Control_Command - Scanlab RTC 5 PC Interface Board Installation And Operation Manual

Ctrl Command control_command
Function sends a control command to an iDRIVE
intellicube
Call
control_command( Head, Axis, Data )
Parameter Number of the scan head connector as an unsigned 32-bit value; allowed values:
Head
= 1:
= 2:
Number of the axis as an unsigned 32-bit value; allowed values:
Axis
= 1:
= 2:
Command code with optional parameter as unsigned 32-bit value:
Data
The upper part (bits#16-31) of this parameter is not evaluated, only the lower part (bits#0-
15) is evaluated. The more significant data byte of the lower part Code
represents a command code and the less significant data byte Code
optional parameter. For each command code the corresponding command and its allowed
parameter values are described below.
Example: With Data = 0501
actual position is selected to be returned from the scan system.
Code
05
®
RTC 5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
® ®
, intelliWELD , varioSCAN
primary scan head connector
secondary scan head connector (activation required)
X axis (STATUS channel, galvanometer scanner 2)
Y axis (STATUS1 channel, galvanometer scanner 1)
H,
Command and Parameter Values (Code
H
SetMode: This command selects the data signal to be returned from the scan
H
system for the specified axis via the respective status channel (also see
Each Code parameter value corresponds to a particular data type.
L
• Default setting: Code
• The data types marked in grey are only relevant for the intelliWELD
®
iDRIVE scan systems with SL2-100 interface return signed 20-bit values. Scan
systems with XY2-100 Enhanced interface return signed 16-bit values; here the
XY2-100 converter converts (by multiplying by 16) the returned values to signed
20-bit values.
Code Data Signal Type returned from the Scan System
L
00 XY2-100 status word
H
Bit #19 (MSB), 11
Bit #18, 10
Bit #16, 15, 8, 7
Bit #17, 12, 9, 4
Bit #14, 6
Bit #13, 5
Bit #0...3
01 Actual (angular) position / bit [–2
H
02 Set (angular) position / bit [–2
H
03 Position error (= set position – actual position) / bit [–2
H
04 Actual current (output stage current) / 16
H
05 Relative galvanometer scanner control [–16000 ... 16000] (not with
H
®
intellicube
06 Actual (angular) velocity / (bit/ms) [–2
H
®
scan system (intelliSCAN
)
de
i.e. Code = 05 (command SetMode) and Code
H H
)
L
= 00 (XY2-100 status word)
L H
= 1: Internal voltages normal
= 1: Galvanometer scanner temperature within normal range
= 1: X- and Y-axis position error within normal range
= 1
®
= 1 (for intelliWELD and for scan systems with sensors for
automatic self calibration: Reserved)
= 0
= 0
19
... 2
19 19
... 2
) (the return value 16 corresponds to 1‰)
19
® ®
, intelliSCAN , intelliDRILL
de
(bits#8-15)
H
(bits#0-7) an
L
= 01
L
page
®
.
19
–1]
–1]
19 19
... 2 –1]
-1 19 19
mA [–2 ... 2 –1]
19
... 2 –1]
®
,
, the
H
153).
244