Scanlab RTC6 PCIe Board - Page 793

RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
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Ctrl Command stepper_init
Function Performs a stepper motor initialization.
Call stepper_init( No, Period, Dir, Pos, Tol, Enable, WaitTime )
Parameters No Number of the stepper motor output.
As an unsigned 32-bit value.
Allowed values:
= 1: Stepper motor output 1.
= 2: Stepper motor output 2.
If the value is invalid, then stepper_init is not executed
(get_last_error return code RTC6_PARAM_ERROR ).
Period Pulse period of the CLOCK signal.
As an unsigned 32-bit value.
1 bit equals 10 µs.
Allowed value range: [0…+(2
24
-1)]. Larger values are clipped.
If Period = 0, then no reference run is performed and the function
immediately returns (see comments).
Dir Direction of stepper motor motion during the reference run.
As a signed 32-bit value.
Allowed value range: [–2
31
…+(2
31
-1)].
> 0: The DIRECTION signal gets set; during the reference run the
internal position variable increments.
= 0: The DIRECTION signal gets reset; during the reference run the
internal position variable decrements.
< 0: The DIRECTION signal remains unchanged, no reference run is
performed and the function immediately returns.
Pos New position variable value.
In CLOCK pulse units (see comments).
As a signed 32-bit value.
Allowed value range: [–2
31
…+(2
31
-1)].
Tol Tolerance for the reference run (see comments).
As an unsigned 32-bit value.
Allowed value range: [0…+(2
32
–1)].
If Dir < 0 and/or Period = 0, then the value Tol = 0 is irrelevant, otherwise
Tol = 0 causes stepper_init not to be executed
(get_last_error return code RTC6_PARAM_ERROR ).
Enable ENABLE signal.
As an unsigned 32-bit value.
Allowed value range: [0…+(2
32
–1)].
= 0: The ENABLE signal is reset.
> 0: The ENABLE signal is set.
WaitTime Defines when stepper_init, at the latest, returns (see comments).
1 bit equals 1 s.
As an unsigned 32-bit value.
Allowed value range: [0…+(2
32
–1)].