Scanlab RTC 5 PC Interface Board - stepper_rel_no; stepper_rel_no_list

RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
521
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Ctrl Command stepper_rel_no
Function triggers set-position movements to the specified relative set positions via the desired
stepper motor output.
Call
stepper_rel_no( No, dPos, WaitTime )
Parameters No See stepper_abs_no.
dPos Relative set position in CLOCK pulse units as a signed 32-bit value;
allowed range: [–2
31
…+(2
31
-1)]
WaitTime See stepper_abs_no.
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) and a set-
position movement will only be performed at the stepper motor output specified by
No .
Otherwise the command is identical to stepper_abs (see comments there).
RTC
®
4  RTC
®
5new command
Version info • See stepper_abs.
References stepper_abs_no, stepper_abs, stepper_rel_no_list
Undelayed
Short
List Command
stepper_rel_no_list
Function same as stepper_rel_no (see above), but a list command and without
WaitTime parameter
Call
stepper_rel_no_list( No, dPos )
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 ).
dPos See stepper_rel_no.
Comments • See stepper_rel_no.
• During performance of a reference movement (see stepper_init), execution of
stepper_rel_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_rel_no