manualshive.com logo in svg

Scanlab RTC 5 PC Interface Board, Инструкция по установке и эксплуатации


Поделиться
Скачать
background image

RTC

®

5 PC Interface Board

Rev. 1.9 e
10 Commands And Functions

476

innovators for industry

Ctrl Command set_serial

Function

sets the starting serial number of the serial-number-set most recently selected via 

select_serial_set

 (or of serial-number-set 0 after 

load_program_file

) and sets the 

increment size for this serial-number-set to 1.

Call

set_serial( No )

 

Parameters

No

 

Serial number as an unsigned 32-bit value; 
allowed range: [0 … (2

32

–1)]

Comments

• The command 

set_serial 

is synonymous with 

set_serial_step

 with 

Step

 = 1 (see 

comments there).

RTC

®

4

RTC

®

5 unchanged functionality (except for the extended range of values)

(the command was previously only available for the RTC

®

SCAN

alone Board, i.e. the 

standalone version of the RTC

®

4 board)

References

set_serial_step

, 

select_serial_set

Ctrl Command set_serial_step

Function

sets the starting serial number and the increment size for the serial-number-set most 
recently selected via 

select_serial_set

 (or for serial-number-set 0 after 

load_program_file

).

Call

set_serial_step( No, Step ) 

Parameters

No

 

Serial number as an unsigned 32-bit value; allowed range: [0 … (2

32

–1)]

Step 

Increment size as an unsigned 32-bit value;
allowed range: [0 … 9999]; only the last 4 decimal digits are used.

Comments

• During initialization, the starting serial number is set to 0 and the increment size set to 

1.

• If 

mark_serial

 or 

mark_serial_abs

 was called with Mode M

2

= 1 (i.e. automatic serial-

number incrementing was deactivated), then the increment size setting will have no 
effect.

• If 

Step

 = 0, then incrementing will not occur, except in the case of markless marking 

(see 

mark_serial

 or 

mark_serial_abs

: 

digits

 = 0), which always increments serial 

numbers by 1.

• For command usage, see 

chapter 7.5.2 "Marking Serial Numbers", page 150

.

RTC

®

4

RTC

®

5 new command

References

mark_serial

, 

mark_serial_abs

, 

set_serial

, 

select_serial_set

, 

select_serial_set_list

Содержание RTC 5 PC Interface Board

Страница 1: ...on The RTC 5 PC Interface Board RTC 5 Express Board RTC 5 PC 104 Plus Board and RTC 5 PCIe 104 board for Real Time Control of Scan Heads and Lasers September 9 2014 RTC 5 PC Interface Board Rev 1 9 e...

Страница 2: ...out notice No part of this manual may be processed reproduced or distributed in any form photocopy print microfilm or by any other means electronic or mechanical for any purpose without the written pe...

Страница 3: ...cessories 29 2 5 1 XY2 100 Converter 29 2 5 2 Data Cables 29 2 5 3 Laser Adapter 29 2 5 4 PCI Slot Covers 29 2 5 5 ADC Add On Board 30 2 6 Supplementary Software 30 2 7 Notes For RTC 4 Users 30 2 7 1...

Страница 4: ...XTENSION 1 Connector 49 Configuring the Output Signal Level 49 16 Bit Digital Input and Output 49 Synchronization of Data Transmission 49 BUSY Status 49 4 4 3 EXTENSION 2 Connector 50 Jumper Setting 5...

Страница 5: ...Memory 70 6 4 List Handling 71 6 4 1 Loading Lists 71 Unconditional Loading 71 Loading with Protection 72 Terminating Lists 72 6 4 2 List Status 72 6 4 3 List Execution Status 73 6 4 4 Starting and S...

Страница 6: ...Master Slave Operation 84 Initialization 84 Clock Phase Synchronization 84 Matching of Short Command Counts as of Version DLL 523 OUT 524 84 Synchronous Starts and Stops 84 6 7 Usage by Multiple Appli...

Страница 7: ...Polygon Delay 106 7 2 3 Notes on Optimizing the Delays 107 Recommended Sequence 107 Automatic Delay Adjustments 107 Optimizing the Delays 110 7 2 4 Sky Writing 113 Mode 1 113 Mode 2 113 Mode 3 114 Syn...

Страница 8: ...n 130 7 4 2 Configuring the Laser Connector LASER 130 7 4 3 CO2 Mode 131 7 4 4 YAG Modes 132 Q Switch Signal 132 FirstPulseKiller Signal 133 Differences Between the YAG Modes 133 Lamp Current Laser Po...

Страница 9: ...tant Notes on Choosing Appropriate Parameter Values 168 Classic Wobbel Shapes 168 Freely Definable Wobbel Shapes 169 8 5 Using Several Different Correction Tables 170 8 5 1 Configuration with Two 2D S...

Страница 10: ...f Version DLL 525 OUT 527 190 8 7 10 Tracking Error Compensation of Encoder Values for Processing on the fly Applications 191 8 8 Scanning Raster Images Bitmaps 192 8 8 1 Principle Of Operation 192 8...

Страница 11: ...terface 207 9 1 7 McBSP Interface 207 9 2 Signal Input 207 9 2 1 16 Bit Digital Input 207 9 2 2 2 Bit Digital Input 207 9 2 3 RS232 Interface 208 9 2 4 McBSP Interface 208 9 3 Control via External Sig...

Страница 12: ...nd Set 227 acquire_rtc 227 activate_fly_2d 228 activate_fly_xy 229 apply_mcbsp 230 apply_mcbsp_list 231 arc_abs 232 arc_abs_3d 233 arc_rel 234 arc_rel_3d 235 auto_cal 236 auto_change 238 auto_change_p...

Страница 13: ...276 get_overrun 276 get_rtc_mode 277 get_rtc_version 277 get_serial 278 get_serial_number 278 get_standby 279 get_startstop_info 280 get_status 281 get_stepper_status 282 get_sub_pointer 283 get_sync...

Страница 14: ...317 list_jump_cond 318 list_jump_pos 319 list_jump_pos_cond 320 list_jump_rel 321 list_jump_rel_cond 322 list_nop 322 list_repeat 323 list_return 324 list_until 325 load_auto_laser_control 326 load_ch...

Страница 15: ...er_on_pulses_list 375 para_mark_abs 376 para_mark_abs_3d 377 para_mark_rel 378 para_mark_rel_3d 379 park_position 380 park_return 381 pause_list 382 quit_loop 382 range_checking 382 read_analog_in 385...

Страница 16: ...et_delay_mode_list 416 set_dsp_mode 416 set_ellipse 417 set_encoder_speed 418 set_encoder_speed_ctrl 419 set_end_of_list 420 set_extstartpos 421 set_extstartpos_list 421 set_ext_start_delay 422 set_ex...

Страница 17: ...set_mcbsp_out 455 set_mcbsp_out_ptr 456 set_mcbsp_rot 457 set_mcbsp_rot_list 457 set_mcbsp_x 458 set_mcbsp_x_list 458 set_mcbsp_y 459 set_mcbsp_y_list 459 set_multi_mcbsp_in 459 set_multi_mcbsp_in_li...

Страница 18: ...ist_2 489 set_start_list_pos 490 set_sub_pointer 491 set_text_table_pointer 492 set_trigger 493 set_trigger4 497 set_vector_control 498 set_verify 499 set_wait 500 set_wobbel 501 set_wobbel_control 50...

Страница 19: ...rel_3d 540 timed_para_jump_abs 541 timed_para_jump_abs_3d 542 timed_para_jump_rel 543 timed_para_jump_rel_3d 544 timed_para_mark_abs 545 timed_para_mark_abs_3d 547 timed_para_mark_rel 548 timed_para_m...

Страница 20: ...ptional Accessories 576 15 1 8 Supplementary Software 576 15 2 Layout and Interfaces 577 15 2 1 Connectors and Jumper Positions 577 15 2 2 Interface to the CPU board 579 15 2 3 Master Slave Synchroniz...

Страница 21: ...of RTC 5 PC 104 Plus Board 596 16 4 1 Compliance with FCC Rules 597 17 Appendix C The RTC 5 PCIe 104 Board 598 17 1 Product Overview 598 17 1 1 Intended Use Comparison to the RTC 5 PC interface board...

Страница 22: ...icing repairs and product disposal This manual should accompany the product if ownership changes hands SCANLAB reserves the right to update this operating manual at any time and without notification T...

Страница 23: ...f different software versions also see Revision History page 24 the complete software package is also delivered zipped RTC5_Software_ Date zip All files of the software package are listed below Packag...

Страница 24: ...unction prototypes of the RTC5 for explicit linking of the DLL RTC5impl h C function prototypes of the RTC5 for implicit linking of the DLL RTC5impl hpp C function prototypes of the RTC5 for implicit...

Страница 25: ...can system To control lasers the RTC 5 supplies interfaces that output laser control signals and are software config urable for each application s requirements For example the user can select among se...

Страница 26: ...f the PC The RTC 5 board is intended only for industrial usage It is designed to be incorporated in machines normally laser systems It does not meet all criteria of ready to use products Do not operat...

Страница 27: ...ystem s X and Y axes usually two galvanometer scanners via its two scan head connectors see page 171 Otherwise the associated 3D commands are partially or fully unusable Synchronous Control of Two Sca...

Страница 28: ...ppropriate data cable is required But special optical data interfaces are not required neither for the RTC 5 nor for the scan system see page 44 2 4 Jumper Settings and Type Identification SCANLAB shi...

Страница 29: ...iber cables or optical data transfer see page 44 2 5 3 Laser Adapter SCANLAB offers an laser adapter which can be plugged into the RTC 5 s 15 pin LASER connector This adapter s 9 pin female D SUB conn...

Страница 30: ...her chapters of this manual also contain various sections with tips for RTC 5 customers who previ ously used the RTC 4 The individual command descriptions in particular note relevant changes 2 7 1 Har...

Страница 31: ...esn t exist on the RTC 5 EXTENSION 1 Connector The RTC 5 s EXTENSION 1 connector is except for the additionally provided signals at pins 33 35 identical to the EXTENSION 1 connector of the RTC 4 see p...

Страница 32: ...he program e g by modifying supplied parameter values or evaluating returned values differently Relevant changes to supported commands are listed in the individual command descriptions in chapter 10 2...

Страница 33: ...with 0 5 s resolution for the RTC 5 whereas with 1 s resolution for the RTC 4 Therefore a 2 times larger parameter value must be specified for a certain delay value in s Here though it generally suffi...

Страница 34: ...er slave synchronization of multiple RTC 5 boards see page 40 Scan System Control New interface to the scan system see page 41 9 pin female D SUB connector at the RTC 5 slot cover and on board 10 pin...

Страница 35: ...command Online positioning see page 165 Position monitoring of iDRIVE scan systems via backward transformation of actual position values see page 154 Automatic self calibration see page 199 Optimizat...

Страница 36: ...XTENSION 2 the RTC 5 EXTENSION 2 connector corresponds to the RTC 4 LASER EXTENSION connector General Programming Utility files for C C C and Delphi see page 62 But no utility files for Basic Commands...

Страница 37: ...motion or any other freely assigned motion direction Unlike classic wobbel shapes freely definable wobbel shapes have an option to vary the laser power see page 167 Processing on the fly see page 177...

Страница 38: ...Caution Caution Carefully check your application program before running it Programming errors can cause a break down of the system In this case neither the laser nor the scan system can be controlled...

Страница 39: ...gital output pin out see page 49 EXTENSION 2 26 pin socket connector with an 8 bit digital output port e g for alternative laser control pin out see page 50 SLAVE 6 pin SLAVE connector see Master Slav...

Страница 40: ...another board Suitable connection cables are available from SCANLAB Also see chapter 6 6 3 Master Slave Operation page 84 and Starting and Stopping Lists via External Control Signals and Master Slave...

Страница 41: ...an head connector to the third axis Z axis If both options second scan head control and 3D option are enabled then the user specifies which signals XY or Z are to be outputted via which connector when...

Страница 42: ...onverts the scan system s XY2 100 status signals into SL2 100 compliant signals see page 127 The XY2 100 converter introduces a 10 s runtime latency to scan system control This runtime latency can be...

Страница 43: ...ding cable lengths Other jumper settings as well as cable lengths above 25 m are not recom mended 7 13 DO NOT CONNECT 12 DO NOT CONNECT 11 DO NOT CONNECT 10 DO NOT CONNECT 9 DO NOT CONNECT 8 STATUS1 7...

Страница 44: ...ows to the scan system s DATA IN input The cable length should not exceed 25 m SCANLAB recommends a cable impedance of 110 independent from the cable length For XY2 100 compliant data transmission the...

Страница 45: ...HAN2 CHAN2 STATUS STATUS STATUS1 STATUS1 CLOCK CLOCK SYNC SYNC CHAN1 CHAN1 CHAN2 CHAN2 STATUS STATUS STATUS1 STATUS1 D SUB 25 pin male D SUB 25 pin male Shielding Ferrit ring Scan head Control SL2 100...

Страница 46: ...External Control Signals The external control signals START and STOP TTL active low are referenced to PC ground GND Both input signals are connected internally to 3 3 V via pull up resistors Refer to...

Страница 47: ...O circuits of the 15 pin D SUB connector for the laser 1 The ANALOG OUT2 signal is also available via the MARKING ON THE FLY connector see page 51 SN74LVC1G126 5V 74HC14 4k7 3 3V 3 3V SN74LVC3G34 5V 7...

Страница 48: ...adapter To do so carefully open the laser adapter s housing via its four clip latches e g using a screwdriver The solder jumpers JP1 and JP2 are on the laser adapter s PCB between the two D SUB connec...

Страница 49: ...the output values of the 16 bit digital output port The RTC 5 automatically generates the LATCH signal when the output value at the 16 bit digital output port changes The output value should be read...

Страница 50: ...ND2 are GND identical see chapter 2 3 Optional Functionality page 27 8 Bit Digital Output Port The buffered 8 bit digital output port TTL level is intended for YAG lasers with a digital lamp current c...

Страница 51: ...is referenced to GND Slot Cover Optional SCANLAB recommends using an additional slot cover for using the inputs and signals of the MARKING ON THE FLY connector A suitable slot cover with a 15 pin D SU...

Страница 52: ...age 216 Data transfer is via the SPI interface but the McBSP protocol is used instead of the so called SPI protocol The mcbsp_init command allows setting DataDelay N independently for the transmitter...

Страница 53: ...ent fully transferred values can be queried from a corresponding memory location via read_mcbsp The McBSP interface always ignores the first FrameSync signal after a load_program_file or mcbsp_init so...

Страница 54: ...o the DSP as 12 bit digital values I C bus with 400 kHz fast mode The current input values can be read via the control command read_analog_in at any time see below Installation and Pinout The ADC add...

Страница 55: ...V 10 V Input resistance 4 k ADC resolution 12 bit The input signals are referenced to PC ground GND Note Actually the ADC add on board even provides a third 10 V analog input ANALOG IN2 with identical...

Страница 56: ...on a work table that complies with ESD directives Remove the housing of the PC Locate a free PCI slot and remove the slot cover A height from the slot connector s top of at least 105 mm is required R...

Страница 57: ...g installation the operating system automatically selects the appropriate driver file 32 oder 64 bit For WINDOWS 8 Open the Device Manager to display the device tree Look for the PCI device entry and...

Страница 58: ...n loading the correction files you ll then only have to provide the filename without needing to specify a path 5 5 Safe Start up and Shutdown Sequences To assure safety during start up turn on the com...

Страница 59: ...apter 6 2 page 62 describes the calling convention of the DLL and shows how to initialize its functions and proce dures in applications written in Pascal C C or C With a 64 bit operating system the 64...

Страница 60: ...d RTC 5 board with a newer one then you must also perform a software update This is particularly important when RTC 5 boards with DSP version 0 get replaced by RTC 5 boards with DSP version 2 see get_...

Страница 61: ...some general parameters or for directly controlling the laser and scan head Before a list command can be sent to the RTC 5 a control command must define the input pointer to which subsequent list comm...

Страница 62: ...s and functions then the desired DLL Win32 or Win64 based must be made available as described in Installation And Start Up page 56 and called by the user program The DLL calling convention is stdcall...

Страница 63: ...in the file RTC5expl c For building the executable link with the file RTC5EXPL OBJ which you can generate from the source code RTC5expl c Call the RTC 5 commands you need like goto_xy 1000 2500 for ca...

Страница 64: ...not already assigned to another appli cation assigns DLL internal numbers for all found RTC 5 boards important for multi board commands sets one board as the active board which will be the target for...

Страница 65: ...k phase synchronization should be performed prior to initializing and operating the individual boards with further commands see chapter 6 6 3 Master Slave Operation page 84 RTC 5 Configuration 2 If ne...

Страница 66: ...mand set_qswitch_delay page 471 11 Set the stand by pulses usually CO2 only command set_standby page 488 12 Enable the laser control signals see command enable_laser page 255 if they have been disable...

Страница 67: ...RTC 5 command ErrorCode init_rtc5_dll Following the init_rtc5_dll command you should include a program code to catch an error during initialization e g for the case the desired RTC 5 board is not det...

Страница 68: ...6 Developing User Applications 68 innovators for industry terminateDLL return void terminateDLL printf Press any key to shut down n while kbhit void getch printf n Close the RTC5 DLL free_rtc5_dll onl...

Страница 69: ...an RTC 5 innovation is a protected memory area intended for storing frequently needed list command sequences as subroutines or character set definitions This area is protected against unintended over...

Страница 70: ...ed e g 0 positions for List 2 see Configu ration d or e in figure 27 During configuration the protected List 3 buffer area automatically receives remaining memory not assigned to List 1 or List 2 The...

Страница 71: ...executed Be sure not to overwrite commands still needed by your application see below PCI transfer of the list commands into list memory is buffered to increase the speed for continuous down loads Th...

Страница 72: ...command list can be further loaded directly after the set_end_of_list command 6 4 2 List Status Dependent on the command input and output statuses lists can receive particular status values To examin...

Страница 73: ...will then be again set via a subsequent release_wait command The PAUSED status is set when a list has been halted via pause_list stop_list or set_wait It is reset via a subsequent restart_list or rel...

Страница 74: ...n auto_change auto_change_pos or start_loop command was previously issued In the latter case a list change will take place see Automatic List Changing page 75 The change occurs only upon reaching a se...

Страница 75: ...is encountered output of the next list will be thereby automatically started The auto_change command causes the next list to be started at position 0 the auto_change_pos command causes starting at a...

Страница 76: ...ess via the command get_input_pointer see page 269 Indexed Subroutines The RTC 5 lets you define not only non indexed subroutines but also indexed subroutines The load_sub command assigns a desired in...

Страница 77: ...ne and a jump command which initiates a jump on the command itself will be ignored during execution too Calling Subroutines Subroutines are not started directly but instead via a list command within a...

Страница 78: ...l programming rules regarding indexed subroutines see page 77 Always try to use only one of the two methods in order to avoid unintended data loss in the protected buffer area via overwriting If you b...

Страница 79: ..._disk Subroutines with multiple references are thereby written several times to the list memory Keep this in mind in order to prevent unintended buffer overflow of the protected buffer area Memory for...

Страница 80: ...n and Conversion of Non Indexed Subroutines page 78 Notes 0 NUL is a markable character too 0 also serves as a text output delimiter for text strings in which case it will not be marked Indexed charac...

Страница 81: ...absolute memory address within the configured list area List 1 and List 2 can be specified Jumps within or out from the protected buffer area List 3 are not allowed with these commands Any list_jump_p...

Страница 82: ...always be used in pairs Unpaired or superfluous commands list_until without an associated list_repeat as well as list_repeat commands leading to a nesting depth greater than 8 will be ignored Empty lo...

Страница 83: ...All multi board commands are listed in chapter 10 1 page 217 Nearly all single board commands are also available in multi board form Exceptions are explicitly noted in the description list in chapter...

Страница 84: ...upstream board Without synchronization delays of up to 10 s can occur You can use get_sync_status to check if a slave board is synchro nized to the master board or to the preceding board in the master...

Страница 85: ...calls Without access rights a board can only be accessed by an application through purely DLL internal functions that don t require access rights e g get_error page 263 get_last_error page 270 or sel...

Страница 86: ...ard is acquired by another appli cation some of the previous application s key data managed only in the DLL will not automatically be inherited The acquiring application will thereby lack information...

Страница 87: ...if an application has no access rights for the board RTC5_ACCESS_DENIED or if the board fails to respond to a control command RTC5_TIMEOUT or if PCI communication problems occur during loading RTC5_SE...

Страница 88: ...ng checks are performed also note the comments in the set_verify command description Loading of List Commands For list command downloads each download is read back and compared for equality against th...

Страница 89: ...rface Board Rev 1 9 e 6 Developing User Applications 89 innovators for industry 6 8 2 Checking for Overruns With get_overrun you can check whether overruns of the 10 s clock period have occurred also...

Страница 90: ...T RTC5CountCards rtc5_count_cards if RTC5CountCards Detailed error analysis for all detected boards UINT AccError 0 for UINT i 1 i RTC5CountCards i Errors which occurred during execution of init_rtc5_...

Страница 91: ...ulti board command n_load_program_file must be used for initializing the board the single board command load_program_file 0 would deny execution if ErrorCode n_load_program_file InternalNumberOfDesire...

Страница 92: ...uery them via get_free_variable and get_value as well as log them via set_trigger set_trigger4 see command description The free variables let you for example transmit control commands over the McBSP i...

Страница 93: ...ommand see chapter 7 1 3 Marking Points page 96 For line and arc marking the RTC 5 automatically switches the laser the laser active laser control signals on at the beginning of a marking command and...

Страница 94: ...d off at the beginning of the subsequent jump or generally non mark non arc or non ellipse command provided no further arc commands or a series of arc mark or ellipse commands follow Ellipse Commands...

Страница 95: ...trix Here though the speed will vary along the arc also see note on page 163 This contrasts with mark_ellipse_abs and mark_ellipse_rel where in 10 s intervals the step length gets adjusted for the ell...

Страница 96: ...ommands see page 197 iDRIVE scan systems let you execute jump and goto_xy commands in either the preconfigured and microvectorized vector mode or after enabling and activation in jump mode see page 15...

Страница 97: ...pulses set_standby 800 8 In RTC 4 compatibility mode the standby parameters are specified in units of 1 8 s as with the RTC 4 and the RTC 5 multiplies the specified values by 8 to convert in integer...

Страница 98: ...rk_abs 20000 20000 Marking the bottom edge of the square The laser control signals are automatically switched on with the first mark command after a LaserOn delay and remain on for all four mark comma...

Страница 99: ...at the start or end of a vector To achieve homogenous marking results it is essential to scan the vectors with a constant velocity At the beginning of a mark or arc vector however the mirrors first ha...

Страница 100: ...t position and the real position see figure 30 At the end of the jump a certain settling time is necessary for the mirrors to reach the set position within some accuracy To allow for the settling time...

Страница 101: ...delay mode In this mode the jump delay for short jump vectors will be reduced in time as shown in figure 31 The minimum jump delay for a jump vector of zero length and the jump length limit are set b...

Страница 102: ...irectly precede or fol low the zero length command s If the com mand is executed individually i e not within a polyline then no mark delay will be per formed do not change the laser control signals as...

Страница 103: ...ark or arc commands is replaced by a polygon delay see figure 33 Here the laser remains on unless a correspondingly smaller edgelevel was set via set_delay_mode or set_delay_mode_list see page 104 The...

Страница 104: ...6 Edgelevel Figure 34 shows that the variable polygon delay becomes quite long if the angle is close to 180 This might lead to burn in effects in the sharp corners of the polyline To avoid this the us...

Страница 105: ...vel 3 Variable polygon delay longer than the edgelevel The laser is turned off between the two mark or arc commands 4 Mark delay Time Laser LaserOn Delay LaserOff Delay Mark Command Mark Command Last...

Страница 106: ...a point The values Value for the angle in degrees and for the scaling factor can be speci fied as unsigned floating point numbers Use the period as the decimal separator If the table contains multiple...

Страница 107: ...res on page 110 through page 112 show the various effects of non optimized delays on the letters RTC Recommended Sequence The LaserOn delay and the LaserOff delay should be optimized first followed by...

Страница 108: ...On follows Thus marking time is only increased when necessary The scanner delays can now be optimized indepen dently of the laser delays The same applies for the edgelevel of the variable polygon del...

Страница 109: ...for the second one Likewise the laser would get switched off for the first but not the second non mark command and sometimes not for set_end_of_list Thanks to these previously described automatic adju...

Страница 110: ...er is still on even though the mirrors have already stopped or move only very slowly The results are burn in effects at the end points of the respective vectors LaserOff Delay too short The laser is t...

Страница 111: ...k Mark M a r k M a r k Mark Mark M ark Mark Mark M ark M a r k M a r k M ark Mark Jump J u m p J u m p Jump Jump Mark Delay too long There are no visible effects if the mark delay is too long but the...

Страница 112: ...the polygon delay is too long the mirrors are moving too slowly or are even stopping between subse quent mark commands Since the laser is not turned off between these vectors burn in effects occur In...

Страница 113: ...mode 1 can be activated and deacti vated via the commands set_sky_writing_para set_sky_writing or the corresponding list commands Except for para commands Sky Writing mode 1 acti vation affects all ma...

Страница 114: ...l directional changes within a polygonal traversal is probably disproportionately high for the gained accuracy To optimize Sky Writing even in this scenario for reducing total process time the RTC 5 p...

Страница 115: ...off time point relative to the set ending position s Timelag For LaserOnShift 0 the laser active laser control signals will be switched on off with a delay of Timelag relative to the set starting pos...

Страница 116: ...FirstPulseKiller FirstPulseKiller Length Q Switch Delay Timelag Timelag Time s Set Position Vector Mark Delay Real Position Position Mark Command Run in Run out Tracking Error Laser Control Signals i...

Страница 117: ...Timelag parameter With set_sky_writing_para or set_sky_writing_para_list you can also specify shorter run in and run out phases to reduce marking times Shorter run in and run out phases are particular...

Страница 118: ...ding distances and acceleration phase in the run in and run out phases Herefore Nprev and Npost can be separately adjusted with respect to the specified marking duration with set_sky_writing the Timel...

Страница 119: ...e usable or typical image field dependent on the objective and the optical configuration of the scan system is smaller than the maximum adjustable image field The scan head has a usable image field If...

Страница 120: ...see page 187 In addition the extended value range of the virtual image field can be used for utilizing the complete real 20 bit image field even if a coordinate transfor mation as rotation shrinkage o...

Страница 121: ...rid points in the correction table The result is transmitted to the scan head The correction algorithm is executed for every single microstep See the section Microsteps page 96 By default SCANLAB crea...

Страница 122: ...he 2D correction table will be thereby automatically expanded to incorporate a linear Z correction The actually suitable Z correction can subsequently be loaded via the load_z_table command see page 1...

Страница 123: ...ble or select_cor_table_list was called in the meantime with the parameters used there If you require a different assign ment then you must call select_cor_table or select_cor_table_list again using t...

Страница 124: ...sted parameters were previously only obtainable from the supplied ReadMe file with the RTC 4 RTC 3 RTC 2 and needed to be manually incorporated into the user application For the RTC 5 the parameters i...

Страница 125: ...0 PI with PT protective glass thickness in mm max 2 decimal places PI refraction index max 3 decimal places Example The value 3521450 0 corresponds to a protective glass thickness of 3 52 mm and a ref...

Страница 126: ...e 199 then a compensating Gain and Offset will be taken into account when calculating output values gain and offset correction can also be specified via set_hi see page 201 Overflowing output values w...

Страница 127: ...0 status word too is returned via get_value get_values or set_trigger set_trigger4 as a 20 bit value but as a 16 bit value via get_head_status see below Status Information Returned from the Scan Syste...

Страница 128: ...r a hardware reset and also after initialization with load_program_file all laser control signals are disabled All laser output ports LASERON LASER1 and LASER2 are in the high impedance tristate mode...

Страница 129: ...der some circum stances e g as a replacement for list commands with an invalid parameter Laser Standby Signals After first time activation of the laser control signals via set_laser_control standby si...

Страница 130: ...atically generated list will stop laser control signals get permanently switched off Galvanometer Position Exceedance Induced Laser Signal Auto Suppression range_checking can be used to define that th...

Страница 131: ...d LASER2 outputs with pulse lengths and periods that can be defined via set_laser_pulses set_laser_pulses_ctrl or set_laser_timing For laser standby operation if applicable after a LaserOff delay The...

Страница 132: ...ER1 or LASER2 should execute to completion or be cut off when it has not yet fully executed when the LASERON signal is switched off see figure 48 This cannot be specified for standby signals if applic...

Страница 133: ...lse starts at the beginning of the FirstPulseKiller signal In YAG mode 2 the first Q Switch pulse starts at the end of the FirstPulseKiller signal This mode is provided for certain YAG laser types In...

Страница 134: ...h LASER2 FirstPulseKiller YAG 2 YAG 1 LASER1 Q Switch LASER2 FirstPulseKiller YAG 3 Laser active Laser standby Laser standby Q Switch Period Q Switch Pulse Width FirstPulseKiller Length Q Switch Delay...

Страница 135: ...ly assigned to the output port simul taneously with the first laser pulses Analog softstart values are outputted simulta neously with the laser pulses of the LASER1 signal It might be beneficial under...

Страница 136: ...itched off if applicable after a LaserOff delay Notes The pulse length and the output period of the LASER1 modulation signal are set with the command set_standby or set_standby_list The LASER1 signal...

Страница 137: ...ange is executed with delay only when the LASER1 signal is off again see figure 51 For instance if the LASER1 signal is set active high that means a change of the LASERON signal is not executed while...

Страница 138: ...be defined via set_laser_pulses set_laser_pulses_ctrl or set_laser_timing The LASER2 output emits the same signals as the LASER1 output in phase but only every Noth pulse in accordance with the param...

Страница 139: ...RTC 4 compatibility mode for laser active operation the time base can be set via set_laser_timing but not via set_laser_pulses or set_laser_pulses_ctrl for either 1 MHz 1 bit equals 1 s or 8 MHz 1 bi...

Страница 140: ...easing distances to the image field center which alters the reflection and the laser spot Position dependent laser control allows definition of an automatic radial correction dependent on the distance...

Страница 141: ...set_auto_laser_control must be used for specifying which signal parameter will be readjusted via the Ctrl parameter and the load_position_control command used for loading a scaling function For subse...

Страница 142: ...ter cannot exceed the maximum allowable range nor the range specified via set_auto_laser_control MinValue and MaxValue parameters If necessary the output value after possible modifi cation by a specif...

Страница 143: ...oordinate midpoint x2 y2 1 2 as a percent value percent of half the image field side length Example Xmax 0 corresponds to 100 Xmax Ymax corresponds to 21 2 100 with Xmax Ymax 219 or 215 in RTC 4 compa...

Страница 144: ...e used and the previous ones ignored If the table contains multiple data points with the same percent value Percent then the data point with the largest Index n will be used and the others ignored Equ...

Страница 145: ...S0 is the signal parameter value defined as the 100 value and P0 is the associated laser power At point S0 P0 the two curves intersect this corresponds to the data point Percent0 100 Scale0 1 0 An inc...

Страница 146: ...ands the set speed is generally determined in accordance with the specified vector length and marking time and therefore usually differs from the marking speed defined via set_mark_speed Speed variati...

Страница 147: ...is called then the signal parameter will also temporarily change Even so the start value for the second para command will still be the end value of the first para command Control commands such as set_...

Страница 148: ...you can choose which of the two encoders should be used for measuring the speed or if both encoders should be used to determine a vectorial encoder velocity Here you can also specify a target encoder...

Страница 149: ...shifts of the laser pulse This way jittery line images can be avoided see figure 54 Notes as of version RBF 527 The supplied laser pulse signal must have a frequency between 50 kHz and 6 4 MHz and its...

Страница 150: ...an be marked via the commands mark_serial or mark_serial_abs The commands initiate output of command lists for the numerals 0 9 that were previ ously defined as indexed characters or text strings You...

Страница 151: ...returns the current serial number of the serial number set selected via select_serial_set if multiple serial number sets exist then the returned serial number isn t neces sarily the most recently mar...

Страница 152: ...the RTC 5 to the scan system As a result the galvanometer scanners movements might briefly be interrupted However for scan systems with SL2 100 interfaces operated without an XY2 100 converter specifi...

Страница 153: ...neither the above mentioned normal status returns nor the associated functions e g set_trigger set_trigger4 or speed dependent laser control are adversely affected After every power up or reset start...

Страница 154: ...transform also see get_waveform you can backward transform an entire series of XY value pairs or Z values previously recorded via set_trigger set_trigger4 Notes Wobbel transformations Processing on th...

Страница 155: ...so be executed offline hence without needing to further access a RTC 5 board If control_command is used to specify positioning error rather than actual position as the to be returned data type by the...

Страница 156: ...y switches to a vector tuning if the scan system is equipped with one and if a corre sponding setting was made via set_jump_mode At the end of the 2D jump a jump length dependent jump delay will occur...

Страница 157: ...Delays When executing a hard jump it takes the scanner some time to reach the specified position The RTC 5 takes this delay also called step response into account by appending a jump delay at the end...

Страница 158: ...up to the next character that is not preceded by a semicolon are used Each data point Length Delay Length is described by two instructions Length n LengthValue Delay n DelayValue where n must be repl...

Страница 159: ...the measurement period is specified via the parameter MaxDelay 10 s For subsequent shorter jumps it is defined by each previously determined jump delay MaxDelay should be chosen to be adequate but not...

Страница 160: ...i e with SCANLAB s pre configured calibration upon power up or after a reset With the control_command you can also query SCANLAB s pre configured calibration and the currently selected scale factor 8...

Страница 161: ...o the data transfer verification the control_command allows the prior data type to be temporarily stored for later retrieval 8 2 Coordinate Transformations For precise set up of the scan system relati...

Страница 162: ...x setting Initialization via load_program_file results in an offset of 0 0 0 and in matrices MS MR and MT each predefined as identity matrices Each matrix or offset definition overwrites prior definit...

Страница 163: ...0 0 to 1000 500 and a third from 1000 500 to 0 500 But if at_once 2 then only a second jump occurs from 0 0 to 0 500 jump_abs 0 0 set_offset_list 1000 500 at_once jump_abs 1000 0 If no correction tabl...

Страница 164: ...ined for the primary and secondary scan head connectors This fulfills the same purpose as the transformations defined via the RTC 4 s load_correction_file command The RTC 5 consequently first executes...

Страница 165: ...ional command execution see page 213 The McBSP interface is described on page 52 Configuring Online Positioning The commands set_mcbsp_x set_mcbsp_y and or set_mcbsp_rot or the equivalent list command...

Страница 166: ...d If two identical Bit 31 codings are present then the last transfer should have already ended at the time of the request matrix With this option activated matrix coefficients are then transferable as...

Страница 167: ...r too You can avoid such jitter by specifying a fixed instead of the momentary direction of motion for the wobbel shape via the set_wobbel_direction list command For optimum marking results the wobbel...

Страница 168: ...y stage With iDRIVE systems you can also read out the present temperatures of galvanom eters and or digital control boards see control_command Example of Use System Specification Tracking error T 0 33...

Страница 169: ...is dependent on a position due to the correction file which is non linear The calculated path velocity for wobbel only shall be lower than the specified maximum positioning speed but there may be cert...

Страница 170: ...her Notes The default setting for select_cor_table and select_cor_table_list is 1 0 i e correction table 1 is used for the first scan head The output signals for the second scan head are turned off Th...

Страница 171: ...a 3 axis scan system via an RTC 5 the 3D option of the RTC 5 must be enabled for an installed RTC 5 this can be checked via the command get_rtc_version the XY scan head must be attached to the primar...

Страница 172: ...tware package also see load_correction_file page 328 In RTC 5 mode the X and Y vector coordinates of a vector must be specified as signed 20 bit numbers i e as numbers between 524288 and 524287 howeve...

Страница 173: ...hile a mark or arc command is being processed the scan system s focal length is continuously readjusted so that the laser focus remains sharp within the current image plane In contrast during executio...

Страница 174: ...SCANFLEX by adjusting the focusing optic s position via the command move_to with a varioSCAN FC also with an intelliWELD FC by adjusting coefficient A of the assigned 3D correction table 1 Checking th...

Страница 175: ...A B and C to the default values of the loaded correction table 7 After each load_correction_file you should therefore also call load_z_table A B C again Test for 3 Axis Scan Systems with F Theta Obje...

Страница 176: ...is limit value The corrections are bilinearly inter polated for data points within the specified grid and linearly extrapolated for data points outside the grid After load_program_file enhanced 3D cor...

Страница 177: ...Processing on the fly option is enabled by SCANLAB No additional drivers or software files e g further DLL or DSP program files are needed Initialization and program launching remain unchanged as well...

Страница 178: ...scan system motions e g robot arms see chapter 8 7 2 page 179 and chapter 8 7 3 page 181 The following Processing on the fly corrections can be combined set_fly_x is combinable with set_fly_y set_fly...

Страница 179: ...r 8 7 4 page 184 Determining Scaling Factors If the workpiece position is to be registered via one or two incremental encoder s then a calibration procedure will be required to determine the scaling f...

Страница 180: ...tion increments ix and iy in bits per mm for each direction Read the start input value via read_mcbsp and begin the movement Stop the movement and read the end input value via read_mcbsp Measure the d...

Страница 181: ...es whereby the X value lies in the lower 16 bits and the Y value in the upper 16 bits of the value at the McBSP interface For a description of the interface see page 52 Correction via McBSP Interface...

Страница 182: ...f revolutions Note that the number of counts per revolution is equal to the number of encoder signal edges per revolution i e four times the number of encoder increments per revolution see page 216 If...

Страница 183: ...vated For this all McBSP input values must be coded via bit 31 Notes All input values always get copied alternatingly to internal memory locations 1 and 2 and subse quently in accordance with their bi...

Страница 184: ...er values will be two dimensionally interpolated and compensated just like with field correction tables To avoid unnecessary initialization motions you can use the init_fly_2d command to define a desi...

Страница 185: ...then the most recently read value will be used the others will be ignored Empty lines or incomplete data lines are invalid and will be ignored Coordinate Transformations in the Virtual Image Field Fo...

Страница 186: ...set_mcbsp_in or set_mcbsp_in_list with Mode 0 Here a hard jump to an uncorrected output position might occur Processing on the fly correction activated via set_fly_x_pos set_fly_y_pos set_fly_rot_pos...

Страница 187: ...rrection then coordinate values outside the real image field get clipped to the boundaries of the real image field 20 bits only after Processing on the fly correction see chapter 7 3 5 page 126 If the...

Страница 188: ...rt trigger will be automatically generated when the delay has expired also see page 210 This helps avoid dead time between the execution of multiple Processing on the fly list programs Moreover the li...

Страница 189: ...ing it s necessary to immediately respond to this error then you can call the list command if_not_activated to possibly jump to an error handling routine 8 7 8 Encoder Resets Many encoder based Proces...

Страница 190: ...ly correction see page 126 will not be taken into account here During the adjustment phase of a Processing on the fly correction you must therefore always ensure that coordinate points approaching the...

Страница 191: ...isn t possible 8 7 10 Tracking Error Compensation of Encoder Values for Processing on the fly Applica tions Tracking errors of a scan system s galvanometer scanners can result in a certain amount of...

Страница 192: ...is also half the laser period The pixel distance between two adjacent pixels in the line and thus also the marking direction is defined via a 2D vector dX dY by set_pixel_line or for pixel marking on...

Страница 193: ...low pixel frequencies result in multiple scanner steps per pixel higher frequencies can result in multiple pixel pulses or voltage level changes per scanner step You can implement a pixel output mode...

Страница 194: ...e no pixel pulses are as before outputted at the LASER1 port and in laser mode 4 the FirstPulseKiller signal at the LASER1 port No softstarts see page 135 are performed Sky Writing see page 113 is not...

Страница 195: ...ALOG OUT1 or ANALOG OUT2 port changes synchronously with the leading edge of each pixel pulse see figure 56 Note The DA converter requires about 1 5 s 3 s to produce a stable analog output signal For...

Страница 196: ...l No scanner delay will be inserted at the end of a pixel line because its value depends on the marking speed indirectly determined by the HalfPeriod and dX dY If needed however you can insert an appr...

Страница 197: ...et expired see page 107 but new definition simultaneous to expiry is OK Unlike normal vectors microvector commands do not microvectorize vectors but rather exe cute the vectors with a single hard jump...

Страница 198: ...th of the vector or arc Notes After a timed vector or arc command a jump delay a mark delay or a polygon delay is inserted just like after a vector or arc command That means the total time for the com...

Страница 199: ...tions defined by the internal sensor system For this purpose the RTC 5 drives the galvanometer scanners to the appropriate positions within the scanning range For drift measurement the routine should...

Страница 200: ...Values Reference values can be determined via auto_cal Command 0 This starts an ASC hardware check and the measurement routine for determining the current Home In positions The determined reference v...

Страница 201: ...magnitude of the drift But if auto_cal Command 1 isn t preceded by auto_cal Command 0 or 4 then an automatic ASC hardware check will be performed which can extend the command s execution time by a fe...

Страница 202: ...ual measurements are too large maximum minimum 96 bits the measurement routine aborts and an error return value 2 is returned An error within an individual measurement cycle might indicate that stable...

Страница 203: ...control commands or during processing of a list via list commands 9 1 1 16 Bit Digital Output Port The EXTENSION 1 connector provides a buffered 16 bit digital TTL output DIGITAL OUT0 15 The level of...

Страница 204: ...port DIGITAL OUT1 and DIGITAL OUT2 see page 46 Its output values can be set via set_laser_pin_out or set_laser_pin_out_list The output is in high impedance mode tri state until an initial value is ass...

Страница 205: ...ecution or external list stops won t terminate or pause the stepper motor motion For changes of direction or pulse period the new values won t become active until an already begun period is complete T...

Страница 206: ...s for both stepper motors can be queried via get_stepper_status The get_stepper_status command also returns the Busy and Init statuses of both stepper motors The Init status is set during reference mo...

Страница 207: ...etailed description see set_mcbsp_out_ptr Notes The signals and operating conditions of the McBSP interface are presented on page 52 In the default setting the McBSP interface always outputs bits 4 19...

Страница 208: ...rface see page 52 The read_mcbsp command lets you query the 32 bit data word most recently fully transmitted to the specified memory location It is up to the user whether to interpret it as one 32 bit...

Страница 209: ...ENSION 2 connector as well as the 2 bit digital output port and the two 12 bit analog output ports ANALOG OUT1 and ANALOG OUT2 of the LASER connector will be set to the previously defined stop case va...

Страница 210: ...start_ctrl are passed on also see chapter 6 6 3 Master Slave Oper ation page 84 The command get_startstop_info queries the current start status i e whether one of the inputs is currently set to LOW 2...

Страница 211: ...e START START2 and Slave START inputs also stay disabled when the external stop signal is no longer active The command set_control_mode additionally allows activation or deactivation of the inputs STA...

Страница 212: ...al start signal set_control_mode Mode Bit 10 one time reset disable bit 10 initialization set_start_list_pos ListNo Pos open some list afterward some commands simulate_ext_start Delay EncoderNo first...

Страница 213: ...s Variable distance jump The switch_ioport command produces a relative list jump whose jump distance depends on the queried value Conditional Calls of Non Indexed Subroutines The commands list_call_co...

Страница 214: ...e addresses and is not relocatable the following RTC 5 command uses relative addresses and is relocatable list_jump_rel_cond 0006 0009 3 skip the next two commands if the state of the 16 bit input is...

Страница 215: ...commands are transformed in accordance with the encoder counters current counts i e in accordance with the current workpiece position Via the list command wait_for_encoder_mode further execution of a...

Страница 216: ...itioned and oriented workpieces the scan system needs to be precisely aligned to the workpiece online positioning The current position of the workpiece or scan system can be forwarded via the McBSP in...

Страница 217: ...e traversal the laser remains on In contrast if a specific time behavior is desired 10 s clock period you can insert an additional list_nop or list_continue command after any short list command to ens...

Страница 218: ...d_restart_timer would erroneously take into account the delay of a preceding command instead of the delay of the subsequent command For several short list commands in a row even a delayed short list c...

Страница 219: ...newly added commands the software or DSP version in which they become available For some older commands information on imple mented changes All new commands and changes to old commands are also liste...

Страница 220: ...ol 407 n_ set_auto_laser_params 409 n_ set_encoder_speed_ctrl 419 n_ set_firstpulse_killer 423 n_ set_laser_control 440 n_ set_laser_mode 443 n_ set_laser_pulses_ctrl 445 n_ set_pulse_picking 470 n_ s...

Страница 221: ...artstop_info 280 n_ set_control_mode 412 n_ set_extstartpos 421 n_ set_max_counts 451 n_ simulate_ext_start_ctrl 511 n_ sync_slaves 528 List Handling And Status 1 n_ auto_change 238 n_ auto_change_pos...

Страница 222: ...oder 262 n_ get_fly_2d_offset 264 n_ get_marking_info 273 n_ init_fly_2d 305 n_ load_fly_2d_table 333 n_ read_encoder 385 n_ set_ext_start_delay 422 n_ set_mcbsp_in 3 452 n_ set_multi_mcbsp_in 3 459 n...

Страница 223: ...ark_rel nor 378 n_ set_ellipse us 417 n_ timed_arc_abs nor 531 n_ timed_arc_rel nor 532 n_ timed_mark_abs nor 537 n_ timed_mark_rel nor 539 n_ timed_para_mark_abs nor 545 n_ timed_para_mark_rel nor 54...

Страница 224: ...ds 448 n_ set_scanner_delays ds 475 n_ set_sky_writing_limit_list us 478 n_ set_sky_writing_list nor 478 n_ set_sky_writing_mode_list nor 480 n_ set_sky_writing_para_list nor 483 Coordinate Transform...

Страница 225: ...nor 1 426 n_ set_fly_rot_pos nor 1 427 n_ set_fly_x nor 1 429 n_ set_fly_x_pos nor 1 430 n_ set_fly_y nor 1 431 n_ set_fly_y_pos nor 1 432 n_ set_mcbsp_in_list us 2 453 n_ set_multi_mcbsp_in_list nor...

Страница 226: ...rameters The ULONG_PTR data type is defined in the C and C import decla rations as follows ULONG_PTR unsigned 32 bit value for Win32 based applications ULONG_PTR unsigned 64 bit value for Win64 based...

Страница 227: ...ly release its rights via release_rtc page 392 or free_rtc5_dll page 259 On the other hand if the board was already freed prior to initialization of an applica tion then initialization via init_rtc5_d...

Страница 228: ...ssing on the fly correction won t be activated and an error bit will be set that is queryable via get_marking_info bit 9 1 If Processing on the fly correction is active then activate_fly_2d will be a...

Страница 229: ...Processing on the fly correction won t be activated and an error bit will be set that is queryable via get_marking_info bit 9 1 If Processing on the fly correction is active then activate_fly_xy will...

Страница 230: ..._rel goto_xy or goto_xyz command is executed 2 See at_once 2 Comments Data acquisition via the McBSP interface for online positioning must be activated in advance via the commands set_mcbsp_x set_mcbs...

Страница 231: ...mation e g via a list command with at_once 1 or a corresponding control command 1 The transformation is immediately calculated including all transformation settings that were collected until then and...

Страница 232: ...matically turned on at the beginning of the command or remain on after a directly preceding mark or arc command The defined scanner and laser delays will thereby be taken into account see chapter 7 2...

Страница 233: ...tion table Z absolute Z end coordinate in bits as signed 32 bit values allowed range 32768 32767 an out of range value will be edge clipped Angle arc angle in as a 64 bit IEEE floating point value pos...

Страница 234: ...int value positive angle values correspond to clockwise angles Comments The coordinates for the arc center are to be supplied as relative coordinates with respect to the current position Otherwise the...

Страница 235: ...es allowed range 8388608 8388607 out of range values will be edge clipped The complete value range 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica...

Страница 236: ...ystem attached to the specified scan head connector is equipped with an internal sensor system for automatic self calibration Home In sensors and returns the type and status of the detected sensor sys...

Страница 237: ...cting a scan system a reference value determination should be performed via auto_cal Command 0 Otherwise the RTC 5 will use the stored reference values of a previously operated possibly different scan...

Страница 238: ...l won t return 100 or 200 As soon as hardware functionality is restored you can clear the error from the RTC 5 EEPROM by explicitly calling auto_cal command 0 or auto_cal command 4 The error can t be...

Страница 239: ...mmands will be executed If during list execution the end of the list is reached without encoun tering a set_end_of_list then execution will automatically continue at the beginning of the current list...

Страница 240: ...ditional signal has vanished bit 8 0 The debouncing time default value is 0 ms RTC 4 RTC 5 new command References get_startstop_info Undelayed Short List Command clear_fly_overflow Function resets err...

Страница 241: ...Mask0 MaskClear 16 bit masks as unsigned 32 bit values only the least significant 16 bits are evaluated Comments The command clears only those bits of the digital output port that are set in the para...

Страница 242: ...ON channel LASER1 signal on LASER1 channel LASERON signal on LASER2 channel In this configuration LASER1 signals synchronously generated with the LASERON signal can be immediately outputted whereas th...

Страница 243: ...nfig_list Mem1 1 List 2 will automatically be assigned the rest of list memory Mem2 220 Mem1 no memory for List 3 Storage positions for List 3 220 Mem1 Mem2 By default the RTC 5 s list buffer area is...

Страница 244: ...scan system CodeH Command and Parameter Values CodeL 05H SetMode This command selects the data signal to be returned from the scan system for the specified axis via the respective status channel also...

Страница 245: ...16 1 mA 219 219 1 1DH Relative heating output of the corresponding galvanometer scanner heater not relevant for intelliSCAN 7 intellicube dynAXIS XS and scan systems with water cooled scanners Bits 4...

Страница 246: ...oled scanners Bit 17 B13 1 Internal voltages normal Bit 16 B12 1 Position error within normal range Bit 15 B11 1 Galvanometer scanner and servo board temperature within normal range Bit 14 B10 1 Booti...

Страница 247: ...ue 00050H Flags are not valid 00060H 000C0H Reserved 000D0H Watchdog 10 s time out loop time exceeded 000E0H Position Acknowledge time out set position not reached for long time 000F0H Reserved 2BH Op...

Страница 248: ...Bits 4 19 Coolant flow rate 5 51 l min 1 0 00595 l min 1 0 2250 for T 20 C and a flow rate larger than 3 l min 1 Bits 0 3 0 3CH Protective window scattered light value Bits 4 19 Scattered light value...

Страница 249: ...3 0 11H SelectControlDefinition as of Firmware Version 2078 For scan systems equipped with multiple tunings i e servo algorithms this command selects a desired tuning also see page 155 CodeL thereby...

Страница 250: ...type to be temporarily stored CodeL FFH and then reinstated at a later time CodeL 00H Also see Code 0527H 21H SetEchoMode as of Firmware Version 2078 This command verifies whether data transfer is in...

Страница 251: ...et_waveform Switching to a different data source causes a short serial transmission related delay before transmission of the first data After switching data sources therefore a delay time of up to 60...

Страница 252: ...8 0 or reaching a critical edge position flag bit 5 0 During both temporary and permanent error states the scan system continues to transmit data to the control board Even in these states switching o...

Страница 253: ...is for the scan system to set the threshold value to 0 28 of the full position range after every power up or reset for iDRIVE scan systems with SL2 100 interface this corresponds to 0 28 of 220 bits f...

Страница 254: ...d subroutine Bit 1 0 Src is the index of an indexed character or text string 1 Src is the index of an indexed subroutine Bits 2 31 will not be evaluated Comments If an index value Dst and or Src is in...

Страница 255: ...ut ports can only be reactivated with set_laser_control after a load_program_file command The command get_startstop_info Bit 9 queries the current status of the laser control signals RTC 4 RTC 5 uncha...

Страница 256: ...config_list Pos is set to 0 RTC 4 RTC 5 unchanged functionality References execute_list_pos get_out_pointer Ctrl Command execute_list Function starts execution at the beginning of the specified list L...

Страница 257: ...cuted This allows automatically generated continuous list changing via an incre mented count If List 2 has not been assigned memory Mem2 0 see config_list then List 1 will be opened If Pos is specifie...

Страница 258: ...xecuted as with jump_abs see comments there If Processing on the fly correction was activated within a subroutine called via an AbsCall and subsequently gets deactivated via fly_return then the coordi...

Страница 259: ...new command In RTC 4 compatibility mode the RTC 5 multiplies the specified value for the X and Y coordinates by 16 the permissible range of values is correspondingly reduced to 32768 32767 The value r...

Страница 260: ...it value allowed range 0 1023 Result Absolute start address as an unsigned 32 bit value Comments The get_char_pointer command reads from the internal management table the start address of the indexed...

Страница 261: ...fig_list command will be executed regardless of the board s BUSY status RTC 4 RTC 5 new command References config_list Ctrl Command get_counts Function reads the current number of successful external...

Страница 262: ...nchronization via Encoder Signals page 215 If incremental encoders are used to detect the motion of the parts to be processed encoder counter Encoder0 will be triggered by the signals at encoder input...

Страница 263: ...t will be replaced with list_nop if this error occurs for a control command it will not be executed RTC5_PARAM_ERROR 16 Bit 5 1 List processing is not active e g for execute_list if a list is currentl...

Страница 264: ...onstant UINT Error init_rtc5_dll Searches for all installed RTC5 boards if Error RTC5_ACCESS_DENIED at least one board is inaccessible UINT Count rtc5_count_cards number of boards found for UINT Num 1...

Страница 265: ...nnector 2 secondary scan head connector activation required ParaNo Number of the parameter as an unsigned 32 bit value valid values 0 15 meaning see page 124 Result Parameter value as a 64 bit IEEE fl...

Страница 266: ...hile bits 1 and 9 are returned as 0 If no scan system is currently connected then the status of the most recently connected system will be returned If a scan system is still not connected after a rese...

Страница 267: ...s if the 3D option is not enabled values in the range 2500 2599 version number 2000 if the 3D option is enabled values in the range 3500 3599 version number 3000 The file name extension for RTC 5 prog...

Страница 268: ...position values this scan system should be equipped with an internal sensor system for automatic self calibration Home In sensors The returned values are 0 if no scan system equipped with automatic s...

Страница 269: ...put_pointer to obtain the start address if subsequent referencing is to be performed via set_sub_pointer or set_char_pointer The absolute position of the output pointer can be queried via get_status o...

Страница 270: ..._in Function returns the current status of the two digital inputs at the laser connector Call LaserPinIn get_laser_pin_in Result unsigned 32 bit value Bit 0 LSB DIGITAL IN1 Bit 1 DIGITAL IN2 Bits 2 31...

Страница 271: ...pace page 272 The board specific error variables LastError and AccError see Error Handling page 87 are neither generated nor altered by get_list_pointer RTC 4 RTC 5 new command References get_input_po...

Страница 272: ...is currently being loaded into the protected buffer area List 3 then get_list_space returns the amount of still avail able protected memory otherwise the input pointer is not located in the protected...

Страница 273: ...the fly correction via activate_fly_2d or activate_fly_xy also see chapter 8 7 7 page 188 Bit 10 PosAck error bit of head A s X axis Bit 11 TempOK error bit of head A s X axis Bit 12 PowerOK error bi...

Страница 274: ...ee section Scan System Error Induced Laser Signal Auto Suppression on page 130 Any time an error occurs all error bits corresponding to an error indicating status signal are cumulatively set If applic...

Страница 275: ...returns the most recent input value that was fully transferred via the McBSP interface to the memory location for Processing on the fly applications Call mcbsp_value get_mcbsp Result Input value as a...

Страница 276: ...all get_out_pointer ListNo Pos Returned parameter values ListNo Number of the list List 1 or List 2 in which the output pointer is currently located or in which it most recently resided as a pointer t...

Страница 277: ...nabled options of the RTC 5 board Call RTCVersion get_rtc_version Result RTC 5 version number as an unsigned 32 bit value Bit 0 LSB Bit 7 Firmware version of the RTC 5 board Bit 8 1 The Processing on...

Страница 278: ...certained by init_rtc5_dll page 306 and cached in the DLL from where you can query them via get_serial_number The command get_serial_number is helpful when using several RTC 5 boards in one computer s...

Страница 279: ...y output period of the standby pulses as a pointer to an unsigned 32 bit value 1 bit equals 1 64 s PulseLength currently set pulse length of the standby pulses as a pointer to an unsigned 32 bit value...

Страница 280: ...rol enable_laser and disable_laser Bit 10 1 The TTL laser control signals at the LASER1 and LASER2 output ports are active low the signal level can be defined via set_laser_control Bit 11 1 Since the...

Страница 281: ...currently being executed or most recently executed If during processing of a subroutine in the protected buffer area List 3 the output pointer s position Pos is queried then the position will be retu...

Страница 282: ...atus Bit 5 Init status Bits 6 7 Reserved Bits 8 31 CLOCK pulse period 24 bit value Pos1 Pos2 Current values of the internal position variables for stepper motor outputs 1 and 2 as pointers to signed 3...

Страница 283: ...specified index Whether the read address resides in a protected or the unprotected memory area depends on whether the subroutine was loaded into the protected memory area or an unprotected subroutine...

Страница 284: ...art for the master board via an external start signal or a command see section External List Start on page 210 This list start then initiates measurement of the time differences between each board s S...

Страница 285: ...ets you load up to 4 correction files Ctrl Command get_text_table_pointer Function returns the absolute start address of an indexed text string Call TextTablePointer get_text_table_pointer Index Param...

Страница 286: ...get_time Function returns the RTC 5 timer value stored during the most recent call of save_and_restart_timer Call TimerValue get_time Result RTC 5 timer value in seconds as a 64 bit IEEE floating poi...

Страница 287: ...287 innovators for industry Ctrl Command get_transform Function transfers to the PC the position values that were recorded via set_trigger and stored on the RTC 5 and applies backward transformation...

Страница 288: ...coordinates 1 Values recorded via measurement channel 1 Signal1 will be transferred to the PC using Ptr1 and then backward transformed as Y coordinates Values recorded via measurement channel 2 Signal...

Страница 289: ...ormed get_last_error return code RTC5_PARAM_ERROR The same applies for Number 0 or Number 220 If Ptr NULL then no backward transformation will be performed the data recorded via set_trigger will then...

Страница 290: ...RTC 5 PC Interface Board Rev 1 9 e 10 Commands And Functions 290 innovators for industry References upload_transform transform set_trigger get_waveform Ctrl Command get_transform...

Страница 291: ...data transmission is valid For Signal 0 get_value returns the current laser status LASERON signal even when list execution has already been finished When you query data returned as status signals from...

Страница 292: ...the serial number s upper 16 bits are selected for return and queried via get_value control_command 1 1 0x051F SN_high get_value 1 0x000FFFF0 4 Complete serial number SN SN_high 16 SN_low c Actual po...

Страница 293: ...there get_values will return 0 and perform no query on channels for which an invalid signal type was specified via SignalPtr Nevertheless the get_last_error return code RTC5_PARAM_ERROR will only be g...

Страница 294: ...220 if Number 219 when Channel 3 or 4 was selected or if a file was loaded as cor rection table No 3 or No 4 with load_correction_file if Ptr NULL PCI transmission errors will generate the get_last_er...

Страница 295: ...etween the specified point x y z and the point 0 0 0 The focus length value can be positive or negative The command first performs a virtual jump to the point x y z and then returns the focus length v...

Страница 296: ...mmand will be ignored get_last_error return code RTC5_BUSY if the board s BUSY status is currently set list is being processed or has been halted via pause_list or the board s INTERNAL BUSY status is...

Страница 297: ...xy command see the comments there The X and Y axes can be controlled with 20 bit resolution the Z axis with 16 bit resolu tion The RTC 5 in RTC 5 mode as well as in RTC 4 compatibility mode automatica...

Страница 298: ...s command is intended for a laser system that does not allow fast switching of the laser After calling the command the laser focus moves to the specified home position whenever no list is executing or...

Страница 299: ...patibility mode automatically upscales Z coordinate values internally to 20 bit values so that the three dimensions of space can be handled equivalently in terms of the supplied jump speed value The D...

Страница 300: ...ersion info Available beginning with version DLL 525 OUT 527 References get_marking_info set_fly_limits clear_fly_overflow if_not_fly_x_overflow Undelayed Short List Command if_fly_y_overflow Function...

Страница 301: ...flow if_not_fly_z_overflow Undelayed Short List Command if_not_activated Function Conditional command execution due to an error bit from activate_fly_xy or activate_fly_2d If the error bit is set then...

Страница 302: ...3 RTC 4 RTC 5 new command References if_cond if_pin_cond if_not_pin_cond Undelayed Short List Command if_not_fly_x_overflow Function Conditional command execution for Processing on the fly application...

Страница 303: ...inning with version DLL 525 OUT 527 References get_marking_info set_fly_limits clear_fly_overflow if_fly_y_overflow Undelayed Short List Command if_not_fly_z_overflow Function Conditional command exec...

Страница 304: ...nificant 2 bits are evaluated Comments Also see Conditional Command Execution page 213 RTC 4 RTC 5 new command References if_pin_cond if_cond if_not_cond Undelayed Short List Command if_pin_cond Funct...

Страница 305: ...etX OffsetY Reference values of the X and Y axis encoders signed 32 bit values allowable range depends on the compensation table loaded with load_fly_2d_table default value after load_program_file 0 C...

Страница 306: ...access rights If an applica tion has access rights for a board then the application must first explicitly release its access rights with release_rtc page 392 or free_rtc5_dll page 259 before the boar...

Страница 307: ...o 524288 524287 real image field size during runtime directly prior to use of the correction table Comments If the jump speed has not been previously explicitly set via set_jump_speed or set_jump_spee...

Страница 308: ...runtime directly prior to use of the correction table for Z 32768 32767 out of range values will be edge clipped Comments Except for the additional motion in the third dimension this command functions...

Страница 309: ...g for enabled Processing on the fly applications The current coordinates will be clipped to 524288 524287 real image field size during runtime directly prior to use of the correction table Comments T...

Страница 310: ...Y 8388608 8388607 out of range values will be edge clipped The complete value range 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica tions The cur...

Страница 311: ...The next list command will be executed when the programmed time interval has passed The currently set LaserOn delay is applied at the beginning of the programmed time interval The laser control signa...

Страница 312: ...ulses 65535 then laser_on_pulses_list s function is identical to laser_on_list external signal pulses aren t taken into account see comments there Otherwise for 0 Pulses 65535 laser_on_pulses_list in...

Страница 313: ...mand laser_signal_off Function turns off the laser active laser control signals immediately Call laser_signal_off Comments This command is intended for direct laser control in combination with the com...

Страница 314: ...ectly e g for alignment purposes The laser active laser control signals must be turned off with the command laser_signal_off The command will be ignored get_last_error return code RTC5_BUSY if the boa...

Страница 315: ...ist If such a situation occurs in the protected memory area then a compulsory list_return command will be inserted and executed The list_call command will be replaced by a list_nop if Pos 220 1 or if...

Страница 316: ...ccount when the offset is determined with list_return the previous offset values are re established Subroutines can thus contain absolute vector and arc commands even if they are intended to be repeat...

Страница 317: ...hort list command it ensures as does list_nop that the subsequent list command only executes in the next 10 s clock period the short list command s effective execution time is then 10 s Unlike list_no...

Страница 318: ...0 are 0 Otherwise the directly following list command will be immediately executed Call list_jump_cond Mask1 Mask0 Pos Parameters Mask1 Mask0 16 bit masks as unsigned 32 bit values only the least sign...

Страница 319: ...robably no longer perform as expected Therefore jump commands must be care fully programmed also see Jumps page 81 Jump commands initiating a jump to themselves Pos list position of the jump command w...

Страница 320: ...ned 32 bit values only the least significant 16 bits are evaluated Pos absolute jump address 0 220 1 as an unsigned 32 bit value Comments See list_jump_pos Unlike the rules for preventing endless loop...

Страница 321: ...the jump will not exceed the boundaries of the corre sponding memory area If the command is used in an indexed subroutine or character set then also be sure that the jump won t exceed the boundaries...

Страница 322: ...e Conditional Command Execution page 213 Examples Pascal wait until bit 3 of the input port turns HIGH loop while the bit is LOW list_jump_rel_cond 0 0008 0 skip the next two list commands if the stat...

Страница 323: ...list_until loops will be deleted However this won t occur if an automatic list change via auto_change auto_change_pos or start_loop is active Complete list_repeat list_until loops can reside within a...

Страница 324: ...al management table If during loading into the protected memory area indexed subroutines characters or text strings are not terminated with list_return before the input pointer is explicitly set to an...

Страница 325: ...ed If a list terminates via set_end_of_list or stop_execution or STOP then all not yet fully processed list_repeat list_until loops will be deleted However this won t occur if an automatic list change...

Страница 326: ...t_last_error return code RTC5_BUSY 8 Board is locked by another application get_last_error return code RTC5_ACCESS_DENIED 11 PCI error get_last_error return code RTC5_SEND_ERROR verify error get_last_...

Страница 327: ...and internally managed This management is inde pendent of that for indexed subroutines see load_sub and text string definitions see load_text_table Indexed character definitions must be terminated wi...

Страница 328: ...correction file will be stored as a 2D correction table a 3D correction file will be stored as a 3D correction table if the 3D option is enabled and as a 2D correction table downgraded if the 3D opti...

Страница 329: ...tables can be loaded For Dim 2 a 2D table will always be stored the 3D data section of 3D correction files will be ignored and accordingly only 2D corrections will be calculated the Z axis thereby re...

Страница 330: ...LL version must be reloaded via the multi board command n_load_program_file after RTC5_ACCESS_DENIED the single board command load_program_file does not get access rights for the board Only afterward...

Страница 331: ...ers text strings and subroutines will be initialized all old references are thereby lost and the input pointer will be set to the beginning of List 3 the resulting loading process overwrites list comm...

Страница 332: ...ers text strings or subroutines will be thereby closed If during loading the end of the protected memory area is reached before the end of the file EOF then all further list commands in the file will...

Страница 333: ...plication get_last_error return code RTC5_ACCESS_DENIED 11 PCI error get_last_error return code RTC5_SEND_ERROR verify error get_last_error return code RTC5_VERIFY_ERROR 13 The specified table number...

Страница 334: ...le for 2D jumps executable in jump mode Call NoOfDataPoints load_jump_table Name No PosAck MinDelay MaxDelay ListPos Parameters Name See load_jump_table_offset No See load_jump_table_offset PosAck See...

Страница 335: ...omatic determination Offset Offset in 10 s as a signed 32 bit number which will be added to all automatically determined delay values only relevant for automatic determination MinDelay Minimum jump de...

Страница 336: ...via set_jump_mode or activated via set_jump_mode_list The command load_jump_table_offset will not execute get_last_error return code RTC5_BUSY if the board s BUSY status is currently set list is bein...

Страница 337: ...mands such as set_start_list_pos After a successful check of the list number BUSY status not set and if applicable USED status set the load_list command behaves like set_start_list_pos see comments th...

Страница 338: ...OR verify error get_last_error return code RTC5_VERIFY_ERROR 13 The specified table number was not found in the file Comments The format requirements for the text file s table entries with data points...

Страница 339: ...RTC 5 PC Interface Board Rev 1 9 e 10 Commands And Functions 339 innovators for industry References set_auto_laser_control Ctrl Command load_position_control...

Страница 340: ...occurs particularly when DLL 533 or earlier is used with driver 6 1 7600 16385 or if PCI communication is in any way impaired Up to DLL 536 error code 4 indicates a PCI error too As of DLL 537 PCI er...

Страница 341: ...ation page 65 The command should also be executed e g if another user program acquires the board see acquire_rtc when the board needs to be returned to the default state If multiple RTC 5 boards are c...

Страница 342: ...e driver DLL and the files RTC5OUT out RTC5RBF rbf and RTC5DAT dat cannot be arbitrarily combined with another each zip file in the RTC 5 software includes a text file with corresponding version infor...

Страница 343: ...as not found in the file 15 Verify error get_last_error return code RTC5_VERIFY_ERROR only possible with set_verify option set Comments Details about enhanced 3D correction e g format requirements for...

Страница 344: ...al management table and initiating a flush of the list input buffer see page 71 Otherwise the input pointer will be altered without a preceding list_return command the subroutine with this index will...

Страница 345: ...utomatically determined and internally managed Management is indepen dent of that for indexed subroutines see load_sub and character definitions see load_char Indexed text string definitions must be t...

Страница 346: ...return code RTC5_SEND_ERROR verify error get_last_error return code RTC5_VERIFY_ERROR 13 The specified table number was not found in the file Comments The format requirements for text file s table ent...

Страница 347: ...sibly a BUSY or INTERNAL BUSY error for exact reason see get_last_error 11 Access denied 12 3D Option not enabled 13 No 3D table is currently assigned 14 System driver not found Comments This command...

Страница 348: ...er processing of the list for the specified time Call long_delay Delay Parameter Delay delay time in bits as an unsigned 32 bit value 1 bit equals 10 s Allowed range 0 delay 232 1 Comments This comman...

Страница 349: ...rl then the marking will be executed at a predefined marking speed of 1000 bits per ms The laser active laser control signals are automatically turned on at the beginning of the command or remain on a...

Страница 350: ...be clipped to 524288 524287 real image field size during runtime directly prior to use of the correction table for Z 32768 32767 out of range values will be edge clipped Comments Except for the additi...

Страница 351: ...character is referenced for the supplied index then the jump will be suppressed and execution will continue at the command located after the calling position In some circumstances a list_nop might be...

Страница 352: ...an unsigned 32 bit value allowed range 0 1023 The following applies Char character set number 256 ASCII number of the character character sets are numbered 0 to 3 Comments The mark_char_abs command re...

Страница 353: ...2 bit value allowed range 0 3 a The number of leading zeros in the day number only affects Part 2 4 6 or 7 Bit 0 0 leading zeros are suppressed Bit 0 1 day of the month Part 2 always two digits day of...

Страница 354: ...code RTC5_PARAM_ERROR Absolute vector and arc commands will execute absolutely after being called with mark_date If date markings need to execute at various locations within the image field then the c...

Страница 355: ..._ellipse_abs only determine the position and orientation of the to be executed arc Its shape must be specified via set_ellipse before marking via mark_ellipse_abs For descriptions of the individual pa...

Страница 356: ...inning with version DLL 518 OUT 517 RBF 515 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...

Страница 357: ...608 8388607 out of range values will be edge clipped The complete value range 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica tions The current co...

Страница 358: ...load_text_table or set_text_table_pointer will be marked M1 1 The indexed characters for digits 0 9 as defined via load_char or set_char_pointer will be marked The desired character set can be select...

Страница 359: ...For each to be marked serial number digit the mark_serial command reads the starting address of the corresponding indexed text string or for M1 1 of the corre sponding indexed character from the inte...

Страница 360: ...mmands will receive an offset based on the current coor dinates at the time of the call Afterward the serial number is optionally automatically incremented Call mark_serial_abs Mode Digits Parameters...

Страница 361: ...d character set can be selected prior to the mark_text command via the select_char_set command For the default setting character set 0 will be used If the command select_char_set is used within a call...

Страница 362: ...text_abs Text Parameter Text PC memory address of the first character byte of the to be marked text string as a pointer to a null terminated ANSI string Comments During processing of the individual ma...

Страница 363: ...e current to be marked time should be stored with time_fix time_fix_f or time_fix_f_off see Marking Dates Times and Serial Numbers page 150 The complete time can be marked via multiple calls of the ma...

Страница 364: ...nternal calling of the indexed text strings or characters is via list_call_abs instead of list_call If the command lists of the called indexed text strings or characters contain no absolute commands t...

Страница 365: ...5 s measurement storage area as a pointer to an unsigned 32 bit value 0 Pos 220 1 or 0 Pos 219 1 or Pos 232 1 see below Comments If a measurement session started with set_trigger or set_trigger4 is no...

Страница 366: ...ously defined coordinate transformations assigned correction tables etc are taken into account after successful microvectorization see page 197 The microvector always executes as a hard jump Via LasOn...

Страница 367: ...LasOff LaserOn delay and LaserOff delay as signed 32 bit values 1 bit equals 0 5 s Allowed range as with set_laser_delays 231 215 1 0 Delay will be newly set values over 215 1 will be clipped 0 The p...

Страница 368: ...alue range 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applications The current coordinates will be clipped to 524288 524287 real image field size dur...

Страница 369: ...nd Y 8388608 8388607 out of range values will be edge clipped The complete value range 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica tions The c...

Страница 370: ...or etc for proper functioning and call move_to 0 for another reference movement followed by another call of the normal command move_to Pos If the RTC Step Motor Extension board is attached to the RTC...

Страница 371: ...set_vector_control Ctrl parameter identical with set_vector_control Value parameter Comments If vector defined laser control has not been previously activated via set_vector_control then para_jump_abs...

Страница 372: ...edge clipped The complete value range 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica tions The current coordinates will be clipped to 524288 5242...

Страница 373: ...n the fly applications The current coordinates will be clipped to 524288 524287 real image field size during runtime directly prior to use of the correction table P End value of the signal parameter a...

Страница 374: ...nge 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica tions The current coordinates will be clipped to 524288 524287 real image field size during ru...

Страница 375: ...e comments there The parameter P will then be ignored If vector defined laser control is activated then the signal parameter selected via set_vector_control will be linearly varied from the last valid...

Страница 376: ...ol Ctrl parameter identical with set_vector_control Value parameter Comments If vector defined laser control has not been previously activated via set_vector_control then para_mark_abs will behave lik...

Страница 377: ...ipped The complete value range 8388608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica tions The current coordinates will be clipped to 524288 524287 real...

Страница 378: ...y applications The current coordinates will be clipped to 524288 524287 real image field size during runtime directly prior to use of the correction table P End value of the signal parameter as an uns...

Страница 379: ...8608 8388607 is only usable as a virtual image field e g for enabled Processing on the fly applica tions The current coordinates will be clipped to 524288 524287 real image field size during runtime d...

Страница 380: ...uption via wait_for_encoder etc the galvanometer scanners positions will be continuously Processing on the fly corrected in accordance with the current encoder values even for a Processing on the fly...

Страница 381: ...ame Processing on the fly mode back on Other Processing on the fly modes won t be switched back on If the park position was attained via park_position then park_return Mode 0 returns the galvanometer...

Страница 382: ...ould be continued then the command restart_list must be used After the successful restart_list command the scan system resumes the planned movements of the current command and the laser active laser c...

Страница 383: ..._execution or STOP Data data type chosen to be monitored as an unsigned 32 bit value 0 Sample values Processing on the fly and Wobbel corrected as with set_trigger signal types 7 9 1 Transformed contr...

Страница 384: ...ocessing on the fly application Data 5 causes a get_last_error RTC5_PARAM_ERROR error code In this case the command is sent to the RTC 5 board as list_nop Data 2 and Data 3 have the identical effect f...

Страница 385: ...able beginning with version DLL 527 OUT 529 RBF 519 Ctrl Command read_encoder Function returns the counts of the two RTC 5 encoder counters that were stored via store_encoder Call read_encoder Encoder...

Страница 386: ...only the 4 least significant bits are evaluated the IOPort buffer only has sixteen entries Therefore the user application can use a continuous counter for the index Returned para meter values Value Th...

Страница 387: ...return values However the values can be subsequently queried from the IOPort buffer via the read_io_port_buffer command The IOPort buffer holds 16 entries and is circularly organized It always stores...

Страница 388: ...Serial Port and the related memory locations also see page 52 It is up to the user whether to interpret the returned value as one signed or unsigned 32 bit data word as two signed 16 bit data words or...

Страница 389: ...on the fly application s Y coordinate 2 memory location for the Processing on the fly application s Z coordinate 3 memory location for the laser power P 4 memory location for extra parameter E1 5 memo...

Страница 390: ...ritten to List 2 READY2 is reset if LOAD2 is newly set e g via set_start_list_pos Bit 4 BUSY1 1 indicates that List 1 is executing at the moment or more precisely that the output pointer currently res...

Страница 391: ...lready processed command list is stored For jumps from one list area to another List 1 List 2 e g via list_jump_pos during execution the USED status values of both lists unlike their BUSY status value...

Страница 392: ...hts for a particular RTC 5 board but the command then has no effect return value 0 The release_rtc command also has no effect return value 0 if CardNo exceeds the number of RTC 5 boards found during i...

Страница 393: ...ights to a specific RTC 5 board The board specific error variable LastError see Error Handling page 87 is neither generated nor altered by reset_error In contrast AccError will be altered as specified...

Страница 394: ...haracters Bits 24 31 Number of buffer overruns Comments The RS232 interface is internally read every 10 s one character at a time This char acter if new is stored in a 256 character ring buffer that c...

Страница 395: ...ta Ctrl Command rs232_write_text Function sends a text string character by character to the RS232 interface Call rs232_write_text pData Parameter pData PC memory address of the first character byte of...

Страница 396: ...it into individual characters and sent sequentially to the RS232 interface The command takes some time for execution depending on the baud rate and text length Also see chapter 9 1 6 RS232 Interface p...

Страница 397: ...y counts list command clock cycles The counter is paused during an inter ruption via set_wait or pause_list To compare RTC 5 internal save_and_restart_timer time measurements to external time measurem...

Страница 398: ...ored with save_disk can differ considerably from the number of the list commands stored in the protected area List 3 220 Mem1 Mem2 get_list_space due to possible multiple referencing of an indexed cha...

Страница 399: ...another is encountered The default value after initialization is No 0 If No 3 then the command will be replaced with a list_nop The current character set then remains valid get_last_error return code...

Страница 400: ...rection tables should be loaded and assigned prior to first time starting of a list or issuance of a control command e g goto_xy that sets the scan system s galvanometer scanners in motion and the com...

Страница 401: ...ignals for an XY scan head will then be transmitted via the primary scan head connector and corrected signals for the Z axis will be transmitted via both channels of the secondary scan head connector...

Страница 402: ...can head B activation required as an unsigned 32 bit value Comments See select_cor_table page 400 Even though select_cor_table_list is a short list command execution of the directly following list com...

Страница 403: ...ion select_rtc will have no effect return value 0 get_last_error return code RTC5_ACCESS_DENIED If no access rights are assigned for the specified board and it is not in use by another application the...

Страница 404: ...Undelayed Short List Command select_serial_set_list Function selects a serial number set for serial number list commands as well as for serial number marking Call select_serial_set_list No Parameter...

Страница 405: ...d at_once This parameter unsigned 32 bit value determines when the defined transformation becomes effective 0 The new total transformation total matrix and offset is only calculated and applied to the...

Страница 406: ...onding control command 1 The transformation is immediately calculated including all transformation settings that were collected until then and processed prior to the next list command The laser active...

Страница 407: ...the parameter selected via Ctrl unsigned 32 bit value allowed values for Ctrl 1 2 12 bit values 0 4095 higher bits are ignored for Ctrl 3 8 bit values 0 255 higher bits are ignored for Ctrl 4 0 232 1...

Страница 408: ...e primary scan head connector If this is not the case then error code 2 will be returned and Ctrlset to 0 If the iDRIVE scan system has reacted then the queried data type for the primary scan head con...

Страница 409: ...d 0 or 6 then set_auto_laser_params will not be executed get_last_error return code RTC5_PARAM_ERROR RTC 4 RTC 5 new command RTC 4 compatibility mode see set_auto_laser_control Version info Available...

Страница 410: ..._char_pointer command can be used for referencing an indexed character It thereby becomes an indexed character that is protectable via save_disk load_disk and or callable via the index set_char_pointe...

Страница 411: ...ng applies as for the load_text_table command 0 9 digits for marking the time and date 0 9 10 21 months January December 22 28 days of the week Sunday Saturday 29 blank character for marking serial nu...

Страница 412: ...t_start or simulate_ext_start_ctrl command possibly postponed by a track delay defined via simulate_ext_start set_ext_start_delay or set_ext_start_delay_list also see bit 2 0 Encoder resets occur imme...

Страница 413: ...set_control_mode_list Mode Parameter Mode as an unsigned 32 bit value Comments The counter for external list starts is not reset by this command RTC 4 RTC 5 unchanged functionality for the bits that...

Страница 414: ...N and shifts for example the focus position with the control value 0 0 0 by approx d Shift Kz to the plane z d the focus is shifted in the opposite direction of the Z coordinate axis and in the opposi...

Страница 415: ...t equals 10 s This parameter defines a maximum laser on time for the corners of a polyline If the polygon delay is longer than or equal to this value because the angle is close to 180 for instance the...

Страница 416: ...ode Parameter Mode desired DSP mode as an unsigned 32 bit value Result DSP mode for which the board was set during initialization as an unsigned 32 bit value Comments This command is only needed when...

Страница 417: ...e positive angle values correspond to clockwise angles allowed range 3600 0 3600 0 10 full ellipses an out of range value will be edge clipped Comments Specify the to be marked elliptical arc s positi...

Страница 418: ...ating point value allowed range 0 0 1 0 larger values will be clipped Comments If Smooth 0 0 then only the current encoder speed CurrentSpeed based on counter pulses received in the most recent 10 s w...

Страница 419: ...er pulse rate in counter pulses ms as a 64 bit IEEE floating point value allowed range 100 0 16000 0 for Speed 16000 0 Speed is clipped to 16000 0 for 0 0 Speed 100 0 to 100 0 Smooth Smoothing factor...

Страница 420: ...s be set and the list s BUSY status BUSY1 or BUSY2 reset also see List Status page 72 The BUSY list execution status on the other hand will only be reset if no automatic list change was previously act...

Страница 421: ...check is performed on Pos before each external list start Pos might therefore become set to 0 at a later point and remain at this value if the configuration was corre spondingly changed in the meantim...

Страница 422: ...d that causes a subsequent start trigger initiated via simulate_ext_start or an external start signal to occur when the BUSY status or INTERNAL BUSY status is set e g when outputting a list or during...

Страница 423: ...rol For YAG mode 2 the Q Switch delay will also be correspondingly altered see page 133 In CO2 mode the command set_firstpulse_killer has no effect The laser control mode has to be set via the command...

Страница 424: ...rrection previously activated via set_fly_2d but will not deactivate any other Processing on the fly correction The latter case leads to a jump at jump speed to the endpoint of the most recently execu...

Страница 425: ...et to the above mentioned default values RTC 4 RTC 5 new command Version info Available beginning with version DLL 525 OUT 527 References get_marking_info Undelayed Short List Command set_fly_limits_z...

Страница 426: ...lue 0 0 will be applied If unallowed parameter values are supplied e g for Resolution 0 then set_fly_rot will not activate a Processing on the fly correction or will deactivate a Processing on the fly...

Страница 427: ...t_center or set_rot_center_list Other wise the default value 0 0 will be applied If unallowed parameter values are supplied e g for Resolution 0 then set_fly_rot_pos will not activate a Processing on...

Страница 428: ...r movements the used encoders should have a suffi ciently high resolution counts per 10 s cycle If TrackingErrorX Y 0 initialization value then compensation will be switched off The commands store_enc...

Страница 429: ...a set_fly_x but will not deactivate any other Processing on the fly correction The latter case leads to a jump at jump speed to the endpoint of the most recently executed vector or arc command without...

Страница 430: ...y other Processing on the fly correction The latter case leads to a jump at jump speed to the endpoint of the most recently executed vector or arc command without set_fly_x_pos Processing on the fly c...

Страница 431: ...set_fly_y but will not deactivate any other Processing on the fly correction The latter case leads to a jump at jump speed to the endpoint of the most recently executed vector or arc command without...

Страница 432: ...y other Processing on the fly correction The latter case leads to a jump at jump speed to the endpoint of the most recently executed vector or arc command without set_fly_y_pos Processing on the fly c...

Страница 433: ...2 bit value Allowed range 0 232 1 Comments See chapter 6 9 1 Free Variables page 92 RTC 4 RTC 5 new command Version info Available beginning with version DLL 531 OUT 532 References set_free_variable_l...

Страница 434: ...the board s BUSY status is currently set list is being processed or has been halted via pause_list or the board s INTERNAL BUSY status is currently set In contrast the command is executed when a list...

Страница 435: ...1 Mask0 MaskSet 16 bit masks as unsigned 32 bit values only the least significant 16 bits are evaluated Comments The command sets only those bits of the digital output port that are set in the paramet...

Страница 436: ...ill possible Length Jump length limit per axis under which 2D jumps even with activated jump mode are performed in vector mode VA1 VA2 VB1 VB2 JA1 JA2 JB1 JB2 Numbers as unsigned 32 bit values of the...

Страница 437: ...switch freely between the states Flag 1 jump mode activated vector mode deactivated and Flag 0 jump mode deactivated vector mode activated without another check having to be performed Use 1 as the tun...

Страница 438: ...the jump speed for the following vector commands Call set_jump_speed Speed Parameter Speed jump speed in bits per ms as a 64 bit IEEE floating point value Allowed range 1 6 800000 0 Comments By defaul...

Страница 439: ..._mark_speed_ctrl Control Command set_jump_table Function reads the jump delay table with 1024 unsigned 16 bit values stored at the supplied PC address and loads them onto the board as the jump delay t...

Страница 440: ...ll be set to active high 1 The signals at the LASER1 and LASER2 output ports will be set to active low Bit 5 Determines for laser_on_pulses_list whether external signal pulses at the LASER connector s...

Страница 441: ...jumpers The RTC 5 lets the user control them completely via software The command get_startstop_info queries the current status of the laser control signals Bit 9 and whether the signals are set to ac...

Страница 442: ...ic Delay Adjustments on page 107 The LaserOffDelay LaserOnDelay condition required by the RTC 5 s predecessor boards is therefore unnecessary See the section Laser Delays on page 99 for details If the...

Страница 443: ...standby set_standby_list set_qswitch_delay set_qswitch_delay_list Ctrl Command set_laser_off_default Function defines the default output value for the ANALOG OUT1 and ANALOG OUT2 ports as well as the...

Страница 444: ...OUT2 Bits 2 31 Reserved Comments Also see section 2 Bit Digital Output Port page 204 RTC 4 RTC 5 new command References set_laser_pin_out_list get_laser_pin_in Undelayed Short List Command set_laser_p...

Страница 445: ...The signal level is defined via set_laser_control The set_laser_pulses command is also available as the control command set_laser_pulses_ctrl The set_laser_pulses command is largely identical to the...

Страница 446: ...1 Pulse lengths of the laser signals LASER1 and LASER2 in bits as an unsigned 32 bit value In RTC 5 mode 1 bit equals 1 64 s Permissible range 0 232 1 In RTC 4 compatibility mode 1 bit equals 1 8 s or...

Страница 447: ...The signal level is defined via set_laser_control In laser mode 4 and laser mode 6 the time base for signals LASER1 and LASER2 is inde pendent of TimeBase and always 1 64 s in RTC 5 mode or 1 8 s in R...

Страница 448: ...d_ctrl RTC 4 RTC 5 unchanged functionality except for the extended range of values The image field coordinates for the X and Y axes but not the Z axis and all related parameters e g marking speed or w...

Страница 449: ...nly calculated and applied to the current position when the next list command is executed 1 The new total transformation is calculated immediately or before the next list command if a list is currentl...

Страница 450: ...command with at_once 1 or a corresponding control command 1 The transformation is immediately calculated including all transformation settings that were collected until then and processed prior to th...

Страница 451: ...transmission frequency Call mcbsp_freq set_mcbsp_freq Freq Parameter Freq desired transmission frequency of the McBSP interface in Hz as an unsigned 32 bit value Allowed range 4000000 16000000 4 16 MH...

Страница 452: ...ocation 0 will be applied for Processing on the fly correction Scale scaling factor or rotation resolution as a 64 bit IEEE floating point value Mode 1 3 scaling factor in RTC 5 bits McBSP bit allowed...

Страница 453: ...s not enabled then the command terminates the Processing on the fly process even though it couldn t have been activated Call set_mcbsp_in_list Mode Scale Parameters Mode See set_mcbsp_in Scale See set...

Страница 454: ...on matrix MT as a normalized integer with associated indices i and j as follows Min integer Mij 224 2 i 1 j with MT M00 M01 M10 M11 m11 m12 m21 m22 Conversely the RTC 5 determines a coefficient from t...

Страница 455: ...l2 the upper half of this 32 bit data word Only RTC 4 compatible bits 4 19 of the sample values and status values returned by the scan system Signal1 Signal2 1 23 25 30 are outputted The least sig nif...

Страница 456: ...return code RTC5_PARAM_ERROR The selectable signal types are identical to those of the set_trigger command refer to the comments there for the allowable value range signal types and other information...

Страница 457: ...mmand apply_mcbsp functions like set_angle Angle 360 whereby FC full circle Angle in FC Rotin Resolution Only Angle values in the range 0 0 20 0 FC are allowed The McBSP interface can t be simultaneou...

Страница 458: ...set XOffset whereby XOffset in bits Scale Xin XOffset values outside of 524288 524287 will be clipped to the boundaries as long as Scale Xin doesn t exceed the value range 231 The McBSP interface can...

Страница 459: ...OUT 526 References set_mcbsp_y_list set_mcbsp_x set_mcbsp_rot apply_mcbsp Undelayed Short List Command set_mcbsp_y_list Function same as set_mcbsp_y see above but a list command Call set_mcbsp_y_list...

Страница 460: ...g when you issue the command The McBSP interface always ignores the first FrameSync signal after a load_program_file or mcbsp_init so available data will not be transmitted see page page 53 You must c...

Страница 461: ...sharing the same Ctrl parameter Though unidentical Ctrl parameters are allowed they serve no practical purpose If Ctrl 0 then laser power variation will be switched off The values transmitted via McBS...

Страница 462: ...command must follow immediately after the command set_pixel_line or after another set_n_pixel command No other commands must be written into the list until the image line is completed The first comma...

Страница 463: ...164 The image field coordinates for the X and Y axes are specified as 20 bit values in RTC 4 compatibility mode they are specified as 16 bit values as with the RTC 4 and the RTC 5 multiplies the speci...

Страница 464: ...matrix and offset is only calculated and applied to the current position when the next list command is executed 1 The new total transformation is calculated immediately or before the next list comman...

Страница 465: ...defined transformation becomes effective 0 The transformation settings are only collected and intermediately stored but the transformation is not processed as long as this is not activated via another...

Страница 466: ...Comments The command is synonymous with set_n_pixel with Number 1 see comments there RTC 4 RTC 5 The RTC 5 does not support querying of analog voltage levels see the RTC 4 s ADChannel parameter and re...

Страница 467: ...pixel_line command too ends the pixel output mode before starting it again In the process a default pixel will be inserted If Channel 1 or Channel 2 then set_pixel_line will be replaced by a list_nop...

Страница 468: ...el set_pixel_line_3d List Multi Command set_pixel_line_3d Function activates the pixel output mode and defines various pixel output parameters Call set_pixel_line_3d Channel HalfPeriod dX dY dZ Parame...

Страница 469: ...t value as soon as processing of a list has ended with stop_execution or via an external stop signal For a default value of 1 the corresponding output port will not be addressed any existing high impe...

Страница 470: ...ser active LASER2 signal in pulse picking laser mode Call set_pulse_picking_length Length Parameter Length pulse length as an unsigned 32 bit value allowed range 0 65535 higher bits are ignored 1 bit...

Страница 471: ...des are selectable via set_laser_mode 1 2 3 or 5 Also for YAG modes defined with set_laser_mode 1 3 the length of the Q Switch delay can be subsequently changed via this command and for YAG mode 2 als...

Страница 472: ...sing on the fly correction is activated via set_fly_rot or set_fly_rot_pos The rotation center can also lie outside the image field the allowed area is roughly equivalent to 30x the image field Usage...

Страница 473: ...ar board set_rtc4_mode is not available as a multi board command This command s scope is not board specific but rather global to the DLL and all RTC 5 boards to which the application has access rights...

Страница 474: ...rroring around both axes corresponding to a 180 rotation at_once This parameter unsigned 32 bit value determines when the defined transformation becomes effective 0 The new total transformation total...

Страница 475: ...stored as with at_once 0 However The transformation is immediately calculated including all transformation settings that were collected and intermediately stored until then and applied to the current...

Страница 476: ...he starting serial number and the increment size for the serial number set most recently selected via select_serial_set or for serial number set 0 after load_program_file Call set_serial_step No Step...

Страница 477: ...increment size setting will have no effect If Step 0 then incrementing will not occur except in the case of markless marking see mark_serial or mark_serial_abs digits 0 which always increments serial...

Страница 478: ...ion info Available beginning with version DLL 531 OUT 532 References set_sky_writing_limit_list Undelayed Short List Command set_sky_writing_limit_list Function identical with set_sky_writing_limit se...

Страница 479: ...ra with Timelag 1 64 Each mode switch via set_sky_writing_mode becomes effective as of the next list command If you reactivate Sky Writing mode 1 switching from Mode 0 to 1 during execution of a list...

Страница 480: ...you activate or deactivate Sky Writing mode 2 or 3 switching to or from Mode 2 or 3 even within a list Here a temporary switch to Sky Writing mode 1 occurs Deactivation of Sky Writing mode 1 via set_...

Страница 481: ...e 1 or mode 2 or 3 when applicable will be deactivated LaserOnShift Shift for positive values delay of the point of time where the laser control signals are switched on as a signed 32 bit value see fi...

Страница 482: ...f you call set_sky_writing_para while Sky Writing mode 1 is activated then the supplied parameters become active as of the next list command If the command call succeeds during execution of a list the...

Страница 483: ...receding marking command completes in mode 1 and the next marking command too begins in mode 1 Afterward mode 2 or 3 gets reactivated if Timelag 1 64 The following also applies If Timelag 1 64 then th...

Страница 484: ...el is restricted to 12 bits higher bits will be ignored also see write_da_x or write_da_x_list If Softstart mode 3 or 13 and the specified softstart pulse length is larger than the laser signal period...

Страница 485: ...ge 0 1023 otherwise the set_softstart_level_list command will already during loading be replaced by a list_nop get_last_error return code RTC5_PARAM_ERROR Softstart won t use level values where the in...

Страница 486: ...Mode or Number are invalid then softstart mode will be switched off When softstart mode is switched off the already transmitted values are not deleted and can be further used after a renewed switch on...

Страница 487: ...Parameters See set_softstart_mode Comments set_softstart_mode_list switches off the laser active laser control signals by executing list_nop and waits until the LaserOff delay has expired Otherwise t...

Страница 488: ...he standby output period must be specified for HalfPeriod see figure 48 on page 131 and figure 50 on page 136 If the softstart mode is used see page 135 HalfPeriod should not be smaller than 104 this...

Страница 489: ...st 2 The next list command will be stored at this address and all further list commands at the subsequent addresses in the selected list Call set_start_list ListNo Parameter ListNo Number of the list...

Страница 490: ...k of the user with set_start_list_pos then this area can be temporarily allocated to List 2 via ConfigList Mem1 1 After writing configu ration of the area s protection should be restored ConfigList Me...

Страница 491: ...e which thereby becomes an indexed subroutine that is protectable via save_disk load_disk and or callable via the index set_sub_pointer can also be used to reference anew an indexed subroutine charact...

Страница 492: ...or return code RTC5_PARAM_ERROR The set_text_table_pointer command can be used for referencing a nonindexed subroutine which thereby becomes an indexed text string that is protectable via save_disk lo...

Страница 493: ...ontrol value if XY are connected to the secondary scan head connector identical to the effective output value for the Z axis 16 StatusAX LASERON StatusAX for laser signal on 524288 for laser signal of...

Страница 494: ...ge capacity is reached automatic termination at the limit of 220 data pairs If set_trigger was preceded by a load_correction_file which loaded a file as correction file No 3 or No 4 then the memory ar...

Страница 495: ...the Z axis are transmitted over the scan head connector s channel to which the Z axis is attached if correspondingly configured via select_cor_table Example If the Z axis is attached to the secondary...

Страница 496: ...riod might possibly change faster than the 10 s clock period time resolution of logging via set_trigger For Signal1 Signal2 39 42 see chapter 6 9 1 Free Variables page 92 RTC 4 RTC 5 unchanged basic f...

Страница 497: ...measurement value counters will be reset and existing data overwritten with new measurement values Also see related comments for set_trigger Data channels 3 and 4 occupy the measurement memory s upper...

Страница 498: ...ue then vector defined laser control will be deactivated Ctrl 0 initialization state Otherwise Value will be applied as the starting value of the next para command If Value is invalid then it will be...

Страница 499: ...program_file Verification of correction file downloads only works if the correction file contains a checksum otherwise the error code RTC5_VERIFY_ERROR is generated To ensure that a checksum is presen...

Страница 500: ...might be executed the INTERNAL BUSY status is set while the home jump is executed Continuation via execute_list_pos restart_list or an external start will consequently be suppressed However stop_execu...

Страница 501: ...ion follows the current marking direction exception see below Therefore independently of the cartesian angle the effective line width is always the same As of Version DLL 537 any desired direction of...

Страница 502: ...frequency s sign determines the direction of rotation that follows the current direction of movement The image field coordinates for the X and Y axes are specified as 20 bit values in RTC 4 compatibi...

Страница 503: ...riation will be switched off initialization state after load_program_file The values for McBSP multi transfers will then not be used The limits for Value MinValue MaxValue are the same as for automati...

Страница 504: ...on longitudinal and transversal is relative to this direction vector instead of to the momentary direction vector The direction vector s length is inconsequential The RTC 5 normalizes the direc tion v...

Страница 505: ...xcessive values will be clipped Longitudinal Amplitude of the elliptical or figure 8 movement perpendicular to the momentary direction of motion or to the one defined via set_wobbel_direction in bits...

Страница 506: ...point is generally set for the same value relative to the vector arc startpoint it is repeatedly continued however for polylines including arcs For identical amplitudes Longitudinal Transversal the w...

Страница 507: ...pes longitudinal amplitudes RTC 4 RTC 5 new command In RTC 4 compatibility mode the RTC 5 multiplies the specified values for offsets by 16 The permissible range of values is correspondingly reduced t...

Страница 508: ...ape section consists of a vector defined by microsteps and their number The parameters dTrans dLong get internally rounded to 7 bit decimal places At runtime each microvector is executed within 10 s F...

Страница 509: ...tical Though unidentical Ctrl parameters are allowed they serve no practical purpose When defining freely definable wobbel shapes make sure that the microvectors of each individual wobbel vector does...

Страница 510: ...stop_list or set_wait Otherwise bit 11 of the get_startstop_info return value will be set Therefore if an unsuitable track delay is specified e g Delay 0 no list start will be triggered If simulate_ex...

Страница 511: ...late_ext_start simulate_ext_start_ctrl does not cancel the previous queue A start trigger initiated via simulate_ext_start_ctrl or via an external start signal will only trigger a list start if it doe...

Страница 512: ...be newly loaded see Automatic List Changing page 75 So that the start_loop command can function at all the already active list must abso lutely be finalized via set_end_of_list the new list should al...

Страница 513: ...ition variable then the move ment will stop The Busy status gets reset If Pos1 Pos2 in the current direction of movement already lies past the internal posi tion variable s value then the correspondin...

Страница 514: ...rences stepper_abs Ctrl Command stepper_abs_no Function triggers a set position movement to the specified absolute set position via the desired stepper motor output Call stepper_abs_no No Pos WaitTime...

Страница 515: ...REJECTED References stepper_abs_no Ctrl Command stepper_control Function sets the CLOCK signal pulse periods for stepper motor control Call stepper_control Period1 Period2 Parameters Period1 Period2 P...

Страница 516: ...ABLE signals Call EnableOld stepper_enable Enable1 Enable2 Parameters Enable1 Enable2 ENABLE signals for stepper motor outputs 1and 2 as signed 32 bit values allowed range 232 232 1 0 The ENABLE signa...

Страница 517: ...value Call stepper_enable_list Enable1 Enable2 Parameters Enable1 Enable2 See stepper_enable Comments See stepper_enable RTC 4 RTC 5 new command Version info Available beginning with version DLL 527 O...

Страница 518: ...0 The DIRECTION signal gets set during the reference movement the internal position variable increments 0 The DIRECTION signal gets reset during the reference movement the internal position variable d...

Страница 519: ...osition and the internal set position value will get set to the value defined via the Pos parameter Thus this value repre sents a positional offset by Tol with respect to the defined position If no li...

Страница 520: ...he command is identical to stepper_abs see comments there RTC 4 RTC 5 new command Version info See stepper_abs References stepper_abs stepper_rel_list Undelayed Short List Command stepper_rel_list Fun...

Страница 521: ..._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 parame...

Страница 522: ...least significant bits are evaluated Comments For programming the stepper motor signals see page 205 If no stepper motor movement had been previously started at the specified stepper motor output then...

Страница 523: ...ction is turned off Processing on the fly option only The BUSY list status values see read_status and the BUSY list execution status value see get_status are reset A list that was interrupted with sto...

Страница 524: ...s measurement_status set_trigger set_trigger4 Undelayed Short List Command store_encoder Function stores the current counts of the two RTC 5 encoder counters in a buffer on the RTC 5 Call store_encode...

Страница 525: ...tine has been referenced this command returns the value 1 d h 232 1 If Index 1023 then sub_call will already during loading be replaced by a list_nop get_last_error return code RTC5_PARAM_ERROR Absolu...

Страница 526: ...ed 32 bit value allowed range 0 1023 Comments See sub_call_abs Also see Conditional Command Execution page 213 RTC 4 RTC 5 new command References sub_call_abs Undelayed Short List Command sub_call_con...

Страница 527: ...ital input port as an unsigned 32 bit value allowed range 0 15 Comments With invalid values of MaskBits or ShiftBits and with MaskBits ShiftBits 16 the command is replaced by a list_nop get_last_error...

Страница 528: ...connected in a master slave chain to the addressed RTC 5 board s MASTER connector It doesn t affect the addressed board itself or any boards connected to the addressed board s SLAVE connector Therefo...

Страница 529: ...ll time_fix Comments The command time_fix is synonymous with time_fix_f_off with FirstDay 0 and Offset 0 see comments there RTC 4 RTC 5 unchanged the command was previously only available for the RTC...

Страница 530: ..._fix aren t called at all after a load_program_file then a time of 00 00 or a date of January 1 2000 will be marked If Offset 0 then the current date and current time are fixed One practical use of fo...

Страница 531: ...d_ctrl marking speed Instead the speed i e the number of microsteps will be adjusted so that the arc lasts as long as specified see chapter 8 10 Timed Vector and Arc Commands page 198 The total markin...

Страница 532: ...values will be edge clipped T duration of the complete arc marking process in microseconds as a 64 bit IEEE floating point value allowed range 0 167772160 the param eter will be rounded to an integer...

Страница 533: ...bs the timed_jump_abs command doesn t execute the jump with the specified via set_jump_speed or set_jump_speed_ctrl jump speed Instead the speed i e the number of microsteps will be adjusted so that t...

Страница 534: ...n of the complete jump vector in microseconds as a 64 bit IEEE floating point value allowed range 0 167772160 the parameter will be rounded to an integer multiple of 10 out of range values will be cli...

Страница 535: ...287 real image field size during runtime directly prior to use of the correction table T duration of the complete jump vector in microseconds as a 64 bit IEEE floating point value allowed range 0 1677...

Страница 536: ...s a virtual image field e g for enabled Processing on the fly applica tions The current coordinates will be clipped to 524288 524287 real image field size during runtime directly prior to use of the c...

Страница 537: ...h the specified via set_mark_speed or set_mark_speed_ctrl marking speed Instead the speed i e the number of microsteps will be adjusted so that the vector lasts as long as specified see chapter 8 10 T...

Страница 538: ...8 32767 out of range values will be edge clipped T duration of the complete mark vector in microseconds as a 64 bit IEEE floating point value allowed range 0 167772160 the parameter will be rounded to...

Страница 539: ...image field size during runtime directly prior to use of the correction table T duration of the complete mark vector in microseconds as a 64 bit IEEE floating point value allowed range 0 167772160 th...

Страница 540: ...ge field e g for enabled Processing on the fly applica tions The current coordinates will be clipped to 524288 524287 real image field size during runtime directly prior to use of the correction table...

Страница 541: ...e jump with the specified via set_jump_speed or set_jump_speed_ctrl jump speed Instead the speed i e the number of microsteps will be adjusted so that the vector lasts as long as specified see chapter...

Страница 542: ...ntrol Value parameter T duration of the complete jump vector in microseconds as a 64 bit IEEE floating point value allowed range 0 167772160 the parameter will be rounded to an integer multiple of 10...

Страница 543: ...prior to use of the correction table P End value of the signal parameter as an unsigned 32 bit value allowed range dependent on the selection made via set_vector_control Ctrl parameter identical with...

Страница 544: ...e of the correction table for Z 32768 32767 out of range values will be edge clipped P End value of the signal parameter as an unsigned 32 bit value allowed range dependent on the selection made via s...

Страница 545: ...he specified via set_mark_speed or set_mark_speed_ctrl marking speed Instead the speed i e the number of microsteps will be adjusted so that the vector lasts as long as specified see chapter 8 10 Time...

Страница 546: ...nterface Board Rev 1 9 e 10 Commands And Functions 546 innovators for industry References para_mark_abs timed_mark_abs mark_abs timed_para_mark_rel timed_para_mark_abs_3d Normal List Command timed_par...

Страница 547: ...ector_control Ctrl parameter identical with set_vector_control Value parameter T duration of the complete mark vector in microseconds as a 64 bit IEEE floating point value allowed range 0 167772160 th...

Страница 548: ...se of the correction table P End value of the signal parameter as an unsigned 32 bit value allowed range dependent on the selection made via set_vector_control Ctrl parameter identical with set_vector...

Страница 549: ...the correction table for Z 32768 32767 out of range values will be edge clipped P End value of the signal parameter as an unsigned 32 bit value allowed range dependent on the selection made via set_v...

Страница 550: ...the value supplied via Sig2 as the Y coordinate 1 The value supplied via Sig1 will be backward transformed as the Y coordinate and the value supplied via Sig2 as the X coordinate Bit 2 0 The gain off...

Страница 551: ...lues Code bit 0 0 only the Z 0 plane will be transformed XY stretching and Z defocus resulting from Z deviations particularly with non F Theta systems aren t taken into account Because the command tra...

Страница 552: ...1 BUSY error board was BUSY or INTERNAL BUSY get_last_error return code RTC5_BUSY Bits 8 31 reserved Comments The queried and transferred data can be used for backward transforming actual posi tion va...

Страница 553: ...ecksum is not available as a multi board command The programs CorrectionFileConverter exe version 1 04 and correXion5 exe version 1 01 together with RTC5Base dll version 1 0 0 4 already automatically...

Страница 554: ...hen both values will be interchanged If EncYmin EncYmax then both values will be interchanged If no encoder based Processing on the fly correction is active then the command merely creates a waiting p...

Страница 555: ...is negative and larger than the current encoder count At a 1 MHz counter rate this can take up to approx 36 minutes If Mode 0 then the command waits for overstepping understepping of the Value paramet...

Страница 556: ...In all other cases Axis is irrelevant and Value will be interpreted as a signed 32 bit value Axis must be either 0 or 1 even if it is irrelevant Otherwise the command will be replaced by list_nop get...

Страница 557: ...lue 212 1 to an output value of 10 V RTC 4 RTC 5 unchanged functionality In RTC 4 compatibility mode as write_da_x Delayed Short List Command write_da_1_list Function see write_da_x_list Call write_da...

Страница 558: ...utput value of 10 V Comments Also see 12 Bit Analog Output Ports page 204 The output range of the analog output ports is 0 V 10 V For x 1 or x 2 the command is ignored get_last_error return code RTC5_...

Страница 559: ...alue Parameter Value 16 bit output value DIGITAL OUT0 DIGITAL OUT15 as an unsigned 32 bit value only the least significant 16 bits are evaluated Comments See write_io_port RTC 4 RTC 5 unchanged functi...

Страница 560: ...k Parameters Value 16 bit output value DIGITAL OUT0 DIGITAL OUT15 as an unsigned 32 bit value only the least significant 16 bits are evaluated Mask 16 bit mask for DIGITAL OUT0 DIGITAL OUT15 as an uns...

Страница 561: ...after the program file is loaded via the command load_program_file page 340 List Command field_jump Support status This RTC 2 command is not supported by the RTC 5 Replaced by home_position see page...

Страница 562: ...11 Ctrl Command load_cor Support status This RTC 2 command is not supported by the RTC 5 Replaced by load_correction_file see page 328 Ctrl Command load_pro Support status This RTC 2 command is not su...

Страница 563: ...it is a plug and play board whose base address is automatically set Ctrl Command set_co2_standby Support status This RTC 2 command is not supported by the RTC 5 Replaced by set_standby see page 488 Li...

Страница 564: ...ce with the XY2 100 protocol the timing of the communication must be further on adjusted to reflect the length of the data cable but the adjustment is now realized via a jumper at the XY2 100 converte...

Страница 565: ...n system the command set_defocus see page 414 can be used only together with an RTC 5 with enabled 3D option After load_z_table 0 0 1 0 0 0 set_defocus Z has the same effect as z_out Z also see set_of...

Страница 566: ...use of a single list single list continuous transfer circular queue two alternating lists continuous transfer two alternating lists continuous transfer use of two lists two alternating lists continuou...

Страница 567: ...e for the cable length see page 43 If yes Check the DLL import declarations in your application software see Importing Commands page 62 Application software fails Check the software driver installatio...

Страница 568: ...r you can determine which command number the program is currently executing e g for infinite loops due to a circular argument in the program flow get_startstop_info provides information about the lase...

Страница 569: ...ble for the return delivery of products repaired under warranty the customer is responsible for delivery to SCANLAB SCANLAB will not be held responsible when the product has been damaged through misus...

Страница 570: ...gurable Capacity of list buffer 1000000 commands Position update period microstep period 10 s Maximum range for the image field coordinates 524288 to 524287 20 bit signed Virtual image field e g for P...

Страница 571: ...buffered 0 4 V 2 0 V 3 3 V or 5 V 8 mA GND 3 3 V or 5 V TTL active high 5 s pulse max 10 mA Digital input LOW level HIGH level Max input voltage range Input resistance Reference SYNC signal 16 bits 0...

Страница 572: ...gh max 10 mA max 100 mA GND RS232 Interface Connector 10 pin socket connector Input max voltage range RxD 25 V 25 V Output max voltage range TxD 13 V 13 V Reference GND Baud rate 300 115200 SPI I2C Co...

Страница 573: ...n EN 61000 6 2 2005 EN 61000 6 4 2007 Result The devices under test fulfill the specifications 14 2 Compliance with FCC Rules The RTC 5 PC interface board has been tested and found to comply with the...

Страница 574: ...5 PC interface board as are software instal lation and application programming Both the RTC 5 PC 104 Plus board and the RTC 5 PC interface board use the same software package driver DLL import declara...

Страница 575: ...board s ID number and configuration are described in the packaging list also see Optional Accessories page 29 and Type Identification page 575 15 1 5 Type Identification The ID number of the RTC 5 PC...

Страница 576: ...Software The delivered software package is identical to the RTC 5 software package see page 23 It contains software drivers for Microsoft s WINDOWS 8 WINDOWS 7 WINDOWS Vista and WINDOWS XP SP2 or hig...

Страница 577: ...page 579 secondary scan head control is only optionally activated LASER Laser connection and digital and analog output ports 16 pin box header double row 2 54 mm pitch pin out page 580 MULTI Multifunc...

Страница 578: ...nfiguring Pin B40 and B42 of the MULTI connector see page 586 JP10 JP12 Jumpers for setting how the 10 V maximum output voltage is generated at the analog outputs ANALOG OUT1 and ANALOG OUT2 on the MU...

Страница 579: ...B Also see chapter 6 6 3 Master Slave Operation page 84 and Starting and Stopping Lists via External Control Signals and Master Slave Synchronization page 209 15 2 4 Interfaces to Scan System For digi...

Страница 580: ...11 5 V 13 ANALOG OUT1 15 Pin out of the 16 pin LASER connector depends on jumper settings JP10 and JP12 A1 DIGITAL OUT0 A2 DIGITAL IN0 A3 DIGITAL OUT1 A4 DIGITAL IN1 A5 DIGITAL OUT2 A6 DIGITAL IN2 A7...

Страница 581: ...ignal level either 5 V or 3 3 V selectable via jumper JP1 see page 586 EXTENSION 1 Connector page 49 A35 VCC OUT output signal level selected via jumper JP1 5 V or 3 3 V EXTENSION 1 Connector page 49...

Страница 582: ...D TxD RS232 interface RS232 see page 51 A41 A46 CLKX0 CLKR0 FSX0 FSR0 DX0 DR0 McBSP interface SPI I2C see page 52 B16 SWITCH1 2 ENABLE1 2 DIRECTION1 2 CLOCK1 2 signals for controlling two stepper moto...

Страница 583: ...PC 104 Plus board In particular observe all safety guidelines in this manual Also note the information in chapter 3 Safety During Installation and Operation page 38 If there are any questions regardi...

Страница 584: ...on page 587 Stack address configuration ensures that each RTC 5 PC 104 Plus board in a stack gets to have one of the four CLK IDSEL REQ and GNT signals of the PCI bus explicitly assigned to it Selecti...

Страница 585: ...d A30 provide a 12 V supply In reality not all CPU boards supply this voltage Therefore the RTC 5 PC 104 Plus board is factory configured so that the 10 V maximum output voltage is derived from the 5...

Страница 586: ...possibilities at pins 15 and 17 of the RTC 5 PC interface board s EXTENSION 2 connector see page 50 The most significant bit DATA7 of the 8 bit output value can be assigned to pin B40 or pin B42 Alte...

Страница 587: ...imum stack height for the PCI bus is four PC 104 Plus modules plus the CPU board The modules must be adjacently stacked on the same side of the CPU board Electrical configuration of a board for its po...

Страница 588: ...84 Also check the other jumper settings Check if components on the RTC 5 PC 104 Plus board collide with components on the CPU board or a neighboring module in the stack If multiple synchronously clock...

Страница 589: ...ee page 59 Application programming is identical to that of the RTC 5 PC interface board see page 59 You can run the same demo programs used for the RTC 5 PC interface board Caution The RTC 5 PC 104 Pl...

Страница 590: ...g temperature 15 C to 60 C Storage temperature 20 C to 60 C Environmental conditions non condensing non corrosive Connectors to PC 104 Plus CPU board or to PC 104 Stack PC 104 Plus PCI bus 120 pin sta...

Страница 591: ...inputs and outputs are the same as with the RTC 5 PC interface board with above mentioned exception as are software installation and appli cation programming Both the RTC 5 Express board and the RTC...

Страница 592: ...e package typically includes an RTC 5 Express board and a data CD containing the corre sponding software see below and this manual Some product versions may also supply additional components such as d...

Страница 593: ...ns pin out see page 51 EXTENSION 1 40 pin socket connector with a 16 bit digital input and a 16 bit digital output pin out see page 49 EXTENSION 2 26 pin socket connector with an 8 bit digital output...

Страница 594: ...nnector see Master Slave Synchronization page 40 JP1 Jumper for selecting the output signal level at the EXTENSION 1 connector see page 49 JP2 JP8 Jumpers for configuring the EXTENSION 2 connector sig...

Страница 595: ...re identical to that of the RTC 5 PC interface board see page 52 Analog Inputs The RTC 5 Express board provides two 10 V analog inputs ANALOG IN0 and ANALOG IN1 at the SPI I2C connector instead of the...

Страница 596: ...y disable the WINDOWS sleep mode option some WINDOWS operating systems enable this option by default Also see the note on page 27 System Requirements IBM compatible PC with PCI Express bus interface O...

Страница 597: ...reasonable protection against harmful interference when the RTC 5 Express board is operated in a commercial environment The RTC 5 Express board generates uses and can radiate radio frequency energy a...

Страница 598: ...as with the RTC 5 PC interface board as are software instal lation and application programming Both the RTC 5 PCIe 104 board and the RTC 5 PC interface board use the same software package driver DLL i...

Страница 599: ...ard Additionally to the oper ating systems listed in section 2 2 2 on page 26 for the RTC 5 PC interface board the RTC 5 software drivers and RTC 5 DLL files also support Microsoft s WINDOWS XP Embedd...

Страница 600: ...software package is identical to the RTC 5 software package see page 23 It contains software drivers for Microsoft s WINDOWS 8 WINDOWS 7 WINDOWS Vista and WINDOWS XP SP2 or higher and WINDOWS XP Embe...

Страница 601: ...ports 16 pin box header double row 2 54 mm pitch pin out page 580 MULTI Multifunction connector with a 16 bit digital input a 16 bit digital output an 8 bit digital output encoder inputs for Processi...

Страница 602: ...nectors and installed in adjacent stack positions Always connect a board s MASTER connector to the SLAVE connector of another board Suitable connection cables are available from SCANLAB Also see chapt...

Страница 603: ...ion and Start Up Installation of the RTC 5 PCIe 104 board consists of the following steps 1 Configuring the jumpers Configuration of jumpers JP1 and JP2 JP8 is iden tical to that of the RTC 5 PC 104 P...

Страница 604: ...Operating temperature 15 C to 60 C Storage temperature 20 C to 60 C Environmental conditions non condensing non corrosive Connectors to PCIe 104 CPU board or to PCIe 104 Stack PCI Express bus 156 pin...

Страница 605: ...ate transformations 200 chapter 8 11 3 Determining Reference Values Reference values for automatic self calibration are stored in DLL or EEPROM 210 External List Start Information on master slave sync...

Страница 606: ...9 2 4 McBSP Interface Section added 209 External List Stop Corrected the inputs for external stop signals can not be locked 210 External List Start Corrected figure 58 215 Inputs for External Encoder...

Страница 607: ...by_list command Corrected enhanced allowed range for parameter HalfPeriod 455 set_mcbsp_out command Added 462 set_n_pixel command Added 555 wait_for_encoder_mode command Added 556 wait_for_mcbsp comma...

Страница 608: ...ctions The terms are now also used elsewhere in this manual Corrected standby signals in YAG modes Added chapter 7 4 7 Laser Mode 6 page 137 212 Regular Periodic External List Starts Added 219 chapter...

Страница 609: ...nd Changed return code 11 347 load_z_table command New Error code 64 as return Value 353 mark_date command mark_date_abs command too Added month and day of the week can also be marked as normal numera...

Страница 610: ...ayed Short List Commands as of Version OUT 515 Added 233 arc_abs_3d command Added 235 arc_rel_3d command Added 263 get_error command Added Bit 10 DSP version error 277 get_rtc_version command Added Bi...

Страница 611: ...d Synchronization cannot be achieved via an appropriately sequenced initialization of the boards Synchronization is only applied to downstream slave boards allocated to the application sync_slaves now...

Страница 612: ...plies The ASC hardware can be checked via Command 4 new The hardware check is likewise performed with Command 0 and in some circumstances also with Command 1 and 3 see command description The command...

Страница 613: ...tional scanner delay of 10 s will no longer be inserted 123 Notes in section Assigning Loaded Correction Tables Changed as of version DLL 521 OUT 521 load_correction_file automatically calls select_co...

Страница 614: ...ion History 614 innovators for industry Page Name of section command Change 528 sync_slaves command Updated with version DLL 523 OUT 524 also triggers matching of short command counts when necessary s...

Страница 615: ..._y_overflow command if_not_fly_x_overflow command if_not_fly_y_overflow command Added 304 if_not_pin_cond command if_pin_cond command New note about reliable usage page 213 317 list_continue command A...

Страница 616: ...d goto_xyz command Changed as of version DLL 527 OUT 529 These commands return only after motion has completed 311 laser_on_list command Corrected The laser control signals will only turn off with a s...

Страница 617: ...s in Installing the RTC 5 Software page 58 User Applications and Demo Software page 59 Initialization and Program Start Up page 62 and Data Types page 226 26 chapter 2 2 2 Software Added Requirements...

Страница 618: ...e_list command Added 436 set_jump_mode command Changed as of version DLL 530 OUT 531 RBF 522 changed error code for return values 1 byte 1 and byte 2 451 set_mcbsp_freq command Added 452 set_mcbsp_in...

Страница 619: ...tions Added 236 auto_cal command Change with version DLL 535 return value 8 242 config_laser_signals command Added with version DLL 533 OUT 534 RBF 524 263 get_error command Added with version DLL 535...

Страница 620: ...section Overview New chapter 8 7 4 Compensation of 2D Motions incl the sections 2D Encoder Compensation for XY Stages and Coordinate Transformations in the Virtual Image Field Revised chapter 8 7 6 Vi...

Страница 621: ...EncoderNo 2 and 3 424 set_fly_2d command Added version DLL 536 OUT 536 440 set_laser_control command Changed with version DLL 536 OUT 536 bit 28 449 set_matrix command Changed version DLL 536 OUT 536...

Страница 622: ...flow command Added with version DLL 531 OUT 532 303 if_not_fly_z_overflow command Added with version DLL 531 OUT 532 340 load_program_file command Expanded with version DLL 537 OUT 537 PCI error now h...

Отзывы:

Нет отзывов

Похожие инструкции для RTC 5 PC Interface Board

Barreto 20RTK Operator'S Manual preview
20RTK
Бренд: Barreto Страницы: 20
Barreto 13STKH Owner'S Manual preview
13STKH
Бренд: Barreto Страницы: 18
Backyard Discovery Premier Series Manual preview
Premier Series
Бренд: Backyard Discovery Страницы: 41
Danfoss iSave 21 User Manual preview
iSave 21
Бренд: Danfoss Страницы: 106
Datex-Ohmeda S/5 Aespire User'S Reference Manual preview
S/5 Aespire
Бренд: Datex-Ohmeda Страницы: 80
MacDon D65 Quick Start Manual preview
D65
Бренд: MacDon Страницы: 2
V-TAC 7817 Installation Instruction preview
7817
Бренд: V-TAC Страницы: 6
M-system Mini-MW Series Manual preview
Mini-MW Series
Бренд: M-system Страницы: 5
MA dot2 User Manual preview
dot2
Бренд: MA Страницы: 2
Madsen zodiac Reference Manual preview
zodiac
Бренд: Madsen Страницы: 206
Saadat Dena User Manual preview
Dena
Бренд: Saadat Страницы: 61
Saadat Dena 350 Service Manual preview
Dena 350
Бренд: Saadat Страницы: 22
XFit TARGET User Manual preview
TARGET
Бренд: XFit Страницы: 16
Nakamichi BlackBox Series Service Manual preview
BlackBox Series
Бренд: Nakamichi Страницы: 23
Harken 3387 Instructions preview
3387
Бренд: Harken Страницы: 4
A&D MS-70 User Handbook Manual preview
MS-70
Бренд: A&D Страницы: 33
Össur i-limb access hand Instructions For Use Manual preview
i-limb access hand
Бренд: Össur Страницы: 246
Össur PROPRIO FOOT PSX01 Instructions For Use Manual preview
PROPRIO FOOT PSX01
Бренд: Össur Страницы: 374

Бренды по названию

Популярные бренды

Загрузить еще бренды