RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
513
Ctrl Command stepper_abs
Function triggers set-position movements to the specified absolute set positions via both stepper
motor outputs.
Call
stepper_abs( Pos1, Pos2, WaitTime )
Parameters
Pos1,
Pos2
Absolute set positions in CLOCK pulse units for stepper motor outputs 1 and
2 as signed 32-bit values; allowed range: [–2
31
…+(2
31
-1)]
WaitTime
This parameter (an unsigned 32-bit value) determines when, at the latest, the
function will return.
1bit equals 1s. Allowed range: [0 … +(2
32
-1)]
Comments • For programming the stepper motor signals, see page 205.
• stepper_abs sets the new set-position values even if a previously started set-position
movement is still in progress:
–If
Pos1
/
Pos2
in the current direction of movement lies in front of the internal position
variable’s value, then the movement will continue and the Busy status remains set.
–If
Pos1
/
Pos2
equals the current value of the internal position variable, then the move-
ment will stop. The Busy status gets reset.
–If
Pos1
/
Pos2
in the current direction of movement already lies past the internal posi-
tion variable’s value, then the corresponding stepper motor’s direction of movement
will reverse (see note on page 205). The Busy status remains set.
• If no set-position movement is in progress, then one will start and the Busy status will
get set.
• During performance of a reference movement (Init status set, see stepper_init), the
command stepper_abs will not execute (get_last_error return code:
RTC5_PARAM_ERROR
).
• If the CLOCK pulse period was set to 0 via stepper_init, stepper_control or
stepper_control_list, then no stepper motor movement will occur at the corre-
sponding stepper motor output.
•If
WaitTime
= 0, then the command returns immediately so that system control is
restored to the application.
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
).
References stepper_abs_no, stepper_rel, stepper_rel_no, stepper_abs_list
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