RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
230
Ctrl Command apply_mcbsp
Function fetches the most recent values fully transmitted over the McBSP interface for online
positioning and defines offset and/or rotation matrix M
R
or general transformation matrix
M
T
for
subsequent
coordinate transformations.
Call
apply_mcbsp( HeadNo, at_once )
Parameters
HeadNo
Number of the scan head connector as an unsigned 32-bit value:
= 1: The definition only affects the primary scan head connector.
= 2: The definition only affects the secondary scan head connector
(activation required)
= 0, 3: The definition affects both scan head connectors.
Only the two least significant bits are evaluated.
at_once
This parameter (unsigned 32-bit value) determines when the defined
transformation becomes effective:
= 0: The new total transformation (total matrix and offset) is only
calculated and applied to the current position when the next list
command is executed.
= 1: The new total transformation is calculated immediately (or before the
next list command if a list is currently BUSY or the board is INTERNAL-
BUSY) and applied to the current position.
= 2: The new total transformation (total matrix and offset) is only
calculated and applied to the current position when the next
jump_abs, jump_rel, goto_xy or goto_xyz command is executed.
> 2: See
at_once
=2
Comments • Data acquisition via the McBSP interface for online positioning must be activated in
advance via the commands set_mcbsp_x, set_mcbsp_y and/or set_mcbsp_rot or
set_mcbsp_matrix (or with the corresponding list commands). Depending on the
configuration, the command apply_mcbsp only defines (as with set_offset) an X
and/or Y offset or also (as with set_angle) a rotation matrix or (as with set_matrix) a
general matrix operation (see "Online Positioning", page 165). As with the commands
described in "Coordinate Transformations", page 161, the parameter
at_once
deter-
mines when the newly defined total transformation becomes effective.
• Transformations previously defined via set_angle, set_offset or set_matrix might get
overwritten by apply_mcbsp. In contrast, transformations and focus shifts previously
defined via set_scale or set_defocus and Z offsets defined via set_offset_xyz will
continue to be taken into account, when the total transformation gets recalculated.
• Any new definitions made with set_angle, set_offset or set_matrix will overwrite
coordinate transformations defined via the McBSP interface.
• The McBSP interface always ignores the first FrameSync signal after a
load_program_file or mcbsp_init, so available data will not be transmitted (see
page 53).
RTC
®
4
RTC
®
5 new command
Version info Available beginning with version DLL 524, OUT 526
References apply_mcbsp_list, set_mcbsp_x, set_mcbsp_y, set_mcbsp_rot, set_mcbsp_matrix
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