Scanlab RTC6 PCIe Board - Stepper_Control; Stepper_Control_List

RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
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Ctrl Command stepper_control
Function Sets the CLOCK signal pulse periods for stepper motor control.
Call stepper_control( Period1, Period2 )
Parameters Period1 Pulse period of the CLOCK signals for stepper motor output ports 1.
1 bit equals 10 µs.
As a signed 32-bit value.
Allowed values: [0…+(2
24
-1)] or < 0. Larger values are clipped.
> 0: The new period waits for an already-running CLOCK pulse period at
the corresponding stepper motor output before starting.
= 0: An already-running CLOCK pulse period aborts at each stepper motor
output (the corresponding stepper motor movement gets stopped,
the Init- and/or Busy statuses for the respective stepper motor
outputs get reset).
< 0: the corresponding stepper motor control remains unchanged.
Period2 Pulse period of the CLOCK signals for stepper motor output ports 2.
Otherwise, like Period1 .
Comments • For programming the stepper motor signals, see Chapter 9.1.5 ”Controlling Stepper
Motors”, page 284.
• Period1 or Period2 = 0 can be used as an emergency stop, see also the Section
”Terminating Infinite Movements”, page 286.
RTC4RTC6 New command.
RTC5RTC6 Unchanged functionality.
Version info Available as of DLL 600, OUT 600, RBF 600.
References stepper_control_list
Undelayed
Short List
Command
stepper_control_list
Function Like stepper_control, but a list command.
Call stepper_control_list( Period1, Period2 )
Parameters Period1 Like stepper_control.
Period2 Like stepper_control.
Comments • See stepper_control.
RTC4RTC6 New command.
RTC5RTC6 Unchanged functionality.
Version info Available as of DLL 600, OUT 600, RBF 600.
References stepper_control