Scanlab RTC6 PCIe Board - Page 796

RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
796
innovators for industry
Ctrl Command stepper_rel_no
Function Triggers a set-position movement to the specified relative position at one stepper motor
output port.
Call stepper_rel_no( No, dPos, WaitTime )
Parameters No Like stepper_abs_no.
dPos Relative position. In CLOCK pulse units.
As a signed 32-bit value.
Allowed value range: [–2
31
…+(2
31
–1)].
WaitTime Like stepper_abs_no.
Comments • The set positions should be specified relative to the current position values (the -
position value is correspondingly get newly set) and a set-position movement is only
performed at the stepper motor output specified by No . Otherwise, stepper_rel_no is
identical to stepper_abs (see comments there).
RTC4RTC6 New command.
RTC5RTC6 Unchanged functionality.
Version info Available as of DLL 600, OUT 600, RBF 600.
References stepper_abs_no, stepper_abs, stepper_rel_no_list
Undelayed
Short List
Command
stepper_rel_no_list
Function Like stepper_rel_no, but a list command and without WaitTime parameter.
Call stepper_rel_no_list( No, dPos )
Parameters No Number of the stepper motor output port.
As an unsigned 32-bit value.
Allowed values:
= 1: Stepper motor output port 1.
= 2: Stepper motor output port 2.
If the value is invalid, then stepper_rel_no_list is, already during loading,
replaced by a list_nop (get_last_error return code RTC6_PARAM_ERROR ).
dPos Like stepper_rel_no.
Comments • See stepper_rel_no.
• During performance of a reference run (see stepper_init), execution of
stepper_rel_no_list is delayed until the reference run completes.
RTC4RTC6 New command.
RTC5RTC6 Unchanged functionality.
Version info Available as of DLL 600, OUT 600, RBF 600.
References stepper_rel_no