RTC
®
4 PC Interface Board
Rev. 1.3 e
10 Commands And Functions
79
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Integration
Pascal:
procedure control_command(head, axis, data: word);
C:
void control_command(unsigned short head, unsigned short axis, unsigned short data);
Basic:
sub control_command(ByVal head
As Integer,
ByVal axis
As Integer,
ByVal data
As Integer
)
Comments
• The
command can only be used in conjunction with intelli
SCAN
®
scan systems. Conventional scan systems will ignore the command.
• Data sources selected via the
command will be transmitted until
another source is selected.
• Data returned to the RTC
®
4 can be queried via the commands
and
. Switching to a different data source causes a short (serial trans-
mission-related) delay before transmission of the first data. Therefore, wait at least
50
µ
s before reading the data.
• Five seconds after every new start or reset or after sending the command code 0500
H
via the
command, the statusword (XY2-100-compliant status
signal) will be returned on all receiving channels. The statusword can be queried via the
command, too.
• During a temporary error state after the maximum allowed temperatue was exceeded
(flag bit#7 = 0), the scan head’s output stages of the affected axis are at least tempo-
rarily deactivated. The intelli
SCAN
®
will return to normal operation as soon as the
temperatur drops again below the maximum allowed temperature.
• During a “permanent error state” after a critical error, all output stages will remain
deactivated. Critical errors include improper internal or external voltages and reaching
critical edge positions.
• If a critical error occurs, the intelli
SCAN
®
automatically enters a permanent error state,
in which the output stages of the affected axis remain deactivated – even if the critical
error was only temporarily present. Normal operation is
not
resumed. Flag bit#9 = 0 is
only reset via a hardware reset. Critical errors are for instance improper internal voltages
(flag bit#13 = 0), external power supply interruption (flag bit#8 = 0) or reaching a crit-
ical edge position (flag bit#5 = 0).
• During both temporary and permanent error states, the intelli
SCAN
®
continues to
transmit data to the control board. Even in these states, switching or selection of data
signals for diagnostic purposes is still possible.
• The flags indicate the scan system’s operational state. The scan module can return one
of two flag blocks indicating the current operational state (
code
= 0528
H
, 0529
H
) or
alternatively one of two further flag blocks indicating the operational state at the
moment of the most recently occured operation interruption. After every successful
restart – and, as long as no error has occured – all status informations of the two latter
blocks are irrelevant. Only, as soon as an error causes a switch into a temporary or
permanent error state, the current status values will be saved into these two blocks. In
this case, also an event code is simultaneously set, indicating which particular event
caused the error state. This event code can be read out separately (
code
= 052A
H
).
• To convert angle bit-values (actual position, set position, position error) or bit/ms values
(actual speed) returned to the RTC
®
4 into mrad or mrad/ms, the returned values have
to be multiplied by the scan system’s calibration factor. The calibration factor (in
mrad/bit) can be read out via
code
= 0523
H
.
• Exact values for the internal voltages referred to in the table can vary for different
versions of the intelli
SCAN
®
.
References
,
Ctrl Command control_command
