RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
515
Undelayed
Short
List Command
stepper_abs_no_list
Function same as stepper_abs_no (see above), but a list command and without
WaitTime
parameter
Call
stepper_abs_no_list( No, Pos )
Parameters
No
Number of the stepper motor output as an unsigned 32-bit value;
allowed values:
= 1: Stepper motor output 1
= 2: Stepper motor output 2
If the value is invalid, then the command will, already during loading, be
replaced by a list_nop (get_last_error return code
RTC5_PARAM_ERROR
).
Pos
See stepper_abs_no.
Comments • See stepper_abs_no.
• During performance of a reference movement (see stepper_init), execution of
stepper_abs_no_list will be delayed until the reference movement completes.
RTC
®
4
RTC
®
5 new 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 neither executed nor replaced by list_nop (get_last_error return code:
RTC5_TYPE_REJECTED
).
References stepper_abs_no
Ctrl Command stepper_control
Function sets the CLOCK signal pulse periods for stepper motor control.
Call
stepper_control( Period1, Period2 )
Parameters
Period1,
Period2
Pulse periods of the CLOCK signals for stepper motor outputs 1and 2 as signed
32-bit values. 1bit equals 10µs.
Allowed range: [0 … +(2
24
-1)] or < 0; larger values will be clipped.
> 0: The new period waits for an already-running CLOCK pulse period at
the corresponding stepper motor output before starting.
= 0: An already-running CLOCK pulse period aborts at each stepper motor
output (the corresponding stepper motor movement gets stopped,
the Init- and/or Busy statuses for the respective stepper motor
outputs get reset).
< 0: the corresponding stepper motor control remains unchanged.
Comments • For programming the stepper motor signals, see page 205.
•
Period
= 0 can be used as an emergency stop (also see the section "Terminating Infinite
Movements" on page 206).
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_control_list
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