Scanlab RTC6 PCIe Board - Stepper_Abs

RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
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Ctrl Command stepper_abs
Function Triggers set-position movements to the specified absolute set positions by both stepper
motor output ports.
Call stepper_abs( Pos1, Pos2, WaitTime )
Parameters Pos1 Absolute set position in CLOCK pulse units for stepper motor output ports 1.
As signed 32-bit values.
Allowed value range: [–2
31
…+(2
31
-1)].
Pos2 Like Pos1 (analogously).
WaitTime Determines when stepper_abs returns at the latest.
As an unsigned 32-bit value.
1 bit equals 1 s.
Allowed value range: [0…+(2
32
–1)].
Comments • For programming the stepper motor signals, see Chapter 9.1.5 ”Controlling Stepper
Motors”, page 284.
• stepper_abs sets the new set-position values even if a previously started set-position
movement is still in progress:
– If Pos1 / Pos2 in the current direction of movement lies in front of the internal position
variable’s value, then the movement continues and the Busy status remains set.
– If Pos1 / Pos2 equals the current value of the internal position variable, then the
movement stops. The Busy status gets reset.
– If Pos1 / Pos2 in the current direction of movement already lies past the internal
position variable’s value, then the corresponding stepper motor’s direction of
movement reverses, see Section ”Notes”, page 284. The Busy status remains set.
• If no set-position movement is in progress, then one starts and the Busy status gets set.
• During performance of a reference run (Init status set, see stepper_init), stepper_abs
does not execute (get_last_error return code RTC6_PARAM_ERROR ).
• If the CLOCK pulse period has been set to 0 by stepper_init, stepper_control or
stepper_control_list, then no stepper motor movement occurs at the corresponding
stepper motor output.
• If WaitTime = 0, then stepper_abs returns immediately so that system control is
restored to the user program.
RTC4RTC6 New command.
RTC5RTC6 Unchanged functionality.
Version info Available as of DLL 600, OUT 600, RBF 600.
References stepper_abs_no, stepper_rel, stepper_rel_no, stepper_abs_list