RTC6 boards
Doc. Rev. 1.0.21 en-US
20 Appendix E: iDRIVE Scan Systems – Control Commands and Signals Transmitted to RTC Boards
982
Comments (RTC6)
• The scan system firmware a.bb.c is read as abbc,
for example, 5100 corresponds to version 5.10.0,
and 5054 to version 5.05.4.
• On SetMode, SetControlDefinitionMode and
SetEchoMode
– The data type selected by
control_command
(Code
HIGH
= 05
H
, 0E
H
or 21
H
or
Data
= 1700
H
) is transmitted until another
data type is selected.
– Data transmitted from the scan system to the
RTC board can be queried by:
• get_value
• get_values
set_trigger/set_trigger4/set_trigger8
• get_waveform
The first data after switching the data source
are transmitted only after a short time delay
due to the serial transmission times. Therefore,
a delay time of up to 60 s may occur between
the switchover time and the first output of the
new data type. control_command always
automatically inserts a waiting time of 60 µs
after the data source is switched (the previously
mentioned commands always return correct
values).
– All data returned from the scan system to the
RTC6 are passed over as signed 20-bit values.
This applies even if the RTC6 DLL is set to
RTC4 Compatibility Mode and even for
scan systems without SL2-100 interface,
controlled by an XY2-100 Converter
(Accessory). Queried data returned by
get_value, get_values or get_waveform are
nevertheless generally transferred to the PC as
signed 32-bit values (for data evaluation, see
comments for get_value).
– For scan systems with integrated SL2-100
interface, get_head_status queries the
XY2-100 status word regardless of settings
made by
control_command
(Code
HIGH
= 05
H
, 0E
H
or 21
H
or
Data
= 1700
H
). It is returned in
addition to the selected data. In contrast, if
iDRIVE scan systems (without an integrated
SL2-100 interface) are controlled by an
XY2-100 Converter (Accessory),
get_head_status returns the
XY2-100 status word only if this signal has
been previously selected to be returned from
the scan system by co
ntrol_command, s
ee
also Section ”Reading Out Data”, page 213.
– After a reset or power-up of the scan system, it
can take around 5 seconds for data to be
returned from the scan system (see also
get_value). After a reset or power-up of the
scan system, always the XY2-100 status word is
returned.
• On SetMode
– Set position (angular position) values returned
by the scan system correspond to the effective
output values
Sample<AX…BY>_Out
with
set_trigger/set_trigger4/set_trigger8.
Additionally, the 20-bit set position values
returned from a z axis in
RTC5 Compatibility Mode (and in
RTC4 Compatibility Mode from the x axis and
y axis, too) are scaled by a factor 16 relating to
the therefore specified 16-bit coordinate
values.
– The angle bit-values (actual position,
set position, position error) or angle bit/ms-
values (actual speed) returned to the RTC6 can
be converted into °-values or °/ms-values by the
scan system’s calibration angle. The calibration
angle can be read out by
Data
= 0523
H
.
– Exact values for the internal voltages referred to
in the table can vary for different versions of
the scan system.
– intelliWELD scan systems can be supplied with
various number of sensors. Therefore, observe
the manual of the respective scan system. This
manual lists the command codes for currently
available sensors.
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