Scanlab RTC6 PCIe Board - Compensating Linear Movements; Correction Via Encoder Counters

RTC6 boards
Doc. Rev. 1.0.21 en-US
8 Advanced Functions for Scan Head Control and Laser Control
243
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The following McBSP-based Processing-on-the-fly
corrections of motions are available:
• set_fly_x_pos, set_fly_y_pos even in
combination
To compensate 1D or 2D motions of the
scan system (for example, robot arms), see
Chapter 8.6.2 ”Compensating Linear
Movements”, page 243.
• set_fly_rot_pos
To compensate rotary motions of the scan system
(for example, rotary table), see Chapter 8.6.3
”Compensating Rotary Movements”, page 247.
• set_mcbsp_in, set_mcbsp_in_list
To compensate 1D or 2D motions or rotary
motions (for example, robot arms, rotary table),
see Chapter 8.6.2 ”Compensating Linear
Movements”, page 243 and Chapter 8.6.3
”Compensating Rotary Movements”, page 247.
The following Processing-on-the-fly corrections can
be combined:
• set_fly_x with set_fly_y.
• set_fly_x_pos with set_fly_y_pos
• For the special case set_fly_z, see Chapter 8.6.11
”Processing-on-the-fly Correction for the z Axis”,
page 257
• For linear 3D Processing-on-the-fly corrections
with positional values, see Section ”Correction via
McBSP Interface with Enhanced McBSP Input”,
page 246.
The following Processing-on-the-fly corrections
cannot be combined:
• Encoder-based with McBSP-based
• linear and rotating
The last command always determines the overall
correction unless it can be combined with previous
settings.
However, mutual synchronization of any
Processing-on-the-fly corrections by
wait_for_encoder_mode,
wait_for_encoder_in_range and wait_for_mcbsp
is possible, see Chapter 8.6.7 ”Synchronizing
Processing-on-the-fly Applications”, page 252.
8.6.2 Compensating Linear
Movements
Processing-on-the-fly correction for linear
movements (translations) can be activated
(1)
by:
• set_fly_x and/or set_fly_y
• set_fly_x_
pos and/or se
t_fly_y_pos
• set_mcbsp_in ( Mode = 1…3)
• set_mcbsp_in_list ( Mode = 1…3)
A scaling factor must thereby be specified in each
case.
With set_multi_mcbsp_in or
set_multi_mcbsp_in_list, you can activate
additional Processing-on-the-fly correction with
positional values for linear motion in all three
coordinate directions without bit-resolution
restrictions. No scaling factor is required.
Processing-on-the-fly correction can be deactivated
(simultaneously for both directions) by fly_return.
See the corresponding notes in Chapter 8.6.5
”Deactivating Processing-on-the-fly Correction”,
page 251.
Correction via Encoder Counters
To be able to pass position values via the
board-internal encoder counters
(2)
, the
Processing-on-the-fly correction must be activated
by:
• set_fly_x and/or set_fly_y
Here, the scaling factor [in bits per count] defines the
relation between the shift [in bits] of the current
output position in the Image Field and one counter
pulse (count) of the corresponding encoder counter.
See also Section ”Determining the Scaling Factors”,
page 244.
By set_fly_x, the encoder counter “Encoder0” is reset
to zero. By set_fly_y the encoder counter “Encoder1”
is reset to zero.
(3)
(1) Different Processing-on-the-fly corrections cannot be
combined arbitrarily, see the Section ”Overview”,
page 242.
(2) See Notice!, page 57.
(3) By set_control_mode Bit #9 it can be set beforehand
whether the counter is reset at the respective
Processing-on-the-fly command or at the start trigger.