Scanlab RTC6 PCIe Board - Get_Stepper_Status

RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
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Ctrl Command get_stepper_status
Function Returns the following status information for both stepper motor output ports: the current
statuses of the stepper motor signals, the currently defined CLOCK pulse period, status
“Busy” and status “Init”, and the current values of the internal position variables.
Call get_stepper_status( &Status1, &Pos1, &Status2, &Pos2 )
Returned
parameter
values
Status1 Current status of stepper motor output 1.
As a pointer to an unsigned 32-bit value.
Bit #0
(LSB)
ENABLE signal.
Bit #1 DIRECTION signal.
Bit #2 CLOCK signal.
Bit #3 SWITCH signal = limit switch signal.
Bit #4 Status “Busy”.
Bit #5 Status “Init“.
Bit #6 Reserved.
Bit #7 Reserved.
Bit #8
…
Bit #31
CLOCK pulse period (24-bit value).
Pos1 Current value of the internal position variable for stepper motor output port
1. As a pointer to a signed 32-bit value.
Status2 Current status of stepper motor output port 1.
Otherwise, like Status1 .
Pos2 Like Pos1 .
Comments • For programming the stepper motor signals, see Chapter 9.1.5 ”Controlling Stepper
Motors”, page 284.
• If the SWITCH signal (limit switch signal) is set to (pin is LOW), no more CLOCK pulses
are generated.
• Status “Busy” indicates that a previously initiated (by stepper_abs, stepper_rel, etc.)
set-position movement has not yet completed.
• Status “Init” indicates that a previously initiated (by stepper_init) reference run has
not yet completed.
RTC4RTC6 New command.
RTC5RTC6 Unchanged functionality.
Version info Available as of DLL 600, OUT 600, RBF 600.
References –