RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
644
Normal List
Command
set_fly_2d
Function Activates Processing-on-the-fly correction for compensation of a linear workpiece-
movement in 2 dimensions (based on the encoder values transferred to the RTC6 by
encoder counters “Encoder0” and “Encoder1”). Sets the corresponding scaling factors.
Restriction If the Option Processing-on-the-fly is not enabled, then set_fly_2d terminates the
Processing-on-the-fly process (even though it could not have been activated).
Call
set_fly_2d( ScaleX, ScaleY )
Parameters
ScaleX
Scaling factor for the x direction (encoder counter “Encoder0”).
In bits/count.
As a 64-bit IEEE floating point value.
Allowed value range: 1/256 |
ScaleX
| 16000.0.
ScaleY
Scaling factor for the y direction (encoder counter “Encoder1”).
In bits/count.
As a 64-bit IEEE floating point value.
Allowed value range: 1/256 |
ScaleY
| 16000.0.
Comments •
ScaleX
and
ScaleY
can be negative depending on the motion direction of the
workpiece. The restricted value range applies only to the absolute value.
• For Processing-on-the-fly correction (for example, determination of the scaling factor
or deactivating Processing-on-the-fly correction), see the Chapter 8.6
”Processing-on-the-fly”, page 242. For set_fly_2d usage, see the Chapter 8.6.4
”Compensating 2D Motions”, page 249.
• If unallowed parameter values are supplied (for example, for
ScaleX
= 0), then
set_fly_2d does not activate a Processing-on-the-fly correction or deactivates a
Processing-on-the-fly correction previously activated by set_fly_2d
(but does not deactivate any other Processing-on-the-fly correction).
The latter case leads to a jump (at jump speed) to the endpoint of the most recently
executed Vector Command or “Arc” Command (without “set_fly_2d“
Processing-on-the-fly correction).
However, Processing-on-the-fly correction successfully activated by set_fly_2d
switches off any other Processing-on-the-fly correction and does itself get switched off
by any other Processing-on-the-fly command, even if that other command contains
unallowed parameters, see Section ”Overview”, page 242.
• If an encoder compensation has been set by load_fly_2d_table and init_fly_2d, the
current encoder values are added to the latest reference values of the 2D encoder
compensation and then the sums are saved as new reference values. The encoder
counters are then reset to 0.
• It should not be set by set_control_mode( Bit #9 ) that the encoder counters are only
reset after the subsequent External Start trigger. Otherwise, the reference values of
2D encoder compensation are lost. See also Section ”2D Encoder Compensation for
xy Positioning Stages”, page 249.
• Do not intermediately call set_fly_x or
set_fly_y to switch on the Processing-on-
the-fly
application if you intend to use set_fly_2d in conjunction with 2D encoder
compensation for an xy positioning stage, because here too the reference values are
lost.
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