Scanlab RTC6 PCIe Board - Page 10

RTC6 boards
Doc. Rev. 1.0.21 en-US
Contents
10
innovators for industry
8.10.4 Calibration During the Application ................................................................................... 277
Automatic Self-Calibration ......................................................................................... 277
Customer-Specific Calibration ..................................................................................... 278
Supplemental Information about Calibration ............................................................. 278
8.11 Camming .................................................................................................................................... 279
8.12 Time Measurements .................................................................................................................... 281
8.12.1 RTC6 Timer ....................................................................................................................... 281
8.12.2 Timestamps ...................................................................................................................... 281
9 Programming Peripheral Interfaces ............................................................................................... 282
9.1 Signal Output .............................................................................................................................. 282
9.1.1 16-Bit Digital Output Port ................................................................................................ 282
9.1.2 8-Bit Digital Output Port .................................................................................................. 283
9.1.3 2 Bit Digital Output Port .................................................................................................. 283
9.1.4 12-Bit Analog Output Port 1 and 2 .................................................................................. 283
9.1.5 Controlling Stepper Motors ............................................................................................. 284
Output Signals ............................................................................................................ 284
Reference Runs and Position Initialization .................................................................. 285
Set-Position Movements ............................................................................................. 285
Querying Signals and Status Values ............................................................................ 286
Terminating Infinite Movements ................................................................................. 286
WaitTime Parameter ................................................................................................... 286
9.1.6 RS-232 Interface ............................................................................................................... 287
9.1.7 McBSP Interface ............................................................................................................... 287
9.2 Signal Input ................................................................................................................................ 288
9.2.1 16-Bit Digital Input Port ................................................................................................... 288
9.2.2 2-Bit Digital Input Port ..................................................................................................... 288
9.2.3 RS-232 Interface ............................................................................................................... 288
9.2.4 McBSP Interface ............................................................................................................... 288
9.3 Control by External Signals ......................................................................................................... 289
9.3.1 Starting and Stopping Lists by External Control Signals
and Master/Slave Synchronization ................................................................................... 289
External Stop .............................................................................................................. 289
External Start .............................................................................................................. 290
External Start with Track Delay ................................................................................... 292
Regular (Periodic) External Starts ................................................................................ 293
9.3.2 Conditional Command Execution ..................................................................................... 295
Example Code (Pascal) ................................................................................................ 296
9.3.3 Synchronization by Encoder Signals ................................................................................. 298
Intended Use .............................................................................................................. 298
Input Ports for External Encoder Signals ..................................................................... 299
Encoder Simulation .................................................................................................... 299
9.3.4 Synchronization and Online Positioning by McBSP Signals .............................................. 300
9.4 Periodical I/O Signals ................................................................................................................... 301
10 RTC6 Commands .....................................................................................
....................................... 302
10.
1 Overview ..................................................................................................................................... 302
10.1.1 Designations .................................................................................................................... 302
Multi-Board Commands ............................................................................................. 302
Normal, Short, Variable and Multiple List Commands ................................................ 302
Undelayed Short List Commands, Delayed Short List Commands ............................... 303
Multiple List Commands ............................................................................................. 304
10.1.2 Compatibility ................................................................................................................... 304