Scanlab RTC 5 PC Interface Board - get_stepper_status

RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
282
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Ctrl Command get_stepper_status
Function returns the following status information for both stepper motor outputs: the current
statuses of the stepper motor signals, the currently defined CLOCK pulse period, the Busy
and Init statuses, and the current values of the internal position variables.
Call get_stepper_status( &Status1, &Pos1, &Status2, &Pos2 )
Returned para-
meter values
Status1,
Status2
Current statuses of stepper motor outputs 1 and 2 as pointers to unsigned
32-bit values.
Bit #0 (LSB) ENABLE signal
Bit #1 DIRECTION signal
Bit #2 CLOCK signal
Bit #3 SWITCH signal
Bit #4 Busy status
Bit #5 Init status
Bits #6…7 Reserved.
Bits #8…#31 CLOCK pulse period (24-bit value)
Pos1,
Pos2
Current values of the internal position variables for stepper motor outputs 1
and 2 as pointers to signed 32-bit values.
Comments • For programming the stepper motor signals, see page 205.
• If the SWITCH signal (limit switch signal) is set to (LOW), no more CLOCK pulses will be
generated.
• The Busy status indicates that a previously initiated (via stepper_abs, stepper_rel, etc.)
set-position movement has not yet completed.
• The Init status indicates that a previously initiated (via stepper_init) reference movement
has not yet completed.
RTC
®
4  RTC
®
5new command
Version info • Available beginning with version DLL 527, OUT 529, RBF 519
• For older RTC
®
5 boards with DSP version numbers < 2 (get_rtc_version bits #16-23),
the command is not executed (get_last_error return code:
RTC5_TYPE_REJECTED ).