Scanlab RTC 5 PC Interface Board - control_command

RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
244
innovators for industry
Ctrl Command control_command
Function sends a control command to an iDRIVE
®
scan system (intelliSCAN
®
, intelliSCAN
de
®
, intelliDRILL
®
,
intellicube
®
, intelliWELD
®
, varioSCAN
de
)
Call
control_command( Head, Axis, Data )
Parameter Head Number of the scan head connector as an unsigned 32-bit value; allowed values:
= 1: primary scan head connector
= 2: secondary scan head connector (activation required)
Axis Number of the axis as an unsigned 32-bit value; allowed values:
= 1: X axis (STATUS channel, galvanometer scanner 2)
= 2: Y axis (STATUS1 channel, galvanometer scanner 1)
Data Command code with optional parameter as unsigned 32-bit value:
The upper part (bits#16-31) of this parameter is not evaluated, only the lower part (bits#0-
15) is evaluated. The more significant data byte of the lower part Code
H
(bits#8-15)
represents a command code and the less significant data byte Code
L
(bits#0-7) an
optional parameter. For each command code the corresponding command and its allowed
parameter values are described below.
Example: With
Data = 0501
H,
i.e. Code
H
= 05
H
(command SetMode) and Code
L
= 01
H
, the
actual position is selected to be returned from the scan system.
Code
H
Command and Parameter Values (Code
L
)
05
H
SetMode: This command selects the data signal to be returned from the scan
system for the specified axis via the respective status channel (also see page 153).
Each Code
L
parameter value corresponds to a particular data type.
•Default setting: Code
L
= 00
H
(XY2-100 status word)
• The data types marked in grey are only relevant for the intelliWELD
®
.
iDRIVE
®
scan systems with SL2-100 interface return signed 20-bit values. Scan
systems with XY2-100 Enhanced interface return signed 16-bit values; here the
XY2-100 converter converts (by multiplying by 16) the returned values to signed
20-bit values.
Code
L
Data Signal Type returned from the Scan System
00
H
XY2-100 status word
Bit #19 (MSB), 11 = 1: Internal voltages normal
Bit #18, 10 = 1: Galvanometer scanner temperature within normal range
Bit #16, 15, 8, 7 = 1: X- and Y-axis position error within normal range
Bit #17, 12, 9, 4 = 1
Bit #14, 6 = 1 (for intelliWELD
®
and for scan systems with sensors for
automatic self calibration: Reserved)
Bit #13, 5 = 0
Bit #0…3 = 0
01
H
Actual (angular) position / bit [–2
19
… 2
19
–1]
02
H
Set (angular) position / bit [–2
19
… 2
19
–1]
03
H
Position error (= set position – actual position) / bit [–2
19
… 2
19
–1]
04
H
Actual current (output stage current) / 16
-1
mA [–2
19
… 2
19
–1]
05
H
Relative galvanometer scanner control [–16000 … 16000] (not with
intellicube
®
) (the return value 16 corresponds to 1‰)
06
H
Actual (angular) velocity / (bit/ms) [–2
19
… 2
19
–1]