Scanlab RTC 5 PC Interface Board - stepper_rel; stepper_rel_list

RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
520
innovators for industry
Ctrl Command stepper_rel
Function triggers set-position movements to the specified relative set positions via both stepper
motor outputs.
Call
stepper_rel( dPos1, dPos2, WaitTime )
Parameters dPos1,
dPos2
Relative 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 See stepper_abs.
Comments • The desired set positions should be specified relative to the current internal set-position
values (the internal set-position values will correspondingly get newly set). Otherwise
the command is identical to stepper_abs (see comments there).
RTC
®
4  RTC
®
5new command
Version info • See stepper_abs.
References stepper_abs, stepper_rel_list
Undelayed
Short
List Command
stepper_rel_list
Function same as stepper_rel (see above), but a list command and without
WaitTime parameter
Call
stepper_rel_list( dPos1, dPos2 )
Parameters dPos1,
dPos2
See stepper_rel.
Comments • See stepper_rel.
• During performance of a reference movement (see stepper_init), execution of
stepper_rel_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_rel