RTC6 boards
Doc. Rev. 1.0.21 en-US
8 Advanced Functions for Scan Head Control and Laser Control
231
8.3.2 “Global Online Positioning“
“Global Online Positioning“ (available as of
RTC6 Software Package V1.6.1) needs to be
activated by one of the following commands:
• set_mcbsp_global_matrix
• set_mcbsp_global_rot
• set_mcbsp_global_x
• set_mcbsp_global_y
• set_mcbsp_global_matrix_list
• set_mcbsp_global_rot_list
• set_mcbsp_global_x_list
• set_mcbsp_global_y_list
Once activated, all other McBSP processings are
deactivated (“Processing-on-the-fly” applications
controlled by McBSP signals,
“Local Online Positioning“ as described in
Chapter 8.3.1 ”“Local Online Positioning“”,
page 228, processings activated by set_mcbsp_in or
set_multi_mcbsp_in) and vice versa.
All subsequent data transferred via McBSP are
internally handled in the same way as with
“Local Online Positioning“ (copied to internal
memory locations 1 and possibly 2; readable by
read_mcbsp),
but instead of the scan system-specific coordinate
transformations in the real Image Field (see
Chapter 8.3.1 ”“Local Online Positioning“”,
page 228) automatically used for coordinate
transformations in the virtual Image Field instead.
Calling apply_mcbsp or apply_mcbsp_list is no
longer necessary and even has no effect.
Coordinate transformations in the virtual Image Field
(see also Chapter 8.6.4 ”Compensating 2D Motions”,
page 249) are automatically applied, as soon as a
Processing-on-the-fly application is activated
afterwards.
During a Processing-on-the-fly application, new data
can only be sent and stored, but not applied, see also:
•
set_matrix( HeadNo
= 4 )
•
set_offset_xyz( HeadNo
= 4 )
•
set_angle
(
HeadNo
= 4 )
“G
lobal Online Positioning“ is compatible with
Processing-on-the-fly applications controlled by
encoder signals.
Configuring “Global Online Positioning“
The “Global Online Positioning“ is configured the
same way as the “Local Online Positioning“, see
Chapter 8.3.1 ”“Local Online Positioning“”,
page 228.
Notice!
• The latest transferred data value is used
immediately according to the current
“Global Online Positioning“ mode. Therefore,
make sure to transmit correct values after
changing that mode and before applying the
data by starting a Processing-on-the-fly session.
• Example: set_mcbsp_global_x and
set_mcbsp_global_y combine the xy offsets in
the lower and upper half word of the
transmitted data.
set_mcbsp_global_y
( Scale = 0.0 )
disables
the y offset and the latest sent data value is
used in total as x offset. Make sure to transmit
the correct x offset again.
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