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Communication Interfaces ​

The MTS160 supports multiple communication interfaces for integration with various control systems:

  • Serial Communication (RS232)
  • CAN Communication
  • USB (for configuration and testing)

The MTS160 features a unique multi-interface, multi-protocol communication port that uses only two shared pins or the 4-pin connector. The choice of the protocol and interfaces are software selectable.

Internal Interface Switching Circuit

Serial Communication ​

Serial communication is the factory default mode. It operates in full duplex mode with:

  • 8 data bits
  • No parity
  • One stop bit
  • No flow control
  • No command echo

Serial Protocol ​

The MTS160 uses a custom ASCII based serial protocol, based on a command-response model with the following structure:

Command PrefixCommand CodeComma Seperated Fields Carriage Return (\r)

where:

  • Command Prefix: Indicates the type of command
  • Command: 4 letter command code (not case sensitive)
  • Fields: Optional values for the command

Command Prefixes ​

PrefixTypeDescription
!SetExecute actions or set configuration parameters
?GetRequest sensor data or read configuration
#RepeatLike Get, but repeats at specified interval
@StopStops all running repeat commands

Examples ​

For Set commands (!):

Command: !COMMAND
Response: !COMMAND,OK

For Get commands (?):

Command: ?COMMAND
Response: ?COMMAND,data1,data2,...

For Repeat commands (#):

Command: #COMMAND,interval_ms
Response: ?COMMAND,data1,data2,... (repeating)

Serial Commands Reference ​

Commands Overview ​

Action Commands ​

CommandDescriptionAccess
ZEROCalibrate Zero LevelWrite
STSTExecute Self-TestWrite
SAVESave current configuration to internal memoryWrite
RSETReset to Factory DefaultsWrite

Data Request Commands ​

CommandDescriptionAccess
FWVRFirmware VersionRead
HWVRHardware VersionRead
SNIDSensor IDRead
NVCDNavicode MarkerRead
RSENRaw Sensor ValuesRead
SALLAll Sensor DataRead
STRSSelf-Test ResultsRead
TWIDTape Magnetic WidthRead

Configuration Commands ​

CommandDescriptionAccess
CMCFCommunication ModeRead/Write
RSCFRS232 ConfigurationRead/Write
CNCFCAN ConfigurationRead/Write
SNCFSensor ConfigurationRead/Write

Data Request Commands ​

FWVR ​

Description: Firmware Version
Access: Read

ParameterDescriptionTypeFormat
versionFirmware Versionuint32_t010203 = v1.2.3
buildFirmware Builduint32_t-
hashFirmware Hashuint32_t-

HWVR ​

Description: Hardware Version
Access: Read

ParameterDescriptionTypeRange
versionHardware Versionuint8_t-

SNID ​

Description: Sensor ID
Access: Read

ParameterDescriptionTypeRange
idSensor IDuint32_t-

NVCD ​

Description: Navicode Marker
Access: Read

ParameterDescriptionTypeRange
navicodeNavicodeuint16_t0-65535
countNavicode Counteruint8_t0-255

RSEN ​

Description: Raw Sensor Values
Access: Read

ParameterDescriptionTypeUnits/Range
frontFront Sensor Valuesint16_t[16]±16000 mT
backBack Sensor Valuesint16_t[16]±16000 mT

RAWS ​

Description: Raw Sensor Values (Unzeroed)
Access: Read

ParameterDescriptionTypeUnits/Range
frontFront Sensor Valuesint16_t[16]±16000 mT
backBack Sensor Valuesint16_t[16]±16000 mT

SALL ​

Description: All Sensor Data
Access: Read

ParameterDescriptionTypeRange
tape_detectTape Detectionuint8_t0=No Tape, 1=Tape Detected
left_posLeft Tape Positionint8_t±80 mm
right_posRight Tape Positionint8_t±80 mm
left_angleLeft Tape Angleint8_t±90°
right_angleRight Tape Angleint8_t±90°
left_marker_detectedLeft Marker Detecteduint8_t0-1
right_marker_detectedRight Marker Detecteduint8_t0-1
fork_detectedFork Detecteduint8_t0-1
merge_detectedMerge Detecteduint8_t0-1
intersection_detectedIntersection Detecteduint8_t0-1
left_marker_xy_positionx/y position of left marker in deci-mmint16_t[2]-
right_marker_xy_positionx/y position of right marker in deci-mmint16_t[2]-
countPacket Countuint8_t0-255

WARNING

Fork, Merge and Intersection Detection flags are not yet active

STAT ​

Description: Sensor Status
Access: Read

ParameterDescriptionTypeRange
statusSensor Statusuint8_t-

STRS ​

Description: Self-Test Results
Access: Read

ParameterDescriptionTypeRange
resultSelf-test Resultuint8_t0=Fail, 1=Pass
min_deltaMinimum magnetic field deltauint16_t-
max_deltaMaximum magnetic field deltauint16_t-

STPF ​

Description: Self-Test Pass/Fail
Access: Read

ParameterDescriptionTypeRange
resultPass or Failuint8_t0=Fail, 1=Pass

TWID ​

Description: Tape Magnetic Width
Access: Read

ParameterDescriptionTypeRange
validFlag if magnetic width is validuint8_t0-1
magnetic_widthWidth of magnetic tape at pulse thresholduint16_tdeci-mm

PTVL ​

Description: Production Test Values
Access: Read

ParameterDescriptionTypeUnits
led_left_vfLeft LEDs RGB Vfuint16_t[3]mV
led_right_vfRight LEDs RGB Vfuint16_t[3]mV
can_low_idleCAN Low Idle Voltageuint16_tmV
can_high_idleCAN High Idle Voltageuint16_tmV
can_loopbackCAN Loopback Testuint8_t0=Fail, 1=Pass
rs485_v_highRS485 High Voltageuint16_tmV
rs485_v_lowRS485 Low Voltageuint16_tmV
rs485_loopbackRS485 Loopback Testuint8_t0=Fail, 1=Pass
rs232_v_highRS232 High Voltageuint16_tmV
rs232_v_lowRS232 Low Voltageint16_tmV
rs232_loopbackRS232 Loopback Testuint8_t0=Fail, 1=Pass
power_v55V Power Supply Voltageuint16_tmV
power_v5_current5V Power Supply Currentuint16_tmA
power_v_inInput Voltageuint16_tmV
hall_sensors_idleHall Sensors Idle Valuesuint16_t[32]mV
hall_sensors_deltaHall Sensors Delta Valuesuint16_t[32]mV

AMON ​

Description: Analog Monitoring Values
Access: Read

ParameterDescriptionTypeUnits
v_inInput Voltageuint16_tmV
v_5v5V Supply Voltageuint16_tmV
i_5V5V Supply Currentuint16_tmA
v_data_lowData Low Line Voltageuint16_tmV
v_data_highData High Line Voltageuint16_tmV
v_led_highLED High Voltageuint16_tmV
v_led_lowLED Low Voltageuint16_tmV
mcu_tempMCU Temperatureint8_t°C

CNER ​

Description: CAN Error Counter
Access: Read

ParameterDescriptionTypeRange
tx_errorCAN TX Error Counteruint8_t0-255
rx_errorCAN RX Error Counteruint8_t0-255

Configuration Commands ​

CMCF ​

Description: Communication Mode
Access: Read/Write

ParameterDescriptionTypeOptionsDefault
com_modeCommunication Protocoluint8_t0=RS232, 1=CANopen0

RSCF ​

Description: RS232 Configuration
Access: Read/Write

ParameterDescriptionTypeOptionsDefault
baudrateBaudrateuint32_t9600, 19200, 38400, 57600, 115200115200
invertedInverteduint8_t0=False, 1=True0

CNCF ​

Description: CAN Configuration
Access: Read/Write

ParameterDescriptionTypeOptions/RangeDefault
node_idNode IDuint8_t1-1271
baudrateBaudrateuint32_t125000, 250000, 500000, 1000000125000
auto_runAuto Runuint8_t0=False, 1=True0
en_terminationEnable Termination Resistoruint8_t0=False, 1=True0
heartbeat_periodHeartbeat Perioduint16_t0-65536 ms1000
tpdo1_enableTPDO1 Enableuint8_t0-1-
tpdo1_periodTPDO1 Perioduint16_t0-65536 ms0
tpdo2_enableTPDO2 Enableuint8_t0-1-
tpdo2_periodTPDO2 Perioduint16_t0-65536 ms0
tpdo3_enableTPDO3 Enableuint8_t0-1-
tpdo3_periodTPDO3 Perioduint16_t0-65536 ms0

SNCF ​

Description: Sensor Configuration
Access: Read/Write

ParameterDescriptionTypeOptions/RangeDefault
polarityTape Polarityuint8_t0=North/South, 1=South/North0
tape_detect_thresholdTape Detection Thresholduint16_tμT-
tape_pulse_thresholdTape Detection Threshold as % of peakuint8_t0-100 %50
marker_thresholdMarker Thresholduint16_tμT50
auto_widthAuto tape width detectionuint8_t0=False, 1=True-
tape_magnetic_widthTape Magnetic Width at pulse thresholduint16_tdeci-mm-

CAN Communication ​

The MTS160 implements CANOpen protocol for seamless integration with industrial control systems.

TPDO Communication ​

Three Transmit Process Data Objects (TPDOs) are available:

1. "Sense" TPDO (0x180 + NodeID) ​

ByteContentTypeRange
1Left PositionS8±80 mm
2Right PositionS8±80 mm
3Left AngleS8±90°
4Right AngleS8±90°
5Status FlagsU8See below

Status Flags:

Bit 7: Merge Detect
Bit 6: Fork Detect
Bit 5: Intersection Detect
Bit 4: Right Marker Detect
Bit 3: Left Marker Detect
Bit 2-1: Tape Detect (2 bits)
Bit 0: Fault Detect

WARNING

Fork, Merge and Intersection Detection flags are not yet active

2. "Marker" TPDO (0x280 + NodeID) ​

BytesContentTypeScale
1-2Left Marker X PositionS16x0.1 mm
3-4Left Marker Y PositionS16x0.1 mm
5-6Right Marker X PositionS16x0.1 mm
7-8Right Marker Y PositionS16x0.1 mm

3. "Navicode" TPDO (0x380 + NodeID) ​

ByteContentTypeRange
1-2NavicodeU160-65535
3CounterU80-255

SDO Objects ​

IndexSubNameTypeAccessDescription
0x20000ZEROU8WOSet zero point
0x20010SELFTESTU8WOTrigger self-test
0x20021TAPE_POLARITYU8RWTrack polarity
0x20022TRACK_THRESHOLDU8RWTrack detection threshold
0x20023MARKER_THRESHOLDU8RWMarker detection threshold
0x20031SELFTEST_RESULTU8ROSelf-test pass/fail
0x20032MIN_MAGNETIC_DELTAU8ROMinimum sensor response
0x20033MAX_MAGNETIC_DELTAU8ROMaximum sensor response

Simple CAN Implementation ​

For systems without CANOpen support, the sensor can operate in a simplified mode:

  1. Configure desired TPDOs and enable Auto-Run using PC Utility
  2. Parse incoming frames using this structure:

To identify frames:

  1. Extract Node ID: frame.id & 0x7F
  2. Extract TPDO type: frame.id & 0xFF80
    • 0x180: Sense TPDO
    • 0x280: Marker TPDO
    • 0x380: Navicode TPDO

EDS File ​

A CANOpen Electronic Data Sheet (EDS) file is available at naviq.com for network integration.

USB Interface ​

The USB interface appears as a virtual COM port and supports:

  • All serial commands
  • PC Utility connection
  • Firmware updates
  • Configuration changes
  • Data logging

Note: While functionally identical to RS232, USB is not recommended for permanent robot integration.