Scanlab RTC 5 PC Interface Board, Installation And Operation Manual

Page: 521 / 622

RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
521
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Ctrl Command stepper_rel_no
Function triggers set-position movements to the specified relative set positions via the desired
stepper motor output.
Call
stepper_rel_no( No, dPos, WaitTime )
Parameters
No
See stepper_abs_no .
dPos
Relative set position in CLOCK pulse units as a signed 32-bit value;
allowed range: [–2
31
… +(2
31
-1)]
WaitTime
See stepper_abs_no .
Comments • The desired set positions should be specified relative to the current internal set-position
values (the internal set-position values will correspondingly get newly set) and a set-
position movement will only be performed at the stepper motor output specified by
No
.
Otherwise the command is identical to stepper_abs (see comments there).
RTC
®
4

RTC
®
5 new command
Version info • See stepper_abs .
References stepper_abs_no , stepper_abs , stepper_rel_no_list
Undelayed
Short
List Command stepper_rel_no_list
Function same as stepper_rel_no (see above), but a list command and without
WaitTime
parameter
Call
stepper_rel_no_list( No, dPos )
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 the command will, already during loading, be
replaced by a
list_nop ( get_last_error return code
RTC5_PARAM_ERROR
).
dPos
See stepper_rel_no .
Comments • See stepper_rel_no .
• During performance of a reference movement (see stepper_init ), execution of
stepper_rel_no_list will be delayed until the reference movement completes.
RTC
®
4

RTC
®
5 new command
Version info • Available beginning with version DLL 527, OUT 529, RBF 519
• For older RTC
®
5 boards with DSP version numbers < 2 ( get_rtc_version bits #16-23),
the command is neither executed nor replaced by list_nop ( get_last_error return code :
RTC5_TYPE_REJECTED
).
References stepper_rel_no