axis]=[units 1/10 microns]… 1/10 microns Axis-Specific

Move one or more axis motors to an absolute position. Uses the scaling of the ''UM'' command, i.e. usually 10ths of microns for stages. If no position is specified, 0 (the origin) is assumed.

For devices with CLOCKED POSITIONS (e.g. turrets and filter sliders), the position is an integer value between one and the number of positions. Note that ASI filter wheels have a separate command set described in the filter wheel documentation.

A positive reply of :A is sent back when the command is received correctly. Reception of the reply does not mean the end of execution, and the command STATUS can be used to determine if the move has been completed.

2016/03/16 14:04

### Command:MOVREL (R)

MS2000 or RM2000 syntax
Shortcut R MOVREL [Axis]= [units 1/10 microns]… 1/10 microns
Tiger syntax
Shortcut R MOVREL [Axis]= [units 1/10 microns]… 1/10 microns Axis-Specific Using [addr#]SS Z

Move one or more axis motor a distance relative from its current target position. This command is similar to the MOVE command except the new target position is calculated based on the current target position instead of being specified directly. Like the MOVE command, the typical unit of distance is tenths of microns.

The change to the target position is quantized by encoder counts. For example, with 16 TPI and rotary encoders there are 181590.4 encoder counts per millimeter. If you request 1.000 um move, the encoder target will change by 182 encoder counts which is 1.0022 um. By repeating the same relative move 600 times, the total move will be 600*182 = 109200 encoder counts which is 601.3 um, not 600.0 um. However, if you request for 2.000 um moves then the target will move by 363 encoder counts which happens to be closer to 2.000 um: repeated 300 times gives 599.7 um move in total. The reason for this behavior is that the stage and controller don't measure in microns, they can only tell how many encoder counts have gone by.

If the previous move was commanded by serial or TTL, then the post-move target position is based on the pre-move target position – where the previous move would ideally have landed – not on the pre-move actual position. This behavior prevents the possibility of accumulating small positioning errors when making sequential relative moves. Note that events such as manual moves (joystick/wheel), halted moves (by user or via motor error conditions), and automated drift correction moves will change the target position to the actual position.

A positive reply of :A is sent back when the command is received correctly. Reception of the reply does not mean the end of execution, and the command STATUS can be used to determine if the move has been completed.

2016/03/16 14:09

### Command:MULTIMV (MM)

MS2000 or RM2000 syntax
Shortcut MM MM [X=radius] [Y= speed] [Z= width] [F=mode_byte] Using SS Z v8.7+ MULTIAXIS_FUNCTION
Tiger syntax
Shortcut MM [addr#]MM [X=radius] [Y= speed] [Z= width] [F=mode_byte] [R?] Axis-Specific Using [addr#]SS Z MULTIAXIS_FUNCTION

The MULTIMV command allows several common multi-axis move patterns to be executed. Presently the patterns supported include circles and spirals. If users have other special requirements, they should contact ASI for assistance.

The command, without any arguments, initiates the multi-axis pattern move. Commanded and manual (joystick) moves are not allowed while a multi-axis move is occuring.

The patterns are initiated from the current stage position. The movement is parameterized in terms of the speed (feed rate) in mm/sec and pattern parameters. For circles, the radius in millimeters is the only required parameter. For spirals the width per spiral turn in millimeters is required as well as the maximum radius.

The mode is a bit-mapped character that determines the characteristics of the motion. The mode bits are used according to the following table.

Bit Set Clear
0 Lead-in Move Used No Lead-in Move
1 Controlled acceleration along path, set by ACCEL command, to programmed speed. No controlled acceleration
2 Move pattern repeated indefinitely Only single cycle of move pattern executed
3 Reserved
4 Reserved
5 Reserved
6 Motion pattern selector bits 6 & 7:
00 FAST_CIRCLES
01 Circle
10 Helix
11 Spiral
7

This above settings can be saved into non-volatile memory by issuing the SAVESET command.

Specifying an argument for the pseudoaxis R in decimal sets the state directly (see table below; the value is simply the decimal representation of the corresponding state character). Note that the firmware expects only certain states to be set by the user (marked as “OK to set” in the table); setting to a different state may yield unpredictable results. Querying the pseudoaxis R value returns the decimal associated with the current state (currently expressed as a float; discard anything after the decimal).

Multi-axis move states (MULTIAXIS_FUNCTION firmware)
Char Dec OK to set? State
I 73 No Idle/disabled
S 83 Yes Starts state machine
P 80 Yes Stop (goes to idle state after cleanup)
L 76 No Lead-in move
A 65 No Accelerating
M 77 No Main move
m 109 No Back move (unused?)
F 70 No Fast circle move
R 82 Yes Restart move (fast circles only)
2016/03/16 14:36

### Command:OS

MS2000 or RM2000 syntax
Shortcut OS OS [axis] = [distance]… millimeter Using SS Z
Tiger syntax
Shortcut OS OS [axis] = [distance]… millimeter Axis-Specific Using [addr#]SS Z

This command sets (or displays) the amount of distance in millimeters to travel to absorb the backlash in the axis' gearing. Analogous to backlash, but will always overshoot the desired position by the set amount and then come back towards the move's origination, whereas backlash always approaches from the same direction. Backlash move, if any, occurs before the overshoot move. Default is 0, which turns the overshoot routines off. When queried will return the actual value instead of the user-set target value

Example:

OS X=.05 Y=0
:A
OS x?
:X=0.049981 A


The command in this example will make the controller overshoot any X moves by location 50 microns before moving to the final target, while the overshoot algorithm for the Y axis is disabled.

TGTLC Syntax (Tiger only)
This command will return the current temperature, in degrees Celsius, from any active tunable lenses connected to the Tiger Tunable Lens Card (TGTLC). If a lens is not connected to that axis, or there is a communication error with it, Error 201 will be added to the error buffer, and that axis' temperature reading will be set to the default value of 30.0C.

Example:

OS V? W?
:A V=22.875000 W=30.000000
OS V?w?
:A V=22.875000 W=30.000000
OS v?
:A V=22.875000


On a tunable lens card, writing values with OS will do nothing, as Overshoot is not implemented for TGTLC.

2016/12/23 14:21

### Command:PCROS (PC)

Motorized Axis - Drift Error
MS2000 or RM2000 syntax
Shortcut PC PCROS [Axis]= [units mm]… millimeter Using SS Z
Tiger syntax
Shortcut PC PCROS [Axis]= [units mm]… millimeter Axis-Specific Using [addr#]SS Z

This command sets/displays the Finish Error setting, which controls when the motor algorithm routines will turn off. The setting controls the crossover position error (in millimeters) between the target and position at which the MFC 2000 and TG-1000 AND MS 2000 controller will stop attempting to move the stage closer to achieving the position=target. This is value also determines the maximum error allowable before a move is considered complete. This value is usually set to the value of the smallest move step size according to the encoder resolution. The current value for this setting can be viewed using the INFO command.

2016/03/16 14:21

### Command:PG

Piezo
Shortcut PG PG [axis]=[25 to 5101] (pre v2.84) PG [axis]=[1 to 255] (v2.84 and above) integer code Axis-Specific Automatically

PG command is used to set the gain of the feedback stage. The setting is stored in a non volatile memory on the ADEPT board. This is one of the settings that is automatically picked during long auto calibration. Please refer the calibration section for its usage. It is an Axis specific command. Setting is automatically saved in the non-volatile memory.

The settings set with this command can also be done with PZ commands. One does not have an advantage over another; usage is left to user preference.

Pre v2.83 a formula was used to convert 25-5101 to 8bit 255. We had rounding off issues and such. We removed the formula so now user can enter the setting directly and thus have more control.

Tunable Lens
Shortcut PG PG [axis]=[1 to 255] integer code Axis-Specific Automatically

On the Tunable Lens card , this PG is used to get and set a different parameter. Tunable lens diopter changes with temperature , this change varies with current being applied to the lens. So we built a model equation to help us calculate Diopter per Celsius change as a function of current. PG command sets the coefficient in this model equation. More info here

2016/03/18 13:41

### Command:PM

This is a Tiger only command , that has different usage for micro-mirrors and piezos.

Micro-mirror
Shortcut PM PM [axis]=[0 or 1] … Integer code, 0-1 Axis-Specific Using [addr#]SS Z v2.8+

This command is “recycled” for a different use in MicroMirror axes than for piezo. In the context of a MicroMirror axis this command is used to put the axis in internal or external mode.

1 is external input mode. Mirror is positioned based on analog input voltage. Default mode until v3.10, except for SPIM-enabled systems.

0 is internal input mode. Mirror can be positioned thru serial command or onboard routines. Default mode for SPIM-enabled systems and v3.10+.

Example

PM A=1 B=1
:A


Puts the axes in external input mode

PM A? B?
A=1 B=1 :A


Queries the mode of axes

Piezo
Shortcut PM PM [axis]=[0 to 3,+,-] Integer code, 0 to 3 and + and - sign Axis-Specific Using [addr#]SS Z

PM command sets the ADEPT card in various modes, Open Loop, Closed loop, Internal Input and External Input. In MS-2000 this is set by the ''PZ Z'' command; in TG-1000 either PM or PZ Z can be used.

PM [axis] = Mode of Operation
0 TG-1000 input, Closed loop (default)
1 External input, Closed Loop
2 TG-1000 input, Open loop
3 External input, open loop
PM [axis]+ Fast Mode
PM [axis]- Slow Mode

In Open Loop mode, a set voltage is applied to the piezo and the feedback from strain gauge is ignored. Useful during system calibration.

In Closed Loop mode, the voltage applied to the piezo is adjusted according to the feedback coming from the strain gauges. This is the default mode of operation.

TG-1000 input, in this mode the TG-1000 controller generates the positioning input for the piezo top-plate. This is the default mode of operation.

In External input mode, the piezo top-plate is positioned according to 0 to 10V analog signal provided by the user. Every one volt change moves the piezo 1/10 the range. We recommend that frequency of the signal be kept less than 10Hz for long moves, to give the piezo top-plate sufficient time to settle and come to a complete stop.

PM [axis]+ : Requires v3.10+ firmware and Rev M5 or later ADEPT card. Switches in a faster more responsive piezo position controller. However it is less stable and prone to oscillation. Suitable for 150um piezos.

PM [axis]- : Requires v3.10+ firmware and Rev M5 or later ADEPT card. Switches in a slower but more stable piezo position controller. Ideal for 300um or 500um piezos and when using heavier payload or samples.

The modes will revert back to default state, i.e. TG-1000 input with Closed Loop when system is powered off. Use the [#Addr]ss z command to save your preference.

The settings set with this command can also be done with PZ commands. One does not have an advantage over another; usage is left to user preference.

Tunable Lens (TGTLC)
Shortcut PM PM [axis]=[0 or 3] … Integer code, 0-3 Axis-Specific Using [addr#]SS Z v3.19+

This command is “recycled” for a different use in Tunable Lens axes than for piezo. In the context of a Tunable Lens axis this command is used to put the axis in internal or external mode, and also to enable or disable Temperature Compensation. Temperature compensation is only available when tunable lens is in TG-1000 input mode. When using external input(s), make certain that JP1 and/or JP2 have been changed. These jumpers determine whether the BNC connectors are used as TTL Output/Input or as analog inputs. With Axis Mode 1 and JP1:2-3 shorted, the left BNC labeled TTL OUT becomes a 0-5v analog input. With Axis Mode 3 and JP2:2-3 shorted, the right BNC labeled TTL IN becomes a 0-5v analog input.

PM [axis] = Mode of Operation
0 TG-1000 input, Temperature Compensation disabled (default)
1 External input, Temperature Compensation disabled (Requires JP1: 2-3 shorted)
2 TG-1000 input, Temperature Compensation enabled
3 External input, Temperature Compensation disabled (Requires JP2: 2-3 shorted)

Note: Mode 3 not implemented as of Tiger 3.39 due to hardware limitations.

Example

PM R=1 S=1
:A


Puts the axes in external input mode

PM R? S?
R=1 S=1 :A


Queries the mode of axes

TGGALVO / TGDAC4
Shortcut PM PM [axis]=[0-7] … Integer code, 0-7 Axis-Specific Using [addr#]SS Z v3.2+

For TGGALVO card, the bits 0-2 of the specified code sets the output range (values 0-7 in decimal). Bits 3-7 are reserved for future use.

Note: in case of SIGNAL_DAC or DAC_XY firmware, this operation is performed with Command:PR command instead.

Code (Decimal) Code (Binary) Output range
0 000 0V to 2.048V
1 001 0V to 4.096V
2 010 0V to 10.24V
3 011 not supported
4 100 -1.024V to 1.024V
5 101 -2.048V to 2.048V
6 110 -5.128V to 5.128V
7 111 -10.24V to 10.24V

Example

PM A=2 B=7
:A


Puts the output A in 0-10V mode and output B in +/- 10V mode.

PM A? B?
A=2 B=7 :A


Queries the mode of axes

2016/03/17 19:27

### Command:PR

This is a Tiger only command , that has different usage for MicroMirrors and Piezos

MicroMirror
Shortcut PR PR [axis]=[5 to 10] … Integer code, 5 to 10 Axis-Specific Automatically v2.83+

This command is “recycled” for a different use in MicroMirror axes than for piezo. In the context of a MicroMirror axis this command is used to set the MicroMirror travel range. Settings is automatically saved into non-voltatile memory, however controller needs a system RESET or RESTART for setting to take effect.

PR[Axis Name] = MicroMirror Range
in degrees
5 5
6 6
8
(default)
8
10 10

Example

PR A=5
:A


Sets range of A axis as 5 degrees

PR A? B?
A=5 B=8 :A


Queries the range of axes

Piezo
Shortcut PR PR [axis]=[0 to 8] … Integer code, 0 to 8 Axis-Specific Automatically

PR is used to set the piezo travel range. It is an Axis specific command. Setting is automatically saved in the non-volatile memory. Will need a system RESET or RESTART for setting to take effect.

PR [Axis Name] = Piezo Range
in microns
1 50
2 100
3 150
4 200
5 300
6 350
7 500
8 70
Tunable Lens
Shortcut PR PR [axis]=[0 to 3] … Integer code, 0 to 3 Axis-Specific Automatically

PR is used to set the Tunable Lens units or user input. It is an Axis specific command. Setting is automatically saved in the non-volatile memory. Will need a system RESET or RESTART for setting to take effect. For more info refer to Units/Resolution section on TGTLC card page.

PR [Axis Name] = Units
1 (default) [0 to 290mA] with coordinates -32768 to +32768
2 [0 to 290mA] 1/1000 of dpt, range usually between 26000 to 7000
3 [-290mA to +290mA] with coordinates -32768 to +32768
SIGNAL_DAC for TGDAC4 / TGGALVO
Shortcut PR PR [axis]=[0-7] … Integer code, 0-7 Axis-Specific automatically, no SS Z required v3.3+

For TGDAC4 card with SIGNAL_DAC firmware, the bits 0-2 of the specified code sets the output range (values 0-7 in decimal). Bits 3-7 are reserved for future use. Controller reset or restart is needed for setting to take effect.

For the SIGNAL_DAC firmware, the axis units are always in millivolts (0.001V), regardless of the PR setting. For example, when PR H=2, the maximum axis value of H is 10240. When PR H=0, then the maximum axis value of H is 2048.

Code (Decimal) Code (Binary) Output range
0 000 0V to 2.048V
1 001 0V to 4.096V
2 010 0V to 10.24V
3 011 not supported
4 100 -1.024V to 1.024V
5 101 -2.048V to 2.048V
6 110 -5.12V to 5.12V
7 111 -10.24V to 10.24V

Example

PR A=2 B=7
:A


Puts the output A in 0-10V mode and output B in +/- 10V mode.

PR A? B?
:A A=2 B=7


Queries the mode of axes

2016/03/17 19:41

### Command:PSG

Piezo
Shortcut PSG PSG [axis]=[1 to 255] integer code, 1 to 255 Axis-Specific Automatically

PSG command argument sets the zero adjust potentiometer of the ADEPT card. Only values between 1 and 255 are accepted. The setting is stored in a non volatile memory on the ADEPT board. This is one of the settings that are automatically picked during both long and short auto calibration. Please refer the calibration section for its usage.

The settings set with this command can also be done with PZ commands. One does not have an advantage over another; usage is left to user preference.

Tunable Lens
Shortcut PSG PSG [axis]=[1 to 255] integer code, 1 to 255 Axis-Specific Automatically

On the Tunable Lens card , this command gets and sets a different parameter. Tunable lens diopter changes with temperature , this change varies with current being applied to the lens. So we built a model equation to help us calculate Diopter per Celsius change as a function of current. PSG command sets the reference temperature in this model equation. More info here

2016/03/18 13:43

### Command:PZ

MS2000 or RM2000 syntax
Format PZ X=[1 to 255] Y=[20 to 5101] Z=[0 to 3] (pre 9.2f) PZ X=[1 to 255] Y=[1 to 255] Z=[0 to 3,+,-] F=[0 to 65000] (9.2f and above) integer codes X and Y automatically , Z and FUsing SS Z
Tiger syntax
Format [#Addr]PZ X=[1 to 255] Y=[25 to 5101] Z=[0 to 3] F=[0 to 100] T=[0 to 500] (pre v2.83) [#Addr]PZ X=[1 to 255] Y=[1 to 255] Z=[0 to 3,+,-] (v3.11 and above: F=[0 to 65000] R=[0 to 100] T=[0 to 500]) (v2.83-3.10: F=[0 to 100] T=[0 to 500]) integer codes Card-Addressed Using [addr#]SS Z

The X argument sets the zero adjust potentiometer of the ADEPT card.The setting is stored in a non volatile memory on the ADEPT board. This is one of the settings that are automatically picked during both long and short auto calibration. Please refer the calibration section for its usage. On Tiger controller PSG command is equivalent. One does not have an advantage over another; usage is left to user preference.

The Y argument sets the gain of the feedback stage. The setting is stored in a non volatile memory on the ADEPT board. This is one of the settings that is automatically picked during long auto calibration. Please refer the calibration section for its usage. Pre MS2000 v9.2f and Tiger v2.83 a formula was used to convert 25-5101 to 8 bit 255. We had rounding off issues and such. We removed the formula so now user can enter the setting directly and thus have more control.On Tiger PG command is equivalent. One does not have an advantage over another; usage is left to user preference.

The Z argument sets the board in various modes. On Tiger controller PM command is equivalent in firmware v2.8+. One does not have an advantage over another; usage is left to user preference.

PZ Z = Mode of Operation
0 Controller controlled, Closed loop (default)
1 External input, Closed Loop
2 Controller controlled, Open loop
3 External input, open loop
PZ Z+ Fast Mode
PZ Z- Slow Mode

The F argument (requires Tiger v3.11+ and MS2000 v9.2f) sets the value of the timer for Auto Sleep feature. Units of are in minutes. To maximize piezo actuators’ lifetime they should to be turned off when not in use. Every time the piezo is moved (e.g. commanded move, TTL-triggered move, or with a manual input device like the wheel) the auto sleep timer is reset to 0. When the timer reaches the value set by the F argument the sleep state is entered. In the sleep state piezos are moved to the sleep position and the code returned by the RS+ command (equivalent to the right status character on MS-2000 LCD screens) changes to E. However, the position returned by the WHERE command is not changed during sleep. Further, any move will proceed from the pre-sleep position. To disable the auto sleep feature, set the F argument to 0. On most firmware builds the default value is 0, i.e. disabled. However on SPIM builds the default value is 5 minutes. To exit sleep without affecting anything else, send the R <axis> command to execute a relative move of distance 0. Setting the F argument clears the timer but does not exit the sleep state.

Additional Tiger Only function
The R argument only applies when the piezo maintain code is set to 1. (In firmware between v2.83 and v3.10 it was the F argument instead.) It sets the maximum time to move towards the overshoot position, expressed in milliseconds. Refer to the documentation under MA.

The T argument only applies when the piezo maintain code is set to 1. It sets the overshoot amount, expressed as a percentage. For example, when set to 100 the piezo will begin the move as if the target position is twice as far away as it really is. Refer to the documentation under MA.
2016/03/18 14:14

### Command:PZC

MS2000 or RM2000 syntax
Format PZC X=[0 or 1] Y=[0,1,2,3] Z=[1 to 100] F=[1 to 100] ,or PZC integer codes Using SS Z
Tiger syntax
Format [addr#]PZC X=[0 or 1] Y=[0,1,2,3] Z=[1 to 100] F=[1 to 100] ,or [addr#]PZC integer codes Card-Addressed Using [addr#]SS Z

PZC when entered alone runs the auto calibration routine that sets various internal parameters for optimal operation of the piezo top-plate. :A is returned on completion, :N-5 is returned if the routine failed.

X argument sets the auto calibration type to perform. 0 is for short calibration (default) i.e. only strain gauges offset is adjusted. While 1 is long calibration routine, with adjusts both strain gauge offset and the feedback gain. You will need a length gauge to run the full calibration routine. Ss z command is not applicable, settings will revert back to default when controller restarts. Note: Long calibration is not implemented for ADEPT card with TG-1000. Usage will end in an error.

Y argument sets the axis index to which the length gauge is assigned. Default is 0 i.e. X index in a 4 axis build. Ss z command not applicable, settings will revert back to default on controller restart.

Z argument sets the delay between routine runs, default is 35 i.e. 35ms. Units are in milliseconds. Ss z command not applicable, settings will revert back to default on controller restart.

F argument sets the position where controller moves the piezo top-plate before adjusting the strain gauge offset. Accepts values between 1 to 100, units are %, default is 50 i.e. middle of the piezo range. Ss z command is applicable, settings will be saved between controller restarts.

Please use HALT command to stop a running calibration routine; else the routine will leave incorrect settings on the ADEPT card.

2016/03/18 13:50

### Command:PZINFO

MS2000 or RM2000 syntax
Format PZINFO
Tiger syntax
Format [addr#]PZINFO Card-Addressed

PZINFO is a diagnostic command. ASI reserves the right to change the format of the PZINFO command at any point as more diagnostic features are found to be useful.

MicroMirror Example on Tiger
3PZINFO
Hdwr REV.E
V0 :24.3 V
HV :143.5 V
V1 :63.7 V
V2 :63.2 V
V3 :63.2 V
V4 :64.9 V
V5 :64.3 V
V6 :65.4 V
I2C Check> DAC[OK] OSC1[OK] OSC2[OK] EEPROM[OK]
Mode> A[IN] B[IN] C[IN] D[IN]

Piezo Example on Tiger
1PZINFO
Voltages @ Pos1>
HV   : 147 V
Sout : 4 V
Pzout: 65 V
I2C Check> DAC[OK] SWITCH[OK] DigPot[OK]
ADEPT Rev 0
DigPot> Sgoffset: 110 Gain: 96
Closed Loop
TG1000 IN
HV ENABLE
FAST MODE
SG Offset [OK]

Piezo Example on MS2000
PZINFO
Voltages @ Pos1>
HV   : 147 V
Sout : 4 V
Pzout: 65 V
I2C Check> DAC[OK] SWITCH[OK] DigPot[OK]
ADEPT Rev 0
DigPot> Sgoffset: 110 Gain: 96
Closed Loop
TG1000 IN
HV ENABLE
FAST MODE
SG Offset [OK]

PMT example on TGPMT
if TGPMT card address is 7.
7pzinfo
Hdwr REV.0
V0 :24.0 V
V1 :15.0 V
Avg: 2
I2C FRAM: OK
PMT0> Gain:   0 , ADC:   13 , BG:    0 , Status: ENABLED
PMT1> Gain:   0 , ADC:   13 , BG:    0 , Status: ENABLED
<LF>

2016/03/17 19:33

### Command:RBMODE (RM)

MS2000 or RM2000 syntax
Shortcut RM RBMODE [X=control] [Y=axis_byte] [Z=buffer_pointer] [F=mode_byte] Using SS Z RING BUFFER
Tiger syntax
Shortcut RM [addr#]RBMODE [X=control] [Y=axis_byte] [Z=buffer_pointer] [F=mode_byte] Card-Addressed Using [addr#]SS Z RING BUFFER

Provides control of movement and save operations involving the controller’s internal 50-position ring-buffer (optionally to 250 positions, contact ASI). The LOAD command is used to fill the ring buffer.

Many firmware builds have axis_byte set to 3 as a default, so only the X and Y axes enabled for ring-buffer moves, check the axis_byte parameter if you are having trouble moving an axis.

The command, without any arguments, sets the TTL input interrupt flag and performs the same operation that a TTL IN0 input pulse would control as determined by the current IN0_mode. See TTL command.

A move to the Next Position may be initiated by:

• a TTL pulse when the appropriate IN0_mode is selected (See TTL command, IN0_INT Firmware Module Required).
• a short press and release of the @ button (as long as other special functions are not utilizing the @ button).
• by the RM command without arguments.
2016/03/16 15:18

### Command:RDADC (RA)

MS2000 Syntax and Function
Shortcut RA RA [X] [Y] [Z] [F]

Returns the present values on the MS2000's 4-channel ADC. The X and Y channels are used for the joystick. The Z and F channels may be used for special applications, e.g. Autofocus or ADC_LOCK and ADC_FOLLOW modes of controlling the stage. Special firmware is required for these applications.

If the system has Video Autofocus user can query the focus score with the Z parameter ie RDADC Z?

If the system has a temperature sensor, the user can query the temperature in 1/100 degrees celcius with the T parameter ie RDADC T? If there are two temperature sensors present, one connected to channel-1 and the other connected to channel-2 of an ADEPT Hub (I2C breakout board), then the M parameter also becomes active, E.G. RDADC T? M? would answer with :A 2565 2389 meaning sensor-1 has read 25.65C and sensor-2 has read 23.89C.

Example

RA X Y
:A 128 128


Shows typical ADC values for a centered joystick.

Tiger and TGPMT Syntax and Function
Shortcut RA [addr#]RA [X?] [Y?] integer Card-Addressed Not Applicable

On a TGPMT card in a Tiger Controller , this is a Read Only command. It reports PMT signal read thru an ADC onboard the TGPMT card.

X? Returns the ADC reading of PMT0

Y? Returns the ADC reading of PMT1

Example

If the TGPMT card address was 7,

7 rdadc x? y?
:A 2 1


“2” is the ADC reading from PMT0 , and “1” is the ADC reading from PMT1

7 ra x? y?
:A 2 1

2016/03/16 15:27

### Command:RDSBYTE (RB)

MS2000 or RM2000 syntax
Shortcut RB RDSBYTE axis [axis] [axis]…
Tiger syntax
Shortcut RB RDSBYTE axis [axis] [axis]… Axis-Specific

Requests the TG-1000 and MS-2000 to respond with the Status Byte.

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. 0 = The axis is disabled. It can be renabled by one of the following: High Level command MC +, cycling the clutch switch for the Z-axis, Low Level StartMotor command (hex 47), or a system reset. 1 = The axis is enabled. 0 = Motor is inactive (off), 1 = Motor is active (on). 0 = Joystick/Knob disabled, 1 = Joystick/Knob enabled 0 = Motor not ramping, 1 = Motor ramping 0 = Ramping down, 1= Ramping up Upper limit switch: 0 = open, 1 = closed Lower limit switch: 0 = open, 1 = closed
2016/03/16 15:37

### Command:RDSTAT (RS)

MS2000 or RM2000 syntax
Shortcut RS RDSTAT axis [axis] [axis]…
Tiger syntax
Shortcut RS RDSTAT axis [axis] [axis]… Axis-Specific

Without any additional characters this is the same as RDSBYTE, except the data is returned in ASCII decimal format.

Beginning with Tiger v2.8+ and MS2000 v9.2e a qualifier can be added to the axis name to change the information reported.

With ?, a busy or not busy character is returned for that axis (N or B, just as in STATUS).
With -, the left status character displayed on MS-2000 LCD of the axis is returned, including U or L for upper and lower limits, f or s for fast or slow joystick mode just selected, D for motor disabled, or a space for no event to report.
With +, the right status character displayed on MS-2000 LCD is returned (with some additions), including M for move, B for commanded move (e.g. HOME), K for servo lock, S for spin move, A for single axis move, T for multi-axis move, P for pause, E for piezo sleep, or a space for no event to report.

2016/03/16 16:02

### Command:RESET (~)

Shortcut ~ RESET
Additional Notes about usage on Tiger
RESET is usually a  Broadcast command but can be used as a Card-Addressed Command as well. When addressed to a specific card, it resets that card and then the Comm card (required to communicate with the reset card) without affecting other installed cards.

This command causes the controller to do a software reset. A software reset re-initializes all variables back to their pre-assigned values and initializes all positions to 0. Saved settings and system flags are preserved across resets, but not saved positions. Therefore commands like HM require a power cycle instead of a reset. To re-initialize settings to default, use SS X before the reset (see documentation for the SS command; note that on Tiger SS is a card-addressed command).

2016/03/16 17:14

### Command:RTIME (RT)

General Usage
On Tiger
Shortcut RT [Addr#]RT [X=report_time] [Y=pulse_length in ms] [Z=delay_time in ms] [F=num_aves] [T=finish_error_time in ms] Card-Addressed Using [Addr#]SS Z
On MS2000 and RM2000
Shortcut RT RT [X=report_time] [Y=pulse_length in ms] [Z=delay_time] [F=num_aves] Using SS Z

The X argument sets the time interval between report events when using IN0_mode = 5, TTL triggered serial interface asynchronous reporting. The report_time value has an acceptable range from 20 to 32700 milliseconds. The default value is 200ms.

The Y argument sets the length of the TTL output pulse in ms when using any OUT0_mode that triggers a TTL pulse. (The Y arguments command has a slightly different usage on a TGLED card. Refer to TGLED card user guide for more details.)

The Z argument sets the post-move delay time in ms for sequenced arrays, and/or the delay between ring buffer moves when RM X is set to autoplay (mode 2 or 3). Note that for ring buffer moves the delay time specifies the interval between attempted moves, whereas for sequenced arrays the delay specifies the time between arriving at the desired position and initiating movement to the next position. For ring buffer if the delay time is set to be 0 then the actual time between moves will be the axis loop time (generally 0.25ms times the number of axes, e.g. 1ms for a four axis card).

The F argument sets num_aves, the power-of-two exponent for the number of samples to be averaged. Used with the CRISP system.

The T argument sets finish_error_time, which is the total amount of time that a motorized stage has to spend within the finish error of the target position at the end of a commanded move (PC setting) before the busy flag is cleared and the move is considered complete. Added to Tiger firmware as of v3.34 (Oct 2020). Defaults to 3ms (previous to v3.34 firmware the setting didn't exist but its effective value was 0.5ms).

On Tiger with Micro-mirror for SPIM
Shortcut RT RT [Z=delay_time] [F=scan_duration] [R=laser_duration] [T=camera_duration] Milliseconds Card-Addressed Using SS Z MM_SPIM

Sets up timings used in the high-level operation of SPIM state machine coordinated by Micro-mirror card. They are specified in ms with 0.25ms resolution. These commands augment, not replace, the other RTIME parameters applicable to all TG-1000 cards. For SPIM state machine triggered by TTL after arming, these values are usually “locked in” during the arming step (i.e. upon SN X=97).

delay_time is the delay between ring buffer moves just as normal, however it serves an added function: it is also the delay between the receipt of the trigger and the start of the SPIM state machine operation, allowing a systematic delay to be added. Note that resolution is 1 ms for this setting.

scan_duration: sets the duration of each beam scan during SPIM operation. Total beam scan time will be multiplied by the number of scans (NR X). Introduced in v3.14; in v3.13 and earlier the value for SAF <axis> was used instead. Cannot be less than 1 ms.

laser_duration: sets the duration that the laser control output stays high. Cannot be less than 0.25 ms.

camera_duration: sets the duration that the camera trigger output stays high. Cannot be less than 0.25 ms.

All units in milliseconds and are currently rounded to the nearest 0.25ms

On Tiger with MicroMirror and Phototargeting
 Shortcut RT [Addr#]RTIME [Y=laser_duration] [Z=delay_time] Milliseconds Card-Addressed Using [Addr#]SS Z

The Y parameter laser_duration sets the time that the laser is turned on in milliseconds, essentially the same as TTL pulse length as described in the main TG-1000 programming manual. The setting applies to both moves initiated by AIJ as well as to ring buffer moves. Normal moves using MOVE or MOVREL commands will not turn on the laser. Its value should be between 1 and 65000.

The Z parameter delay_time is the delay between ring buffer moves just as normal. However if delay_time is less than (laser_duration + settle_delay) then the ring buffer behavior is unspecified. Its value should be between 1 and 16000.

On Tiger with TGLED
Shortcut RT [Addr#]RT Y=[LED ON time on TTL trigger in ms] Time in millisec between 1 to 65000 Card-Addressed Using [Addr#]SS Z

The RT command's Y argument is “recycled” for a different purpose for the TGLED cards. Here it is used to set the duration the LEDs stay on after a TTL trigger.

Other Behavior and function of RT command have been left unchanged. Refer to the TG-1000 programming manual for more info.

On Tiger with TGPMT
Shortcut RT [Addr#]RT Y=[PMT overload reset pulse duration] Time in millisec between 1 to 65000 Card-Addressed Using [Addr#]SS Z

The RT command's Y argument is “recycled” for a different purpose for the TGPMT cards. Here it is used to set the duration the Reset pulse to clear the PMT from Overload state. Overload reset pulse is generated when LOCK command is issued.

Example

Assuming TGPMT card address is 7

7rt y=100
:A

7rt y?
:A Y=100.000000

On Phototrack systems
Shortcut RT RT [X=report_time] Using SS Z

Sets the time interval between report events when using TTL X=5 TTL triggered serial interface asynchronous reporting. The report_time value has an acceptable range from 20 to 32700 milliseconds. The default value is 200ms.

To turn ON/OFF serial position logging first set the ttl_function to serial logging using TTL X=5. Then either RM command without any arguments, or a TTL pulse on the INPUT BNC will toggle the serial reporting function ON or OFF. To change the reporting time interval use RT X=report_time. Save any changes you wish to keep using SS Z.

With SERVOLOCK_TTL Function
Shortcut RT RT [R= duration threshould] Using SS Z

Sets the trigger duration threshould for the SERVOLOCK_TTL functionality (pulses longer that the threshold are considered “long” = negative move and shorter are considered “short” = positive move. Restricted to units of 0.25 milliseconds. Defaults to 0.75 ms.

2016/02/22 19:30

### Command:RUNAWAY (RU)

MS2000 or RM2000 syntax
Shortcut RU RU [axis] = [distance]… (9.2m and later, earlier RU X=n) millimeter Using SS Z
Tiger syntax
Shortcut RU RU [axis] = [distance]… millimeter Axis-Specific Using [addr#]SS Z

This command sets the servo loop error limit before the motors will be disabled. The value n, is the distance in millimeters that the internal servo target and the actual position can differ before the motor is disabled. Default is 1 to 2 mm. If spurious disable conditions are encountered, increase this number. For more sensitive crash protection, decrease this number. Prior to MS-2000 version 9.2f and TG-1000 version 3.20 a single value applied to all axes (Tiger card-addressed) but afterwards it is axis-specific. Prior to MS-2000 version 9.2m and TG-1000 version 3.20 only integer values were allowed, but afterwards floating point numbers are allowed and reported.

2016/03/16 17:25

### Command:SAA

MS2000 or RM2000 syntax
Shortcut SAA SAA [axis]=### … Axis units Using SS Z
Tiger syntax
Shortcut SAA SAA [axis]=### … Axis units Axis-Specific Using [addr#]SS Z

This command sets the peak-to-peak amplitude of the pattern. Negative numbers will reverse the direction of the ramp pattern and make the first triangle sweep negative instead of positive.

2016/03/17 19:57

### Command:SAF

MS2000 or RM2000 syntax
Shortcut SAF SAF [axis]=### … milliseconds or clock edges Using SS Z
Tiger syntax
Shortcut SAF SAF [axis]=### … milliseconds or clock edges Axis-Specific Using [addr#]SS Z

This command sets the period of the pattern, in units of milliseconds in case of internal clock (default, see SAP) or in number of clock edges for external clock. Note that the triangle pattern and square wave pattern will automatically force themselves to have a period of an even number of milliseconds, even if the user specifies a period of an odd number of milliseconds. When period is set to be 1msec, the resulting behavior is undefined.

Note: On MicroMirror the actual waveform output is modified by the filter (tunable with BACKLASH), especially when the period is set to be less than 10msec.

2016/03/17 20:03

### Command:SAM

MS2000 or RM2000 syntax
Shortcut SAM SAM [axis]=### … Integer code, 0-3 (see below) Using SS Z
Tiger syntax
Shortcut SAM SAM [axis]=### … Integer code, 0-3 (see below) Axis-Specific Using [addr#]SS Z

Sets the single-axis mode according to the integer code.

Code Meaning
0 Puts single-axis mode in idle state (i.e. stops it if running)
1 Puts the single-axis mode in active state (i.e. starts generating the pattern)
2 Arms the trigger; version 3.29 and prior the routine is free running after the TTL trigger. Version 3.31 and later, the routine only cycles once, then waits again for another TTL trigger.
3 Makes the single-axis mode active and restarts the pattern of any other axis on the same card so they will be synchronized
2016/03/17 20:05

### Command:SAO

MS2000 or RM2000 syntax
Shortcut SAO SAO [axis]=### … Axis units Using SS Z
Tiger syntax
Shortcut SAO SAO [axis]=### … Axis units Axis-Specific Using [addr#]SS Z

This command sets the position of the center position of the single-axis pattern. For example, if the offset is 1000 and the peak-to-peak amplitude is set to 1000, the pattern will go between positions 500 and 1500.

Note that manual moves (e.g. with joystick or wheels) while a single-axis pattern is being generated automatically adjust the single-axis offset value, such that this command may not be needed.

As of Tiger firmware v2.82, using the “+” operator instead of specifying a position will store the current position to the offset for the specified axis. For example, SAO A+ set the position of axis A to the center position of the single-axis pattern

2016/03/17 20:18

### Command:SAP

MS2000 or RM2000 syntax
Shortcut SAP SAP [axis]=### … Integer code, 0-255 (see below) Using SS Z
Tiger syntax
Shortcut SAP SAP [axis]=### … Integer code, 0-255 (see below) Axis-Specific Using [addr#]SS Z

This command sets the type of pattern to generate and configures the clocks. The parameter is a bit-mapped number that determines the characteristics of the motion, with the lowest bits determining the type of pattern. The code is interpreted according to the following table:

Bit Clear Set
7 Internal Clock External clock on TTL input
6 Polarity of Clk, positive edge Polarity of Clk, negative edge
5 No TTL out TTL out
4 Polarity of TTL out, active high Polarity of TTL out, active low
3 reserved Reserved
2-0 000 Ramp/sawtooth (code 0)
001 Triangle (code 1) (period always even number of msec)
010 Square wave (code 2) (period always even number of msec)
011 Sine wave (code 3)
2016/03/17 20:14

### Command:SAVEPOS (SP)

MS2000 or RM2000 syntax
Shortcut SP SP [X=inhibit] 0 or 1 only Using SS Z
Tiger syntax
Shortcut SP [addr#]SP [X=inhibit] 0 or 1 only Card-Addressed Using [addr#]SS Z

The axis positions and soft limit locations are usually automatically saved when power is turned off. If this action is not desired, setting inhibit=1 will prevent power down saves. (Default is inhibit = 0) If the command is given without argument, a save position shutdown will be initiated whereby the axes will be halted, positions saved to flash memory, and the controller placed in a non-responsive condition until power is cycled.

2016/03/16 18:05

### Command:SAVESET (SS)

MS2000 or RM2000 syntax
Shortcut SS SAVESET [X][Y][Z]
Tiger syntax
Shortcut SS [addr#]SAVESET [X][Y][Z] Card-Addressed

SAVESET allows the user to save current parameters settings to Flash memory.
SAVESET Z , saves settings to flash memory
SAVESET Y , restores previously saved settings after a SAVESET X
SAVESET X , will reload factory defaults upon next power-up

2016/03/16 17:35

### Command:SCAN (SN)

MS2000 or RM2000 syntax and Function
Shortcut SN SCAN [X=scan_axis for X] [Y=scan_axis for Y] [Z=scan_axis for Z] [F=pattern] Integer Using SS Z SCAN or ARRAY

Sets which axes are to be used for 2-D raster scan. The same axis settings also apply to the ARRAY module. The fast-scanned raster axis (horizontal) is defined by scan_axis = 1; the slow-scanned axis (vertical) is defined by scan_axis = 2. Single axis scans (1-D) requires setting the unused axes scan_axis = 0, and the driven axis as scan_axis = 1. Note this is different from the Tiger meaning of pseudoaxes X/Y/Z.

The scan pattern may be set to 0 for RASTER scans or 1 for SERPENTINE scans. This setting defaults to RASTER for firmwares with the SCAN MODULE included and SERPENTINE for firmwares with the ARRAY MODULE included. When the number of lines (SCANV Z) is set to the default of 1 then the behavior is the same for both raster and serpentine.

Without arguments, the command SCAN initiates (or stops) a scan using parameters set with the SCANR and SCANV commands.

Tiger (micro-mirror) syntax
Shortcut SN [addr#]SCAN [X=state] Integer Card-Addressed Using [addr#]SS Z MM_SPIM

Without arguments, starts or arms the SPIM state machine or terminates it if running or armed (starts state machine execution for Micro-mirror, puts in arm state for piezo). By so doing, any active single-axis functions will be stopped and the SPIM positions/steps will be calculated according to the active parameters (e.g. SAA, SAO, NR, NV, RT). Specifying an argument for the pseudo-axis X in decimal sets the state directly (see table below; the value is simply the decimal representation of the corresponding state character). Note that the firmware expects only certain states to be set by the user (marked as “OK to set” in the table); setting to a different state may yield unpredictable results. Querying the pseudo-axis X value returns the character associated with the current state.

Micro-mirror SPIM states (MM_SPIM firmware)
Char Dec OK to set? State
I No Idle/disabled
S 83 Yes Starts main acquisition state machine
a 97 Yes Arm for trigger (goes to state 'A')
A No Armed and waiting
T 84 Yes Trigger from state 'A' (v3.37+)
P 80 Yes Stop (goes to state 'I')
M No In middle of sheet (executing per-sheet scan/camera/laser state machines)
s No Starting sheet
c No Incrementing sheet
R No Starting side
y No Delay between sides
Y No Delay between repeats

Note: Other undocumented states may be used during SPIM state machine execution.

Tiger (motorized) syntax
Shortcut SN [addr#]SCAN [X?] [Y=fast_axis_id] [Z=slow_axis_id] [F=pattern] Integer Card-Addressed Using [addr#]SS Z SCAN or ARRAY

Note multiple small changes in usage from MS-2000 command set.

Specifying an argument for the pseudoaxis X in decimal sets the state directly (see table below; the value is simply the decimal representation of the corresponding state character). Note that the firmware expects only certain states to be set by the user (marked as “OK to set” in the table); setting to a different state may yield unpredictable results. Querying the pseudoaxis X value returns the character associated with the current state.

Specify the cards axis ID as the fast_axis_id or slow_axis_id (axis IDs are obtainable using Z2B query; they are 0 and 1 for X and Y axes respectively on a two-axis motor card). If slow_axis_id is set to 9 then a true single-axis scan will be executed (not even anti-backlash moves on the slow axis); if slow_axis_id is specified but the slow axis start and stop positions (NV X and NV Y) are equal then a single-axis scan will execute but the slow axis position will be checked at the scan turnaround points.

The scan pattern may be set to 0 for RASTER scans or 1 for SERPENTINE scans.

Without arguments, the command SCAN initiates (or stops) a scan using parameters set with the SCANR and SCANV commands.

Scan states (SCAN_MODULE firmware)
Char Dec OK to set? State
I No Idle/disabled
S 83 Yes Starts state machine
P 80 Yes Stop (goes to idle state after cleanup)
a No Waits until slow axis move complete
b No Starts move along fast axis
c No Waits for fast axis move to finish
d No Starts serpentine slow axis move
e No Waits until serepentine move complete
f No Used in XF_SPIM only
g No Waits until retrace is complete
h No Scan complete, cleans up
2016/03/16 18:26

### Command:SCANR (NR)

MS2000 or RM2000 syntax
Shortcut NR SCANR [X=start] [Y=stop] [Z=enc_divide] [F= #_pixels] X and Y in mm, Z and F as integer Using SS Z SCAN
Tiger micro-mirror syntax
Shortcut NR [addr#]SCANR [X=scans_per_slice] [Y=slices_per_volume] [Z=SPIM_mode] [F=volume_repeats] [R=slice_repeats] Integer Card-Addressed Using [addr#]SS Z MM_SPIM

Sets up the high-level operation of the SPIM state machine coordinated by the Micro-mirror card

scans_per_slice (X): sets the number of one-way beam scans in each slice (recall the slice corresponds to one image). Minimum value is 1.

slices_per_volume (Y): sets the number of slices (or images) in each volume. No facility exists to make it different for the two sides, though in principle it is possible. Minimum value is 1.

SPIM_mode (Z): sets a byte (by assigning a decimal) with the functions below. The default value is 2 (usual diSPIM, no special functionality).

• 2 LSBs correspond to single-sided vs. double-sided and the specified start side according to the following
• 3 for diSPIM starting on opposite side
• 2 for usual diSPIM (default)
• 1 for usual iSPIM
• 0 for iSPIM on opposite side
• Bits 2-3 were laser output mode in v2.85-v2.87; for v2.88+ this functionality is instead controlled by LED Z laser mode, bits 0-2.
• Bit 2 is set to disable micro-mirror moving to home position when other side is active during the SPIM state machine (i.e. rely completely on laser-based blanking while reducing micro-mirror movements). Default is unset (home move enabled). (v2.89+)
• Bit 3 is set to disable piezo moving to illumination position (home). Default is unset (piezo home enabled). (v2.89+)
• Bit 4 is set to alternate sides after each piezo/slice position (for interleaved stage scan). Note that piezo trigger signals will continue, but this is OK for the stage scan situation when the piezos’ SAA value is 0 and either the piezo’s SAO position is the same as the offset or else bit 3 is set. Default is unset (not alternating sides). (v3.09+).
• Bit 5 is set to alternate the beam scan direction between sweeps (either between slices or within same slice if the number of line scans per slice is more than 1). Default is unset (not alternating direction). Before v3.14 this was set using the LSB of the SAP setting. (v3.14+).
• Planned but not yet implemented: Bit 6 is set to add one extra camera trigger at the end of each side. Use this to accommodate “synchronous” or “overlap” camera mode without requiring an entire additional slice. Default is unset (no extra camera trigger). Proper operation requires the side delay (NV Y) be longer than the sum of the camera delay (NV T) and the camera duration (RT T). Because this occurs during the side switch time the total acquisition time is only increased by the time required for the final camera trigger.
• Bit 7 is reserved for future use

volume_repeats (F): sets the number of volumes to be collected per trigger event (two sides count as a single volume). Minimum value is 1.

Tiger (motorized) syntax
Shortcut NR [addr#]SCANR [X=start] [Y=stop] [Z=enc_divide] [F= #_pixels] [R=retrace_speed] X and Y in mm, Z and F as integer, R as percentage (0-100) Card-Addressed Using [addr#]SS Z SCAN

Sets up raster scan start and stop positions, with the position values expressed in millimeters. During scanning, the stage will move past both of these positions slightly, so that when scanning within the range specified, the scan proceeds with uniform speed (set by the SPEED command). On units equipped with hardware position Sync, the output pulse goes high as the stage crosses the start position.

On systems with the ENC_INT firmware module, an output pulse will occur every enc_divide number of encoder counts.

If the user specifies the #_pixels, the stop position will be calculated based upon the enc_divide and start position. Applicable to ENC_INT only.

On TG-1000 v3.30 and later use retrace_speed to specify the speed of the retrace move as a percentage of the max speed (decimal value between 0 and 100). The default value of 67 was the hardcoded value previously. This feature can be added to MS-2000 on customer request.

2016/03/16 18:29

### Command:SCANV (NV)

MS2000 or RM2000 syntax
Shortcut NV SCANV [X=start] [Y=stop] [Z=number_of_lines] [F=overshoot_factor] X and Y in mm, Z in integer, F in positive real Using SS Z SCAN
Tiger micro-mirror SPIM syntax
Shortcut NV [addr#]SCANV [X=scan_delay] [Y=side_delay] [Z=repeat_delay] [F=scan_settle_time] [R=laser_delay] [T=camera_delay] X, Y, Z, F, R and T are in milliseconds Card-Addressed Using [addr#]SS Z MM_SPIM

Sets up various delays used in the high-level operation of SPIM state machine coordinated by Micro-mirror card. The delays are specified in ms with 0.25ms resolution. The lower limit is 0.0ms and the upper limit is a bit more than 16 seconds for all except repeat_delay which can be over a day.

scan_delay (X): sets the delay between the start of the slice and when the beam scan begins.

side_delay (Y): sets the delay between the start of a side and when slices start. Defaults to 50 ms in v3.14+ (in v3.13- default was 0). In v3.14+ cannot be less than 2.0 ms. It is highly recommended to use a value of at least 10 ms; the signal for the piezo to move to illumination position takes 2.5 ms to send and the piezo has a mechanical response time (typ. 10 ms for 90% settling). In most cases even more time should be allowed for any vibrations resulting from the piezo move to settle, e.g. a typical value of side_delay is 50 ms or 100 ms.

repeat_delay (Z): sets the delay after one volume (either one or two sides) before the next one begins. In v3.14+ cannot be less than 1 ms.

scan_settle_time (F): (v3.14+) sets the amount of time before the scan start that the scanned axis will reach its initial position; before that it will ramp smoothly from the previous position to the initial position. Defaults to 1 ms. If the value of scan_settle_time is equal to or greater than the value of scan_delay there will be an abrupt transition at the corresponding point. Such an abrupt transition can lead to undesired scanner ringing and happened in all cases prior to firmware v3.14.

laser_delay (R): sets the delay between the start of the slice and when the laser control output goes high.

camera_delay (T): sets the delay between the start of the slice and when the camera trigger output goes high.

Tiger motorized stage syntax
Shortcut NV [addr#]SCANV [X=start] [Y=stop] [Z=number_of_lines] [F=overshoot_time] [T=scan_overshoot] X and Y in mm, Z in integer, F in ms Card-Addressed Using [addr#]SS Z SCAN

X, Y, and Z parameters set up the slow-scan (vertical) start and stop positions, with the position values expressed in millimeters, and the number of lines. The stage will move to the start position before beginning the scan. The scan range will be divided into number_of_lines lines. Following a completed horizontal scan, the stage will move vertically to the next scan line. The processes will conclude when the stage has moved to the vertical stop position and completed the last horizontal scan. If the start and stop values are identical then a 1-D scan will occur, repeated number_of_lines times.

The F and T parameters pertain to the fast-scan (horizontal scan) motion, and there is a difference between the behavior of the F parameter on TG-1000 vs. MS-2000.

On MS-2000, overshoot_factor (F) sets the amount of extra motion to account for the acceleration ramp at the start and stop of the trace. An overshoot_factor=1.0 (default) sets the pre and post move distances equal to the ramp up and down distances. Using a larger number will allow for more time to reach constant speed before the active sweep region.

On TG-1000, overshoot_time (F) sets an additional settling time in ms for the stage velocity to settle before reaching the start position (beyond the always-required ramp time set by the AC command). Thus the time required between scan line initiation and reaching the start position is given by summing the AC time and the NV F time. The same delay occurs after the stop position except for raster scans in firmware v3.20 and higher in which case the after-stop overshoot time is capped at 10ms. The default value is 50ms.

The T parameter was partially implemented for TG-1000 firmware versions 3.17 and 3.18, absent in 3.19, and then present in 3.20 and greater. It is intended mostly for scan-optimized stages that have a significant amount of physical backlash. The default value is 0.02 when the SCAN_OPTIMIZED define is enabled and 0 otherwise. If the value is non-zero there are several changes to the scan operation: (1) There is an extra overshoot move performed (with amplitude specified by the parameter) before any scan move in either direction, which ensures that the physical backlash is removed correctly before beginning each scan pass. (2) Before the scan moves begin, an initialization move to the center of the range is made to ensure that the overshoot move happens correctly. (3) When the scan moves are complete, the stage moves to the center position (otherwise behavior is to move to the start position).

2016/03/16 18:33

### Command:SECURE

This command is used to lock and unlock the MicroServo(U_SERVO_LK) and the Solenoid based (SOL_LK) lock inserts. SECURE command has a bit more functionality in case of Solenoid Lock insert.

For Micro Servo Lock Insert
Shortcut SECURE SECURE [X= p] Using SS Z Micro Servo Lock Insert and U_SERVO_LK

With stages equipped with Micro Servo lock mechanism, this command is used to lock or unlock samples on the stage. The value of p determines the position of the lever arm and can be any decimal number between 0.0 and 1.0. A value of 1.0 fully retracts the lever. The best value for a particular well plate model may vary and can be determined experimentally.

Example:

SECURE X=1.0
:A


fully opens lever

SECURE X=0.25
:A


Closes lever for typical well plate

SECURE
:N-3


Error at axis required

SECURE Y=0
:N-2


invalid axis

SECURE X?
:N-2


invalid operation

For Solenoid lock insert
MS2000 or RM2000 syntax and Function
Shortcut SECURE SECURE [X= 0 or 1] [Y=0 to 99] [Z=0 to 99] [F=0 to 255] [T=0 to 65000] Using SS Z Solenoid Lock Insert and SOL_LK

←-

Tiger syntax and Function
Shortcut [addr#]SECURE [addr#]SECURE [X= 0 or 1] [Y=0 to 99] [Z=0 to 99] [F=0 to 255] [T=0 to 65000] Using [addr#]SS Z Solenoid Lock Insert and SOL_LK

←-

With inserts equipped with Solenoid lock mechanism, this command is used to lock or unlock samples on the stage.

X argument accepts either “0” or “1”. “0” is the locking command , and “1” is the unlocking command. The Solenoid use no power when in “0” or lock position , so this is the default and the controller's initial state.

Y arguments is a percentage of power briefly applied to the solenoid to pull the lever back and unlock the wellplate. Set by factory, we recommend that this setting not be adjusted unless suggested by ASI support.

Z arguments is a percentage of power applied to the solenoid to keep it unlock. After unlocking, the solenoid needs very little power to keep the lever pulled back and keep the well plate unlocked. Set by factory, we recommend that this setting not be adjusted unless suggested by ASI support.

F argument sets the auto lock time, units are in minutes. When in unlock position , the solenoid is consuming power, over time solenoid will heat up and may damage it. There is a auto locking timer , Y sets the maximum time the solenoid stays unlocked , after which the controller auto locks. Default is 5 min . This feature can be disabled by setting Y as “0”, this is not recommended.

T argument, units are in millisec. This arguments sets the amount of time higher power (Y arguments) needs to be applied to unlock the wellplate. After that lower power (Z arguments) is applied to keep the wellplate unlocked. Set by factory, we recommend that this setting not be adjusted unless suggested by ASI support.

Note 1: Solenoid only consumes and dissipates power when in unlock state. Over time the heat generated by this power dissipation may damage the solenoid. So only unlock when needed.

Note 2: TTL Out mode must be set to 9 ie TTl Y=9 . This give control of the TTL out connector to Secure command .

MS2000 Example:

SECURE X=1
:A


fully opens lever, unlock state

SECURE X=0
:A


Closes lever, lock state

SECURE
:N-3


Error at axis required

SECURE X=1 F=2
:A


lever unlocks, and will auto lock after 2 mins

SECURE X?
X=1 :A


reply 1 indicates lever is in unlock state.

2016/03/16 19:21

### Command:SETHOME (HM)

MS2000 or RM2000 syntax
Shortcut HM HM [axis]=[position in mm]… millimeter Automatically 8.0+
Tiger syntax
Shortcut HM HM [axis]=[position in mm]… millimeter Axis-Specific Automatically

This command sets/displays a fixed hardware HOME location for an axis in units of millimeters. The HOME position is considered a fixed hardware location and is adjusted properly when the controller’s coordinate system is altered with the HERE or ZERO function. The HOME position is automatically remembered and recalled through a power cycle and does not need to be saved using the SAVESET command. The home position defaults to a large positive number far exceeding the mechanical limits of the system, or else with the upper limit for DAC devices including piezos, micro-mirror, and tunable lenses.

HM [axis]+ will set the home position to be the current position. Restore the default home position by executing HM [axis]-.

2016/03/16 19:32

### Command:SETLOW (SL)

MS2000 or RM2000 syntax
Shortcut SL SETLOW [axis]=[position in mm]… millimeter Automatically
Tiger syntax
Shortcut SL SETLOW [axis]=[position in mm]… millimeter Axis-Specific Automatically

This command sets/displays the lower firmware limit for an axis. The limit is considered a fixed hardware locations and are adjusted properly when the controller’s coordinate system is altered with the HERE or ZERO commands. The limit positions are automatically remembered and recalled through a power cycle and do not need to be saved using the SAVESET command.

SL [axis]+ will set the lower limit to be the current position. Restore the default limit by executing SL [axis]-. The +/- operand syntax is supported as of Tiger firmware v2.8 and MS-2000 firmware as of roughly 2013.

2016/03/16 19:37

### Command:SETUP (SU)

MS2000 or RM2000 syntax
Shortcut SU SU [axis]=[position in mm]… millimeter Automatically
Tiger syntax
Shortcut SU SU [axis]=[position in mm]… millimeter Axis-Specific Automatically

Same as SETLOW command (see above) but for upper firmware limit switch

Note 1: If this value is equal to or less than the value for SETLOW, then the controller will operate incorrectly. See also Note 2.
Note 2: When the direction of an axis is negative (see CCA Z=###), upper limit settings must be negative values, and lower limit settings must be positive values.
Note 3: For clocked devices (e.g. filter sliders, turrets) the upper limit is always the number of positions. Querying the value is useful for determining how many positions.
Note 4: As of Tiger firmware v2.8, SU [axis]+ will set the upper limit to be the current position. Restore the default limit by executing SU [axis]-.

2016/03/16 19:43

### Command:SI

This command has two distinct functions depending on whether the system uses linear encoders SEARCH INDEX or rotary encoders SEEK LIMITS.

This functionality is available by request from ASI. It is not included with standard firmware.

Linear Encoder and SEARCH INDEX
MS2000 or RM2000 syntax
Shortcut SI SI [axis]=[position in 1/10 microns]… 1/10 microns v8.4+
Tiger syntax
Shortcut SI SI [axis]=[position in 1/10 microns]… 1/10 microns Axis-Specific

This command searches for the physical centers of the stage and marks it with a user inputted value. Software limits are reset to default. Note, if the command is rerun again it will fail and print the “N-5” error. To avoid this, move the axis off-center, zero the position and then issue the command.

Reply
If there are no errors, a positive reply of “:A” is sent back.

Example

SI X=0
:A


In the example, the controller searches for the center of X-axis and sets it to zero.

SI Y=20000
:A


In the example, the controller searches for the center of Y-axis and sets it to 2mm.

SI Y=0
:N-5


N-5, indicates center of axes could not be found. This could be because previous center value is same as the new value, or hardware and software issues.

SI X? Y?
:A X=0 Y=0


In this example the X and Y axes are being queried for the current setting of the axes centers. The response is what they have previously been set to (not necessarily 0).

Rotary Encoder and SEEK LIMITS
MS2000 or RM2000 syntax
Shortcut SI SI [axis] = [1 or -1]… 1 or -1 as direction v8.8e+
Tiger syntax
 Shortcut SI SI [axis] = [1 or -1]… - Axis-Specific

If 1, then the stage seeks the upper limit. If -1, then the stage seeks the lower limit.

The stage moves to the hardware limit, backs away 3 mm, then approaches the limit slowly enough to maximize repeatability of the result. The recommended procedure is as follows, with SI and HERE commands using one or more axis arguments:

• Send SI command.
• Poll with STATUS command until ‘N’ is received.
• Send HERE command with desired real world position.

Reply
If there are no errors, a positive reply of “:A” is sent back after issuing the command. If an error occurs during execution it will be reported then.

Example

SI X=1 Y=-1
:A


In this example the command is issued to seem the X axis positive limit and the Y axis negative limit.

SI X? Y?
:A X=0 Y=0


In the example the X and Y axes are being queried for the current setting for the direction to seek the limits.

Auto Homing For Clocked Devices like Sliders
As of firmware 9.2l (for MS2000) and 3.18 (for Tiger) Seek Limit routine performs an additional step for clocked devices. After finding the Limit it moves a set distance (distance is specified as Home Position Command:SETHOME) and zeros itself there. By default, the distance between Upper limit and Slot 1 is saved in Home position , so when Seek Limit is run , the controller is able to move the slider to position 1 by finding the limit and moving a set distance from it.

2016/03/16 20:01

### Command:SPEED (S)

MS2000 or RM2000 syntax
Shortcut S SPEED [axis]=[max speed in mm/sec]… mm/sec Using SS Z
Tiger syntax
Shortcut S SPEED [axis]=[max speed in mm/sec]… mm/sec Axis-Specific Using [addr#]SS Z

Sets the speed at which the stage will move during the middle of a commanded move (e.g. using MOVE, MOVEREL, or the home joystick button; speed during joystick moves is separate and set using the JSSPD command). The start of the move has a ramp-up period and the end of the move has a ramp-down period plus a separate landing phase. Duration of the ramps is set by the AC command, and the landing phase is discussed on the tuning page.

Speed is set in millimeters per second. Maximum speed setting is is ~7.68 mm/s for standard 6.35 mm pitch leadscrews (4 TPI). See the page on lead screw pitch options. Default speed is ~67% of the max speed.

The stage might not be able to keep up with the firmware-set maximum speed depending on mechanical load and internal friction, and for that reason the advertised maximum speeds are a bit less than the maximum firmware setting (but advertised max speeds are always attainable with typical loads).

The maximum possible speed setting can be determined by setting the speed to a very high number, querying the resulting speed, and then restoring the original setting.

2016/03/16 20:04

### Command:SPIN (@)

MS2000 or RM2000 syntax
Shortcut @ SPIN [axis]=[-128 to 128]… integer -128 to 128
Tiger syntax
Shortcut @ SPIN [axis]=[-128 to 128]… integer -128 to 128 Axis-Specific

Tells controller to ‘spin’ the motor of specified axis at a rate expressed as its DAC value, a bit value from -128 to 128. This causes the motor to run in open-loop mode with no position or speed feedback.

2016/03/16 20:08

### Command:STATUS (/)

MS2000 or RM2000 syntax
Shortcut / STATUS
Tiger syntax
Shortcut / STATUS Broadcast command

Inquires regarding the motor status of all axes. Queries the controller whether or not any of the motors are still busy moving following a serial command. Using the shortcut / is the preferred method for rapid polling of the controller for a busy state. The / is handled quickly in the command parser.

2016/03/16 20:13

+

### Command:TTL

TTL functionality is somewhat different depending on whether the controller is a Tiger (TG-1000) or MS2000/RM2000 controller, stemming from hardware differences. Some TTL modes are only available with certain firmware modules.

The MS2000 controller electronics has a buffered TTL input (IN0) and output (OUT0) port that are usually connected to the IN and OUT BNC connectors on the back of the controller. These ports allow voltages in the range of 0v to 5v as an input, where any voltage below 0.95v(+-0.3v) is a LOGIC LOW signal. Any signal above 1.6v(+-0.3v) is considered a LOGIC HIGH state. Any signals in between 0.95 to 1.6v will maintain the same logic state that was registered from the last known state (Schmitt Triggered inputs). The TTL input has a 10K Ohm resistor to ground, and connecting to the input of a Schmitt Trigger 5v TTL gate. The output is CMOS-compatible 5v TTL directly from a single CMOS gate. The behavior of these connectors are determined by the IN0_mode and OUT0_mode parameters set by the TTL X and TTL Y commands respectively. There are also has several unbuffered I/O ports on the motherboard that are occasionally exposed for special purposes.

Absolute maximum voltage: -0.5v to 5.5v. Any voltage applied that is greater than 5.5v or less than -0.5v will void the warranty and likely cause damage to the controller!

On Tiger TG-1000 controllers, some cards have buffered TTL input (IN0) and output (OUT0) ports exposed, in which case the behavior is determined by the IN0_mode and OUT0_mode parameters set by the TTL X and TTL Y commands respectively. The TTL command is Card-Addressed, meaning that on Tiger it applies to each card separately. A few Tiger cards have extended functionality using the TTL_AUXILIARY firmware module affected by the TTL R and TTL T commands.

MS2000 or RM2000 syntax
Format TTL [X=IN0_mode] [Y=OUT0_mode] [Z=aux_IO_mode] [F=OUT0_polarity] TTL (firmware v9.2k+) Using SS Z 8.5+

Unless otherwise specified, the TTL commands used for Tiger apply to all WK2000-based systems as well.

Tiger syntax
Format [Addr#]TTL [X=IN0_mode] [Y=OUT0_mode] [Z=aux_IO_state] [F=OUT0_polarity] [R=aux_IO_mask] [T=aux_IO_mode] [Addr#]TTL (firmware v3.16+) Card-Addressed Using [Addr#]SS Z

IN0_mode

0 - Turns off TTL IN0 controlled functions; TTL interrupt DISABLED.

1 - TTL IN0 initiates a Move-to-Next-Position of the stored positions in the ring buffer pointed to by the buffer_pointer. When the buffer_pointer reaches a value equal to the number of saved positions, it resets to the first position, allowing cyclic repetitions to the saved locations. See RBMODE and LOAD commands.

2 - TTL IN0 repeats most recent relative move (see MOVREL). For example, begin a session by issuing the command MOVREL X=0 Y=0 Z=10, and each subsequent TTL trigger will cause the Z axis to move 1 micron2). This function can be used for repetitive relative moves of any axis or combination of axes on the controller (for MS-2000) or on the card (for Tiger). For the “focus axis” only you may directly set the dZ value with the ZS command’s X parameter.

As of MS2000 9.2o and Tiger v3.38 only the axes that are enabled with RB Y=# will be moved. Also, the BACKLASH setting is ignored during TTL-triggered relative moves, on earlier versions of the firmware you will see incorrect results with fast TTL pulses if the backlash is not set to 0.

3 - TTL IN0 initiates an autofocus operation on systems with autofocus installed.

4 - Enables TTL IN0 controlled Z-stacks. (See ZS command).

5 - Enables TTL IN0-started position reporting via the serial interface. Information is asynchronously sent out the serial interface every report_time interval, where report_time is set with the RT command. Data returned in the serial stream are the elapsed time in milliseconds since the TTL trigger, followed by the position of each axis enable by the axis_byte (set by the RM command). On TRACKING systems, the PMT sum signal is also reported. Reporting is toggled on and off by the TTL input pulse.

6 - TTL interrupt ENABLED; use with TTL triggered position reporting.

7 - TTL commanded ARRAY move to next position.

9 - Used with CRISP focus lock. TTL IN0 HIGH engages lock if the system is in the READY state. TTL IN0 LOW will cause the system to UNLOCK is locked already.

10 - Toggle TTL OUT0. If TTL OUT0 is set either LOW or HIGH, an input pulse on the TTL IN0 will cause the output to toggle to the other state.

11 - SERVOLOCK_TTL mode. Requires firmware support; as of early 2020 it is only implemented in Tiger but could be ported to MS2000/RM2000. To engage the SERVOLOCK_TTL mode use the LK command which will then automatically change the TTL IN0 mode and normally will restore it afterwards. When the SERVOLOCK_TTL mode is engaged do not change the TTL X setting. For further documentation see the SERVOLOCK_TTL documentation.

12 - Behavior is exactly the same as mode 1 above except the moves are relative rather than absolute. As of early 2020 it is only implemented in Tiger but could be ported to MS2000/RM2000.

CAUTION: If you are using TTL X mode 12, the values entered into the ring buffer using the LOAD command represent RELATIVE coordinates, not ABSOLUTE coordinates. You must drive the stage to the appropriate starting position before triggering a ring buffer sequence.

20 - The TTL IN0 pulse turns on the TTL OUT0 for a fixed duration set by the ''RT Y'' command.

Can be used with a LED illumination to act as a flash of defined duration. For the TGLED card and MS2000/RM2000 with a Dual LED card (DLED), all LED channels remain off until a TTL pulse is received, and the TTL rising edge turns all LED channels ON and they remain ON for the duration set by the RT Y command. 3) LED intensity is set by the LED command.

Added in v3.14 for Tiger and version 9.2l for MS2000/RM2000.

21 - Similar to mode 20 except TTL pulses cycle through the channels of the TGLED card or Dual LED card. On each TTL pulse, only ONE LED channel turns ON for a fixed time. The next TTL pulse turns on the next LED channel for a fixed time, and so on.

For Tiger v3.24 and later, when RB F=3 the TGLED card cycles thru all channels without waiting for TTL pulses. If an intensity is set to 0 using the LED command then that channel is automatically skipped.

Added in v3.14 for Tiger and version 9.2l for MS2000/RM2000.

22 - Similar as mode 20 except waits for TTL pulse to go low before turning off the LED. Setting RT Y isn't required.

Added in v3.30 for Tiger and version 9.2n for MS2000/RM2000.

23 - Same as mode 21 except waits for TTL pulse to go low before turning off the LED. Setting RT Y isn't required.

Added in v3.30 for Tiger and version 9.2n for MS2000/RM2000.

30 - Used with Single Axis function  SAM [Axis]=2. On rising edge of TTL pulse, the routine is performed once.

Available in firmware 3.30 and above; not yet implemented for MS2000/RM2000.

103 - Repeating Autofocus. This mode does not use TTL IN. When set, the controller will automatically attempt an autofocus routine every K milliseconds indefinitely until TTL X is changed. The repetition time, K, is set using  RTIME X=. Example: RT X=5000 will set the repetition rate to 5 seconds. This is effectively the same as using TTL X=3 with an oscillator connected to TTL IN. Note: MS2000 Only

OUT0_mode

0 - TTL OUT0 unconditionally set LOW.

1 - TTL OUT0 unconditionally set HIGH.

2 - generates TTL pulse at end of a commanded move (MOVE, MOVREL, move via ring buffer, or via array module). The pulse duration is set with command RT Y.

3 - output TTL OUT0 gated HIGH during axis index 0 (X) constant speed move not implemented but hardware-level TTL signal is available.

4 - output TTL OUT0 gated HIGH during axis index 1 (Y) constant speed movenot implemented but hardware-level TTL signal is available.

5 - output TTL OUT0 gated HIGH during axis index 2 (Z) constant speed movenot implemented but hardware-level TTL signal is available.

8 - TTL OUT0 timed arrival pre-pulse output. See RT command. Requires PREPULSE firmware module.

9 - TTL OUT0 PWM and MicroServo or Solenoid output. See the LED or the SECURE command. Requires LED_DIMMER or USERVO or SOL_LK firmware module. On WK, with LED_DIMMER, the PWM frequency is 1KHz.

10 - Output TTL OUT0 gated HIGH upon completion of video AUTOFOCUS function. AUTOFOCUS hardware and firmware required.

11 - Generates TTL OUT0 pulse at end of commanded move providing CRISP is in ‘F’ state (active and within tolerance). Waits for CRISP ‘F’ state after move completion to send a pulse. Generally not useful with TG-1000 controllers because the XY and focus axes are on different cards. ON MS-2000 the behavior of the STATUS command is modified when this TTL mode is set: 'N' is returned when CRISP is in the In-Focus 'F' state and otherwise 'B' is returned.

12 - TTL OUT0 high when CRISP is ‘F’ state, low otherwise.

20 - TTL OUT0 set during SPIM state machine operation. Requires MM_SPIM firmware module (TG-1000 only). Was code 10 until v3.12.

21 - TTL OUT0 set at the end of a ring buffer move or AIJ-initiated move (for laser trigger). Requires MM_TARGET firmware module (TG-1000 only). Was code 11 until v3.12. As of firmware v3.36 outputs to the TTL1 backplane signal instead of to the usual TTL output.

22 - In this mode, TTL OUT0 is controlled by Single-axis function module. With the SAP command the user can generate a TTL pulse that is synchronized with Single-axis function actuator motion. TG-1000 only, available in firmware version 3.17 and above.

30 - TTL OUT1 high when the position of first axis is more than the PC setting away from its target position. Tiger v3.38 and above (not yet in MS2000 but could be.)

31 - TTL OUT1 high when the position of second axis is more than the PC setting away from its target position. Tiger v3.38 and above (not yet in MS2000 but could be.)

32 - TTL OUT1 high when the position of third axis is more than the PC setting away from its target position. Tiger v3.38 and above (not yet in MS2000 but could be.)

33 - TTL OUT1 high when the position of fourth axis is more than the PC setting away from its target position. Tiger v3.38 and above (not yet in MS2000 but could be.)

OUT0_polarity

1 - default polarity, -1 inverts the polarity of TTL OUT0.

aux_IO_state

Tiger only. Requires TTL_AUXILIARY firmware module; behavior depends on the firmware build and hardware present. Sets the state of the auxiliary TTL output according to the aux_IO_mask. Input and output as a decimal number representing the binary pattern desired. The following uses have been defined so far:

For MM_SPIM firmware with SPIM TTL card: Bit0 = Side0/Laser0 output, Bit1 = Side1/Laser1 output

aux_IO_mask

Requires TTL_AUXILIARY firmware module; behavior depends on the firmware build and hardware present. Controls how the aux_IO_state bits are used, or how the backplane is used when aux_IO_mode is set to 2. Input and output as a decimal number representing a binary mask. If the corresponding mask bit is set to 1 then the state bit will be reflected at the output, but if the mask bit is 0 then the state bit has no effect. The following uses have been defined so far:

For MM_SPIM firmware: Defaults to 3 = 0b00000011.

aux_IO_mode

Requires TTL_AUXILIARY firmware module; behavior depends on the firmware build and hardware present. The SPIM state machine overrides these setting during its operation.

0 - TTL outputs determined by aux_IO_state/mask.

1 - TTL outputs determined by the LED command (requires MM_LASER_TTL module). The default setting for MM_SPIM firmware.

2 - Simulates a TTL input from the backplane. The backplane value is masked by aux_IO_mask and the binary value is considered. If a 0-1 transition occurs then a TTL input pulse is simulated and action will be taken depending on the setting of IN0_mode. The default setting for TTL_AUXILIARY on piezo firmware.

Without any Argument

In firmware version 3.16 and above on TG-1000 and version 9.2k and above on MS2000/RM2000, when the TTL command is issued without any arguments, like [Card Addr#]TTL , the controller reports the state of TTL IN.

For Tiger/TG-1000, the controller replies with :A 0 when signal is low. and :A 1 when TTL IN sees a high signal.

For MS2000/RM2000, the controller replies with the inverse polarity, :A 1 when the signal is low and :A 0 when the signal is high. This is a logical bug in the firmware, but because it was in the field so long before being noticed we made the intentional decision to keep the behavior unchanged.

2017/07/26 13:03

### Command:UM (Unit Multiplier)

MS2000 or RM2000 syntax
Format UM [axis]= ### … integer Using SS Z
Tiger syntax
Format UM [axis]= ### … integer Axis-Specific Using [addr#]SS Z

Specifies the multiplier for most serial commands such as MOVE and WHERE. Default for stages is 10000, which means 10000 units per millimeter or 0.1μm/count. For rotary stages and micro-mirror devices the UM is 1000 corresponding to milli-degrees.

The sign of the Unit Multiplier can be used to change the relative direction of motion for commanded moves, but using the CCA Z command is the recommended method for changing the stage direction. The Unit Multiplier can be saved with the SS Z command.

2016/03/16 20:21

### Command:UNLOCK (UL)

For CRISP or ZS
Tiger Syntax
Shortcut UL [Addr#]UL [X=LED_Intensity] [Y=Update_Rate] [Z=Rel_LK_knob_spd][F=focus_index] Card-Addressed Using [Addr#]SS Z
MS2000 and RM2000 Syntax
Shortcut UL UL [X=LED_Intensity] [Y=Update_Rate] [Z=Rel_LK_knob_spd][F=focus_index] Using SS Z

Without arguments, this command unlocks the servo from the focus system and returns control to encoder feedback from the Z-axis drive. The focus error offset is not changed.

X: The LED_Intensity may be set from 0 to 100 (%) of full power using the X argument. The default value is 99.

Y: Update_Rate is used to reduce the update rate of the CRISP system to the motor drive system. Increase Update_Rate to improve stability when using piezo Z-axis drive systems. As of Tiger firmware version 3.38, the value of Update_Rate is given in milliseconds. The default update rate for piezos is 5ms and everything else has an update rate of 10ms as of version 3.38. Note: UL Y was previously known as “Number of Skips”. You will want to increase the loop gain with LR T=# as you increase the update rate.

Z: Rel_LK_knob_spd controls the sensitivity of the control focus knob when the system is locked. This will vary depending on the calibration factor that the system finds, so don’t be alarmed if you find large sensitivity differences with conditions. The default value is 2.

F: To select active Z-focus axis: If the controller can handle more than one Z-axis focus device, you can specify the focus_index to select which one is active for the CRISP, TRACKING or ZS functions. Specify as a 0-indexed number; find the axis index from the letter using Z2B command or else parse the output of the BU X command and figure out what number in order the axis letter is). Save the parameter change (SS Z) and reset the controller for setting to take effect.

For TRACKING
Shortcut UL UL [X=focus_enable ] [Y= z_cal_value ] [Z=closeness ] [F=focus_index] Using SS Z

Without arguments, this command unlocks the servo from the focus system and returns control to encoder feedback from the Z-axis drive. The focus error offset is not changed.

focus_enable: X=0 autofocus off; X=1 autofocus on.

z_cal_value: is the gain constant for the focus servo.

closeness: is a relative value describing the precision of XY centering before Z focus tracking is activated. closeness should be set to roughly the acceptable xerr2 + yerr2, where xerr and yerr are typical “well tracked” errors numbers seen on the controller LCD display.

To select active Z-focus axis: If the controller can handle more than one Z-axis focus device, you can specify the focus_index to select which one is active for the CRISP, TRACKING or ZS functions. Save the parameter change (SS Z) and reset the controller for setting to take effect.

2016/02/23 19:58

### Command:VB

This command has a slightly different usage on Tiger then in MS2000 and RM2000.

MS2000 or RM2000 syntax and function
Shortcut VB VB [X=binary_code] [Y=TTL IN1 state (read only)] [Z=read_decimal_places] [T=CMD_code] integer Using SS Z v8.5+

Adds serial communication verbose modes for special functions. The binary_code is the sum of the bit values for the desired functions from the list below. The Y argument allows the TTL IN1 input state to be directly queried via serial command. The number of decimal places for the WHERE command is set by read_decimal_places.

 Bit 0 Bit 1 1 Send character ‘N’ upon completion of a commanded move. 2 Send ‘p’ for joystick quick-press and release, ‘P’ for long-press. 4 Send ‘H’ for TTL IN1 low-to-high transition; ‘L’ for high-to-low. 8 Changes the reply termination for + to just  16 Move and Move Rel will print the new Target Position. 32 Axes positions reported upon completion of a commanded move.

Example VB X=7 turns on the first three of the above functions.

CMD_code can be specified on firmware with the NO_CHANGE_SETTINGS module included in the firmware. If you need this function and do not have the module in the firmware, contact ASI. This feature allows some commands to be “turned off” for modification of settings by host software.

Serial commands are enumerated according to the following table witha command number CMD:

 AA, AALIGN 0 PC, PCROS 20 MC, MOTCTRL 40 MA, MAINTAIN 60 LCD 80 AC, ACCEL 1 RM, RBMODE 21 PD, PEDAL 41 Z2B 61 WRDAC 81 B, BACKLASH 2 RB, RDSBYTE 22 AF, AFOCUS 42 AM, AFMOVE 62 AR, ARRAY 82 BE, BENABLE 3 RS, RDSTAT 23 WT, WAIT 43 BU, BUILD 63 AH, AHOME 83 CD, CDATE 4 ~, RESET 24 AZ, AZERO 44 LL, LLADR 64 AIJ 84 C, CNTS 5 SL, SETLOW 25 SS, SAVESET 45 AL, AFLIM 65 AFINFO 85 CR, CREST, 6 SU, SETUP 26 SN, SCAN 46 RU, RUNAWAY 66 EXTRA 86 D, DACK 7 S, SPEED 27 LK, LOCK 47 UM 67 PZ 87 E, ERROR 8 @, SPIN 28 UN, UNITS 48 ZS 68 PZC 88 \, HALT 9 /, STATUS 29 MT, MTIME 49 HM, SETHOME 69 PZINFO 89 TTL 10 V, VERSION 30 VE, VECTOR 50 OS 70 ARM 90 H, HERE 11 W, WHERE 31 KA 51 CCA, CUSTOMA 71 BCA,BCUSTOM 95 !, HOME 12 N, WHO 32 RDADC 52 CCB, CUSTOMB 72 LED 96 J, JOYSTICK 13 Z, ZERO 33 NR, SCANR 53 TEST 73 SECURE 97 KD, KDP 14 JS, JSSPD 34 NV, SCANV 54 EP, EPOL 74 MM, MULTIMV 98 KI, KIP 15 ES, ENSYNC 35 UL, UNLOCK 55 RT, RTIME 75 TSLOCK 99 KP, KPP 16 I, INFO 36 RL, RELOCK 56 AFADJ 76 SAA 100 KV, KVP 17 SP, SAVEPOS 37 LR LOCKRG 57 AFC, AFCALIB 77 SAM 101 M, MOVE 18 LD, LOAD 38 SB, STOPBITS 58 AFHOLD 78 SAP 102 R, MOVREL 19 DU, DUMP 39 VB, VBMODE 59 SI 79 SAF 103 SAO 104

To disable the write function of a command, use VB T=(1000+CMD).

Example VB T=1027 will disable changing the SPEED command.

The command is explicitly enabled by using VB T=CMD.

Example VB T=27 will allow the SPEED command to work again.

Tiger syntax and function
Shortcut VB [addr#]VB [X=binary_code] [Z=read_decimal_places] [F=###] integer Card-Addressed Using [addr#]SS Z

The Z argument sets the number of decimal places for the WHERE command. This is card-addressed so that different cards can be set differently. It is saved to non-volatile memory using the SS Z command.

The F argument sets the reply syntax; this command is only applicable to the comm card. The default setting of 0 is the MS-2000 syntax, and setting to 1 gives the Tiger syntax (see Reply Syntax section of Quick Start on Serial Commands. The syntax state does not persist when power is turned off because the comm card has no saved settings (it could potentially in the future, but not as of mid-2022).
Reply Note that this command does NOT return :A or other acknowledgement.

The X argument implemented in firmware version 3.17 and above . When set with the Binary bit shown in the table below, performs the corresponding action

 Bit 4 16 Move and Move Rel will print the new Target Position.Vector command will print the current position
1vb x=16

<LF>
ve x=1 y=-1
:A -0 -0
<LF>
ve x=2 y=-2
:A 66562 -66567
<LF>
ve x=0 y=0
:A 156651 -156663
<LF>


In the above example , XY stage is on Card Addr#1. Because VB X=16 , BIT4 was set. This makes the Vector command reply with the axis's current position.

2016/03/17 14:18

### Command:VECTOR (VE)

MS2000 or RM2000 syntax
Shortcut VE VE [axis]=[speed in mm/sec]… mm/sec v8.5+
Tiger syntax
Shortcut VE VE [axis]=[speed in mm/sec]… mm/sec Axis-Specific

The VECTOR command causes the stage to immediately ramp up to the velocity value specified by the command. The command arguments are expressed in units of mm/sec. The stage will continue indefinitely at the commanded velocity until the controller receives another command. A value of zero for the velocity component will halt motion on that axis. The controller will accelerate the stage to the commanded velocity at the rate specified by the ACCEL and SPEED commands until the commanded velocity is obtained.

Query VE X? [Y?] [Z?] Returns the current speed increment for the servo trajectory generator in units of mm/sec.

Reply :A is returned upon receipt of the command.

Example

ve x=10
:A
<LF>
ve x?
:A X=9.999151
<LF>
ve x=0
:A
<LF>

2016/03/17 14:25

### Command:VERSION (V)

MS2000 or RM2000 syntax
Shortcut V VERSION
Tiger syntax
Shortcut V [addr#]VERSION Card-Addressed

Requests controller to report which firmware version it is currently using.

Tiger Example
1V
:A v2.4


Firmware version of card#1

MS2000 example
V
:A Version: USB-8.6a

2016/03/17 14:32

### Command:WAIT (WT)

MS2000 or RM2000 syntax
Shortcut WAIT WAIT [axis]=[time in msec]… millisecond Using SS Z
Tiger syntax
Shortcut WAIT WAIT [axis]=[time in msec]… millisecond Axis-Specific Using [addr#]SS Z

Sets the length of time msec, in milliseconds, the controller will pause at the end of a move. The busy status is not cleared during this pause state, unless the ''MAINTAIN'' behavior for the axis is set to code=3. Additionally, a P is displayed on the LCD display when in the Pause state. During the Pause state, the servo loop remains actively attempting to position the axis on target.

For a piezo stage axis, the controller enters the Pause state as soon as the command is received and the voltage applied to the piezo. The controller remains BUSY until the Pause state times out. Typically used to allow for piezo stage settling time.

For Phototargeting or MM_TARGET firmware , this can be used to specify the amount of time between the move initiation (either a ring buffer move or from the AIJ command) and when the laser pulse turns on. Thus it would normally be non-zero for at least one of the micro-mirror axes involved in phototargeting. Default for all axes in MM_TARGET firmware is 5 ms (usual default is 0 ms).

2016/03/17 14:36

### Command:WHERE (W)

MS2000 or RM2000 syntax
Shortcut W WHERE axis [axis] [axis]…
Tiger syntax
Shortcut W WHERE axis [axis] [axis]… Axis-Specific

Returns the current position of the device for the axis specified.

The reporting precision of the WHERE command can be changed with the VB Z command.

2016/03/17 14:45

### Command:WHO

MS2000 or RM2000 syntax
Shortcut N WHO Tiger v1.6+
Tiger syntax
Shortcut N WHO Comm-default command Tiger v1.6+

Inquires the controller to reply with its name. Allows computer software to automatically determine what stage instrument is attached at the end of the serial line.

In TG-1000 it prints all the card address, axis characters, build name and compile date, of all cards installed in the system. The card addresses are printed in the hex representation of the character, e.g. “32” is printed for card address “2”.

MS2000 example
N
:A ASI-MS2000-XYBR-Zs-USB

Tiger example
N
At 30: Comm v1.6 TIGER_COMM Jul 02 2013:17:19:34
At 31: X:XYMotor,Y:XYMotor v2.4 STD_XY Jun 11 2013:10:24:35
At 32: P:MMirror,Q:MMirror,R:MMirror,S:MMirror v2.4 MMIRROR_4CH May 10 2013:16:22:55

2016/03/17 14:49

### Command:WRDAC

On Tiger with TGLED
Format [Addr#]WRDAC X=[1 to 100] Percentage between 0 and 100 Card-Addressed Using [Addr#]SS Z

This command is “recycled” for a slightly different use in TGLED than for other cards. In the context of a TGLED card this command is used to set the maximum amount of current for all the LED channels.

The Maximum amount of current a TGLED Rev A card can output on each LED channel is 1.2Amps. When the X argument is set to 75, then maximum current each channel will output is reduced to 75% of 1.2Amps i.e. 0.9Amps.

This command can be used as a quick way to adjust the brightness of all LED channels. Default is 75%, ASI recommends not exceeding this limit.

Example

1WRDAC X=50
:A


Limits the maximum current output on each channel to 50% or 0.6Amps

1WRDAC X?
X=50 :A


Queries the card for maximum current percentage.

On MS2000 and RM2000
Format WRDAC X=[0 to 10] Voltage, 0 to 10V 8.4f+

Lets the user set the voltage on header pin SV1-5 on WK2000 board. The voltage can be varied between 0 and 10 Volts, with an accuracy of 0.1V. Maximum Output drive current is 35mA. Input value in volts. Does not work with Piezo units. If using a a firmware build with “PZ” in the name, such as PZ_CRISP, commanded moves of the Z axis will be scaled using the CCA X command (minimum=0v, maximum=10.00v) and output on the analog 0-10V output BNC (SV1 Pin 5).

Example

WRDAC X=1.1
:A


Voltage on PIN SV1-5 is 1.1Volts

WRDAC X=20
:N-4
WRDAC X=-1
:N-4


Parameter out of range

On Tiger with TGPMT
Format [Addr#]WRDAC X=[0 to 1000] Y=[1 to 1000] integer, between 0 and 1000 Card-Addressed Using [Addr#]SS Z

This command is “recycled” for a slightly different use on TGPMT card than for other cards . In the context of a TGPMT card this command is used to set the PMT's control voltage or gain. When set to 0 , PMT output signal drops to 0Volts , turning it off. When set to 1000 , 100% of control signal (1 Volts incase of H10722) is applied to the PMT.

X sets the gain for PMT0

Y sets the gain for PMT1

This function does the same function as the Dials on TGPMT cards faceplate.

Example

7 wrdac x? y?
X=500.000000 Y=0.000000 :A


Queries the TGPMT card at Address 7 for PMT gain settings. PMT0 is at 50% gain , PMT1 is at 0% gain and so is off.

7wrdac x=505
:A


Sets the gain of PMT0 at 50.5% on TGPMT card at address 7

2016/02/22 20:03

### Command:Z2B

MS2000 or RM2000 syntax
Format Z2B axis=[new axis letter ascii code]… ASCII code Using SS Z v8.6d+
Tiger syntax
Format Z2B axis=[new axis letter ascii code]… ASCII code Axis-Specific Using [addr#]SS Z

Allows the user to change the axis name for a motor axis. The current_axis_letter must be one of the motor axes names listed with the BU X command. The new_axis_letter_ascii_code must be the decimal ASCII code for the desired axis name for letters between upper case A(65) and Z(90). For the change to take effect, the new setting must be saved to flash memory using SS Z, followed by a hardware reset. The new axis name will remain in effect unless default settings are restored to the controller.

If the Z2B value of an axis is queried (e.g. Z2B Y?), the axis’ index on the card is returned (e.g. :A Y=1 for the 2nd axis on the card).

2016/03/17 15:24

### Command:ZERO (Z)

MS2000 or RM2000 syntax
Shortcut Z ZERO
Tiger syntax
Shortcut Z ZERO Broadcast Command

Writes a zero to the position buffer of all axes. Allows the user to set current position as the origin. It’s a Broadcast Command.

For setting the position of a single axis to zero instead, use the HERE command.

2016/03/17 15:16

### Command:ZFLOCK (ZF)

Not implemented. Command not present on MS2000 and unused on Tiger. Instead we use SLAVE_F_TO_Z module that doesn't have the ability to be controlled via a command, though if needed the ability to turn on and off or change which axis is the master then it could be added.

2016/03/29 19:51

### Command:ZS

MS2000 or RM2000 syntax
Shortcut ZS ZS [X=dZ] [Y=n] [Z=mode] [F= stack_timeout] Using SS Z
Tiger syntax
Shortcut ZS [addr#]ZS [X=dZ] [Y=n] [Z=mode] [F= stack_timeout] Card-Addressed Using [addr#]SS Z

Sets parameters for use with TTL triggered Z movement. User must set TTL X=4 for this trigger mode to be active. When a positive TTL edge is detected, the Z-axis is moved by an amount dZ (expressed in 10th microns units). Note that internally the amount dZ is actually stored as a multiple of the encoder unit, e.g. ~22 nanometers for a 4 TPI stage with rotary encoders, or 10 nanometers exactly for most linear encoded stages. This move distance is repeated for n TTL triggered moves. If mode=1, the stage will step in the opposite direction for n moves, then turn around again, repeating a triangular waveform cycle. If mode=0 the stage will return to the original position after n moves and repeat a saw-tooth waveform cycle.

The stage will move to the starting position upon receiving the first TTL pulse after waiting more than stack_timeout milliseconds (default 500ms) from the previous pulse. The maximum timeout allowed is 32767 milliseconds.

The axis moved by the TTL is the designated “focus index” (also the axis used for CRISP among other things). Use UNLOCK F to read or set the axis letter corresponding to “focus index”. Note the setting has to be changed, settings saved, and the controller reset or power cycled for the new setting to take effect. If the controller has a piezo but no motorized focus drive then the piezo axis should be set as the “focus index”. If both are present the “focus index” normally defaults to the piezo.

Backlash : ZS routine also performs the backlash compensation move for each step. For step size smaller than 10 microns, this might result in issues like irregular step sizes. Consider disabling Command:BACKLASH for smaller step sizes.

Stack Timeout : If the TTL frequency is less than 2Hz , then the controller might consider it a stack time out condition. Consider increasing the Stack timeout to accommodate the slower TTL frequency, to avoid any issue.

2016/03/17 15:37

### TG-1000 and MS-2000's Instruction Set Differences

This section is intended to quickly bring the users up to speed on the major differences in the serial commands between TG-1000 and MS-2000 controller.

Where possible the TG-1000 commands were kept close to the MS-2000 controller commands. The most common commands are identical because they are Axis-Specific commands. A special Tiger reply syntax was added to Tiger starting in COMM card firmware v1.92. However the default syntax closely mirrors the MS-2000 syntax.

2016/02/24 15:48
1)
Includes using the MOVE or MOVREL commands, ARRAY module, ring buffer, TTL triggers with some exceptions, etc.
2)
strictly speaking, it will be the closest multiple of the specified distance in encoder units because that is how the move distance is stored internally
3)
Old text, unknown meaning: TTL Y must be in 0 mode (TTL Y=0) or it might cause an issue.
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products/tiger.txt · Last modified: 2021/09/23 17:16 (external edit)