User Manual

Theia lens motor controller instructions
Theia Technologies® motor control
v.180628
4.3.1. Move Stepper Motor
Bytes:
Command ID
Motor ID
Steps (MSB)
Steps (LSB)
Start/Stop
Speed (MSB)
Speed (LSB)
CR
Command ID: 0x66 Rotate forward count steps relative to current position
0x62 Rotate backward count steps relative to current position
0x73 Rotate forward count steps absolute from the left end point switch (zero)
(only for motors 0x01 and 0x02 when switches enabled)
(execution always starts with going back to the switch)
Motor ID: 0x01 Focus
0x02 Zoom
0x03 Iris
0x04 IR-cut filter not a stepper motor (see explanations below)
Steps: ### Number of steps to do: (256 * MSB) + LSB
For motors of type 0x01 this parameter works differently.
Please see the explanations below.
Start / Stop: 0x01 Start
0x00 Stop set the number of steps to zero for this
(Stop will not work on USB – no parsing while moving)
Speed: ### Steps per second: (256 * MSB) + LSB
Must be between min./max. speed of the motor setup.
For motors of type 0x01 this parameter works differently.
Please see the explanations below.
CR: 0x0D End of Command marker
Answer after the command was executed successfully:
Bytes:
Answer ID
Status
CR
Answer ID: 0x74 End of Rotation
Status: 0x00 Success
CR: 0x0D End of Answer marker
Note: The step count and speed parameters work differently for motors configured as DC motors (motor type 0x01).
Please read the details on the next page. Motor number four (IR cut filter) is set as a DC motor by default.
4.3.1.1. Motion Control for DC motors
There is a command to write the setup of each motor (see below). There are stepper and DC motors. DC motors are
powered for [Number of steps] times of a pulse width. The pulse width is set by 1 / [Steps per second]. Setting [Steps
per second] to 500 gives a measuring unit of 2 ms and then setting [Number of steps] to 300 gives a single drive of
600 ms. [Steps per second] must be between min./max. speed of the motor setup.
4.3.2. Read Firmware Version
Bytes: