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BBD203 Motor Controller - APT Communications Protocol

Version 42.1 - Extracted Documentation

This document contains only the information relevant to the BBD203 3-Channel Benchtop Brushless DC Motor Controller, extracted from the complete Thorlabs APT Communications Protocol documentation.

Table of Contents

  1. Introduction
  2. General Protocol Information
  3. BBD203 Specifications
  4. Message Format
  5. BBD203 Applicable Messages
  6. Command Examples
  7. Important Notes for BBD203

1. Introduction

The BBD203 is a 3-channel benchtop brushless DC motor controller that is part of Thorlabs' APT motion control system. This document describes the communication protocol used to control the BBD203 via USB or RS232 interfaces.

1.1 Device Overview

The BBD203 provides independent control of up to three brushless DC motors with the following key features:

  • 3 independent motor channels
  • USB and RS232 communication interfaces
  • Closed-loop position and velocity control
  • Encoder feedback support
  • Digital I/O for triggering and synchronization
  • Compatible with Thorlabs' APT software suite

1.2 Related Controllers

The BBD203 shares its protocol with other controllers in the BBD series:

  • BBD201 - 1 Channel Benchtop Brushless DC Motor Driver
  • BBD202 - 2 Channel Benchtop Brushless DC Motor Driver
  • BBD203 - 3 Channel Benchtop Brushless DC Motor Driver

2. General Protocol Information

2.1 Communication Format

All communications with the BBD203 use a binary message protocol. Messages consist of a 6-byte header followed by an optional data packet.

Header Structure (6 bytes):

Byte Description
0-1 Message ID (16-bit, little-endian)
2 Data length (bytes) or parameter 1
3 Data length MSB or parameter 2
4 Destination
5 Source

Destination Byte Values:

Value Description
0x50 Generic USB device
0x11 Rack controller (card slot unit)
0x21 Bay 1 / Channel 1
0x22 Bay 2 / Channel 2
0x23 Bay 3 / Channel 3

Source Byte Values:

Value Description
0x01 Host PC

2.2 Channel Addressing

The BBD203 has three motor channels. When addressing specific channels:

  • Channel 1: Use destination byte 0x21
  • Channel 2: Use destination byte 0x22
  • Channel 3: Use destination byte 0x23
  • All channels: Use destination byte 0x11

Important: Although the BBD203 has 3 channels, each channel operates as an independent single-channel controller. In the data packet's channel identifier field, always use Channel 1 (0x01 0x00), and use the destination byte in the header to specify the physical channel.

2.3 Data Types

Type Size Description
char 1 byte 8-bit signed integer
short 2 bytes 16-bit signed integer (little-endian)
long 4 bytes 32-bit signed integer (little-endian)
word 2 bytes 16-bit unsigned integer (little-endian)
dword 4 bytes 32-bit unsigned integer (little-endian)

3. BBD203 Specifications

3.1 Encoder and Position Scaling

For BBD203 controllers, position and velocity values are scaled based on encoder counts. The scaling formulas are:

Position Scaling:

POS_APT = EncCnt × Pos

Where:

  • POS_APT = Position value to send/receive via APT protocol
  • EncCnt = Encoder counts per unit (stage-specific)
  • Pos = Position in real units (mm, degrees, etc.)

Velocity Scaling:

VEL_APT = EncCnt × T × 65536 × Vel

Where:

  • VEL_APT = Velocity value to send/receive via APT protocol
  • T = 102.4 × 10⁻⁶ seconds (controller sample time)
  • Vel = Velocity in real units per second

Acceleration Scaling:

ACC_APT = EncCnt × T² × 65536 × Acc

Where:

  • ACC_APT = Acceleration value to send/receive via APT protocol
  • T² = (102.4 × 10⁻⁶)²
  • Acc = Acceleration in real units per second²

3.2 Example Scaling Values

For a stage with 20,000 encoder counts per mm:

  • Position of 10 mm = 200,000 counts
  • Velocity of 1 mm/s = 134,218 APT units
  • Acceleration of 1 mm/s² = 13.7 APT units

4. Message Format

4.1 Message Types

Messages are categorized into several types:

  • MOD - Module control messages (identify, enable/disable)
  • HW - Hardware information and control
  • MOT - Motor control messages (move, velocity, position)
  • RACK - Rack and bay status messages

4.2 Message Flow

  1. Command Messages: Sent from host to controller
  2. Request Messages: Request data from controller
  3. Get Messages: Controller response with requested data
  4. Status Messages: Unsolicited updates from controller

5. BBD203 Applicable Messages

5.1 Module Control Messages

Message Hex Code Direction Description
MGMSG_MOD_IDENTIFY 0x0223 Host→Device Flash front panel LEDs to identify unit
MGMSG_MOD_SET_CHANENABLESTATE 0x0210 Host→Device Enable/disable a motor channel
MGMSG_MOD_REQ_CHANENABLESTATE 0x0211 Host→Device Request channel enable state
MGMSG_MOD_GET_CHANENABLESTATE 0x0212 Device→Host Get channel enable state response

5.2 Hardware Control Messages

Message Hex Code Direction Description
MGMSG_HW_DISCONNECT 0x0002 Host→Device Disconnect from USB bus
MGMSG_HW_RESPONSE 0x0080 Device→Host Response/error message
MGMSG_HW_RICHRESPONSE 0x0081 Device→Host Detailed response with error info
MGMSG_HW_START_UPDATEMSGS 0x0011 Host→Device Start automatic status updates
MGMSG_HW_STOP_UPDATEMSGS 0x0012 Host→Device Stop automatic status updates
MGMSG_HW_REQ_INFO 0x0005 Host→Device Request hardware information
MGMSG_HW_GET_INFO 0x0006 Device→Host Hardware information response

5.3 Rack Status Messages

Message Hex Code Direction Description
MGMSG_RACK_REQ_BAYUSED 0x0060 Host→Device Request which bays are occupied
MGMSG_RACK_GET_BAYUSED 0x0061 Device→Host Bay occupation status
MGMSG_RACK_REQ_STATUSBITS 0x0226 Host→Device Request rack status bits
MGMSG_RACK_GET_STATUSBITS 0x0227 Device→Host Rack status bits response
MGMSG_RACK_SET_DIGOUTPUTS 0x0228 Host→Device Set digital outputs
MGMSG_RACK_REQ_DIGOUTPUTS 0x0229 Host→Device Request digital output states
MGMSG_RACK_GET_DIGOUTPUTS 0x0230 Device→Host Digital output states

5.4 Motor Control Messages - Basic

Message Hex Code Direction Description
MGMSG_MOT_SET_POSCOUNTER 0x0410 Host→Device Set position counter value
MGMSG_MOT_REQ_POSCOUNTER 0x0411 Host→Device Request position counter
MGMSG_MOT_GET_POSCOUNTER 0x0412 Device→Host Position counter value
MGMSG_MOT_SET_ENCCOUNTER 0x0409 Host→Device Set encoder counter value
MGMSG_MOT_REQ_ENCCOUNTER 0x040A Host→Device Request encoder counter
MGMSG_MOT_GET_ENCCOUNTER 0x040B Device→Host Encoder counter value

5.5 Motor Control Messages - Homing

Message Hex Code Direction Description
MGMSG_MOT_SET_HOMEPARAMS 0x0440 Host→Device Set homing parameters
MGMSG_MOT_REQ_HOMEPARAMS 0x0441 Host→Device Request homing parameters
MGMSG_MOT_GET_HOMEPARAMS 0x0442 Device→Host Homing parameters
MGMSG_MOT_MOVE_HOME 0x0443 Host→Device Start homing sequence
MGMSG_MOT_MOVE_HOMED 0x0444 Device→Host Homing completed

5.6 Motor Control Messages - Movement

Message Hex Code Direction Description
MGMSG_MOT_SET_MOVERELPARAMS 0x0445 Host→Device Set relative move parameters
MGMSG_MOT_REQ_MOVERELPARAMS 0x0446 Host→Device Request relative move parameters
MGMSG_MOT_GET_MOVERELPARAMS 0x0447 Device→Host Relative move parameters
MGMSG_MOT_MOVE_RELATIVE 0x0448 Host→Device Start relative move
MGMSG_MOT_SET_MOVEABSPARAMS 0x0450 Host→Device Set absolute move parameters
MGMSG_MOT_REQ_MOVEABSPARAMS 0x0451 Host→Device Request absolute move parameters
MGMSG_MOT_GET_MOVEABSPARAMS 0x0452 Device→Host Absolute move parameters
MGMSG_MOT_MOVE_ABSOLUTE 0x0453 Host→Device Start absolute move
MGMSG_MOT_MOVE_COMPLETED 0x0464 Device→Host Move completed notification
MGMSG_MOT_MOVE_VELOCITY 0x0457 Host→Device Start velocity move
MGMSG_MOT_MOVE_STOP 0x0465 Host→Device Stop any motion
MGMSG_MOT_MOVE_STOPPED 0x0466 Device→Host Motion stopped notification

5.7 Motor Control Messages - Velocity Parameters

Message Hex Code Direction Description
MGMSG_MOT_SET_VELPARAMS 0x0413 Host→Device Set velocity parameters
MGMSG_MOT_REQ_VELPARAMS 0x0414 Host→Device Request velocity parameters
MGMSG_MOT_GET_VELPARAMS 0x0415 Device→Host Velocity parameters

5.8 Motor Control Messages - Status

Message Hex Code Direction Description
MGMSG_MOT_REQ_STATUSUPDATE 0x0480 Host→Device Request status update
MGMSG_MOT_GET_STATUSUPDATE 0x0481 Device→Host Status update
MGMSG_MOT_REQ_STATUSBITS 0x0429 Host→Device Request status bits
MGMSG_MOT_GET_STATUSBITS 0x042A Device→Host Status bits

5.9 BBD-Specific Control Messages

Message Hex Code Direction Description
MGMSG_MOT_SET_DCPIDPARAMS 0x04A0 Host→Device Set DC motor PID parameters
MGMSG_MOT_REQ_DCPIDPARAMS 0x04A1 Host→Device Request DC motor PID parameters
MGMSG_MOT_GET_DCPIDPARAMS 0x04A2 Device→Host DC motor PID parameters
MGMSG_MOT_SET_POSITIONLOOPPARAMS 0x04D7 Host→Device Set position loop parameters
MGMSG_MOT_REQ_POSITIONLOOPPARAMS 0x04D8 Host→Device Request position loop parameters
MGMSG_MOT_GET_POSITIONLOOPPARAMS 0x04D9 Device→Host Position loop parameters
MGMSG_MOT_SET_MOTOROUTPUTPARAMS 0x04DA Host→Device Set motor output parameters
MGMSG_MOT_REQ_MOTOROUTPUTPARAMS 0x04DB Host→Device Request motor output parameters
MGMSG_MOT_GET_MOTOROUTPUTPARAMS 0x04DC Device→Host Motor output parameters
MGMSG_MOT_SET_TRACKSETTLEDPARAMS 0x04E0 Host→Device Set tracking/settled parameters
MGMSG_MOT_REQ_TRACKSETTLEDPARAMS 0x04E1 Host→Device Request tracking/settled parameters
MGMSG_MOT_GET_TRACKSETTLEDPARAMS 0x04E2 Device→Host Tracking/settled parameters
MGMSG_MOT_SET_PROFILEMODEPARAMS 0x04E3 Host→Device Set profile mode parameters
MGMSG_MOT_REQ_PROFILEMODEPARAMS 0x04E4 Host→Device Request profile mode parameters
MGMSG_MOT_GET_PROFILEMODEPARAMS 0x04E5 Device→Host Profile mode parameters
MGMSG_MOT_SET_JOYSTICKPARAMS 0x04E6 Host→Device Set joystick parameters
MGMSG_MOT_REQ_JOYSTICKPARAMS 0x04E7 Host→Device Request joystick parameters
MGMSG_MOT_GET_JOYSTICKPARAMS 0x04E8 Device→Host Joystick parameters
MGMSG_MOT_SET_CURRENTLOOPPARAMS 0x04D4 Host→Device Set current loop parameters
MGMSG_MOT_REQ_CURRENTLOOPPARAMS 0x04D5 Host→Device Request current loop parameters
MGMSG_MOT_GET_CURRENTLOOPPARAMS 0x04D6 Device→Host Current loop parameters
MGMSG_MOT_SET_SETTLEDCURRENTLOOPPARAMS 0x04E9 Host→Device Set settled current loop parameters
MGMSG_MOT_REQ_SETTLEDCURRENTLOOPPARAMS 0x04EA Host→Device Request settled current loop parameters
MGMSG_MOT_GET_SETTLEDCURRENTLOOPPARAMS 0x04EB Device→Host Settled current loop parameters
MGMSG_MOT_SET_STAGEAXISPARAMS 0x04F0 Host→Device Set stage axis parameters
MGMSG_MOT_REQ_STAGEAXISPARAMS 0x04F1 Host→Device Request stage axis parameters
MGMSG_MOT_GET_STAGEAXISPARAMS 0x04F2 Device→Host Stage axis parameters
MGMSG_MOT_SET_TRIGGER 0x0500 Host→Device Set trigger configuration
MGMSG_MOT_REQ_TRIGGER 0x0501 Host→Device Request trigger configuration
MGMSG_MOT_GET_TRIGGER 0x0502 Device→Host Trigger configuration

6. Command Examples

6.1 Enable Channel 1

To enable channel 1 on the BBD203:

Command bytes:

TX: 10 02 01 01 21 01

Breakdown:

  • 10 02 - MGMSG_MOD_SET_CHANENABLESTATE
  • 01 - Enable channel (0x02 to disable)
  • 01 - Channel 1
  • 21 - Destination (Channel 1)
  • 01 - Source (Host PC)

6.2 Home Channel 2

To initiate homing on channel 2:

Command bytes:

TX: 43 04 01 00 22 01

Breakdown:

  • 43 04 - MGMSG_MOT_MOVE_HOME
  • 01 - Channel identifier (always 0x01 for BBD203)
  • 00 - Not used
  • 22 - Destination (Channel 2)
  • 01 - Source (Host PC)

6.3 Set Position Counter

To set the position counter for channel 1 to 10.0 mm (assuming 20,000 counts/mm):

Command bytes:

TX: 10 04 06 00 21 01 01 00 40 0D 03 00

Breakdown:

  • 10 04 - MGMSG_MOT_SET_POSCOUNTER
  • 06 00 - 6 byte data packet
  • 21 - Destination (Channel 1)
  • 01 - Source (Host PC)
  • 01 00 - Channel 1 (in data packet)
  • 40 0D 03 00 - Position = 200,000 counts (10 mm × 20,000)

6.4 Move Absolute

To move channel 3 to absolute position 50 mm:

Command bytes:

TX: 53 04 06 00 23 01 01 00 A0 86 01 00

Breakdown:

  • 53 04 - MGMSG_MOT_MOVE_ABSOLUTE
  • 06 00 - 6 byte data packet
  • 23 - Destination (Channel 3)
  • 01 - Source (Host PC)
  • 01 00 - Channel 1 (in data packet, always 0x01 0x00)
  • A0 86 01 00 - Position = 1,000,000 counts (50 mm × 20,000)

6.5 Set Velocity Parameters

To set velocity parameters for channel 2 (max velocity = 5 mm/s, acceleration = 10 mm/s²):

Command bytes:

TX: 13 04 0E 00 22 01 01 00 00 00 8A 44 0A 00 89 00 00 00

Breakdown:

  • 13 04 - MGMSG_MOT_SET_VELPARAMS
  • 0E 00 - 14 byte data packet
  • 22 - Destination (Channel 2)
  • 01 - Source (Host PC)
  • 01 00 - Channel 1 (in data packet)
  • 00 00 - Min velocity (usually 0)
  • 8A 44 0A 00 - Max velocity = 671,090 APT units (5 mm/s)
  • 89 00 00 00 - Acceleration = 137 APT units (10 mm/s²)

6.6 Stop Motion

To immediately stop motion on all channels:

Command bytes:

TX: 65 04 01 01 11 01

Breakdown:

  • 65 04 - MGMSG_MOT_MOVE_STOP
  • 01 - Channel identifier
  • 01 - Stop mode (0x01 = immediate, 0x02 = profiled)
  • 11 - Destination (All channels)
  • 01 - Source (Host PC)

6.7 Request Status Update

To request a status update from channel 1:

Command bytes:

TX: 80 04 01 00 21 01

Breakdown:

  • 80 04 - MGMSG_MOT_REQ_STATUSUPDATE
  • 01 - Channel identifier
  • 00 - Not used
  • 21 - Destination (Channel 1)
  • 01 - Source (Host PC)

Response format (20 bytes):

RX: 81 04 14 00 01 00 [Channel] [Position-4bytes] [EncCount-4bytes] [StatusBits-4bytes]

6.8 Set Position Loop Parameters

To set position loop PID parameters for channel 1:

Command bytes:

TX: D7 04 1C 00 21 01 01 00 41 00 AF 00 80 38 01 00 [12 more bytes...]

Data packet structure:

  • Bytes 0-1: Channel (0x01 0x00)
  • Bytes 2-3: Proportional gain
  • Bytes 4-5: Integral gain
  • Bytes 6-9: Integral limit
  • Bytes 10-13: Derivative gain
  • Bytes 14-15: Derivative time
  • Bytes 16-17: Loop rate
  • Bytes 18-19: Output gain
  • Bytes 20-23: Velocity feedforward gain
  • Bytes 24-25: Acceleration feedforward gain
  • Bytes 26-27: Position error limit

7. Important Notes for BBD203

7.1 Digital Output Configuration

On the BBD203, the digital output and trigger output share a common pin. Before using the digital output functionality, the trigger functionality must be disabled by calling the MGMSG_MOT_SET_TRIGGER message with appropriate parameters.

To disable trigger and enable digital output:

TX: 00 05 06 00 21 01 01 00 00 00 00 00

7.2 Multi-Channel Operation

Although the BBD203 has three channels, each channel operates as an independent single-channel controller. Important points:

  • Always use Channel 1 (0x01 0x00) in the channel identifier field of data packets
  • Use the destination byte (0x21, 0x22, or 0x23) in the header to specify the physical channel
  • Each channel maintains its own parameters and status independently

7.3 Encoder Scaling

All position values must be scaled according to the encoder counts per unit of your specific motor and stage combination. Common encoder resolutions:

Stage Type Encoder Counts/mm Notes
MLS203 20,000 Standard linear stage
DDS220 2,000 Direct drive stage
Custom Varies Check motor specification

7.4 Status Updates

After connecting to the BBD203, it is important to:

  1. Call MGMSG_HW_START_UPDATEMSGS to enable automatic status updates
  2. This ensures move completed and other status messages are received properly
  3. Status updates can be disabled with MGMSG_HW_STOP_UPDATEMSGS when not needed

Enable status updates:

TX: 11 00 00 00 11 01

7.5 Error Handling

The BBD203 returns error messages via MGMSG_HW_RESPONSE (0x0080) or MGMSG_HW_RICHRESPONSE (0x0081). Common error conditions:

Error Description
Over current Motor drawing excessive current
Following error Position error exceeds limit
Limit switch Hardware limit reached
Not homed Attempting move before homing

7.6 Trigger Configuration

The BBD203 supports hardware triggering for synchronized motion. Trigger modes:

Mode Value Description
Disabled 0x00 No triggering
In/Out Relative Move 0x01 Trigger initiates relative move
In/Out Absolute Move 0x02 Trigger initiates absolute move
In/Out Home 0x03 Trigger initiates homing
In/Out Stop 0x04 Trigger stops motion
Out Only 0x10 Generate trigger output on move
Out Position 0x11 Trigger at specific position

7.7 Profile Modes

The BBD203 supports different motion profile modes:

Mode Value Description
Trapezoidal 0x00 Linear acceleration/deceleration
S-Curve 0x02 Smooth acceleration with jerk limiting

7.8 Communication Best Practices

  1. Initialization Sequence:

    • Send MGMSG_HW_REQ_INFO to verify connection
    • Enable required channels with MGMSG_MOD_SET_CHANENABLESTATE
    • Start update messages with MGMSG_HW_START_UPDATEMSGS
    • Home axes if required

  2. Movement Sequence:

    • Set velocity/acceleration parameters
    • Clear any errors
    • Send move command
    • Wait for move completed message

  3. Shutdown Sequence:

    • Stop any motion with MGMSG_MOT_MOVE_STOP
    • Disable channels if needed
    • Send MGMSG_HW_DISCONNECT before closing port

Additional Information

This document contains only the essential information for controlling the BBD203 motor controller. For complete protocol details, advanced features, and other Thorlabs motion control products, please refer to the full APT Communications Protocol documentation.

Contact Information

Thorlabs, Inc.

Document generated from Thorlabs APT Communications Protocol v42.1

Table of Contents

  1. Introduction
  2. General Protocol Information
  3. BBD203 Specifications
  4. Message Format
  5. BBD203 Applicable Messages
  6. Command Examples
  7. Important Notes

1. Introduction

The BBD203 is a 3-channel benchtop brushless DC motor controller that is part of Thorlabs' APT motion control system. This document describes the communication protocol used to control the BBD203 via USB or RS232 interfaces.

1.1 Device Overview

The BBD203 provides independent control of up to three brushless DC motors with the following key features:

  • 3 independent motor channels
  • USB and RS232 communication interfaces
  • Closed-loop position and velocity control
  • Encoder feedback support
  • Digital I/O for triggering and synchronization
  • Compatible with Thorlabs' APT software suite

1.2 Device Information

  • Product Name: BBD203 - 3 Channel Benchtop Brushless DC Motor Driver
  • Protocol Version: 42.1
  • Communication: Binary message protocol over USB/RS232

2. General Protocol Information

2.1 Communication Format

All communications with the BBD203 use a binary message protocol. Messages consist of a 6-byte header followed by an optional data packet.

Header Structure

Byte Description
0-1 Message ID (16-bit, little-endian)
2 Data length (bytes) or parameter 1
3 Data length MSB or parameter 2
4 Destination
5 Source

Destination Byte Values

Value Description
0x50 USB interface
0x11 All channels (unit)
0x21 Channel 1 (Bay 1)
0x22 Channel 2 (Bay 2)
0x23 Channel 3 (Bay 3)

Source Byte Values

Value Description
0x01 Host PC

2.2 Channel Addressing

The BBD203 has three motor channels. When addressing specific channels:

  • Channel 1: Use destination byte 0x21
  • Channel 2: Use destination byte 0x22
  • Channel 3: Use destination byte 0x23
  • All channels: Use destination byte 0x11

Important: Although the BBD203 has three channels, each channel operates as an independent single-channel controller. In the data packet's channel identifier field, always use Channel 1 (0x01), and specify the physical channel using the destination byte in the header.

2.3 Data Types

Type Size Description
char 1 byte 8-bit signed integer
short 2 bytes 16-bit signed integer
long 4 bytes 32-bit signed integer
word 2 bytes 16-bit unsigned integer
dword 4 bytes 32-bit unsigned integer

All multi-byte values are transmitted in little-endian format.

3. BBD203 Specifications

3.1 Encoder and Position Scaling

For BBD203 controllers, position and velocity values are scaled based on encoder counts. The scaling depends on your specific motor and stage combination.

Position Scaling

POSAPT = EncCnt × Pos

Where:

  • POSAPT = Position value to send/receive via APT protocol
  • EncCnt = Encoder counts per unit (e.g., counts per mm)
  • Pos = Actual position in real units

Velocity Scaling

VELAPT = EncCnt × T × 65536 × Vel

Where:

  • VELAPT = Velocity value to send/receive via APT protocol
  • EncCnt = Encoder counts per unit
  • T = 102.4 × 10⁻⁶
  • Vel = Actual velocity in real units per second

Acceleration Scaling

ACCAPT = EncCnt × T² × 65536 × Acc

Where:

  • ACCAPT = Acceleration value to send/receive via APT protocol
  • EncCnt = Encoder counts per unit
  • T = 102.4 × 10⁻⁶
  • Acc = Actual acceleration in real units per second²

3.2 Example Scaling Values

For a stage with 20,000 encoder counts per mm:

Parameter Real Value APT Value
Position 10 mm 200,000
Position 50 mm 1,000,000
Velocity 1 mm/s 134.218
Acceleration 1 mm/s² 0.0137

4. Message Format

4.1 Message Categories

Messages are organized into the following categories:

  • MOD - Module control messages (identify, enable/disable)
  • HW - Hardware information and control
  • MOT - Motor control messages (move, velocity, position)
  • RACK - Rack and bay status messages

4.2 Message Direction

  • SET - Host sends command with parameters to controller
  • **REQ
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