Scanlab RTC 5 PC Interface Board Installation And Operation Manual page 282

Ctrl Command get_stepper_status
Function returns the following status information for both stepper motor outputs: the current
statuses of the stepper motor signals, the currently defined CLOCK pulse period, the Busy
and Init statuses, and the current values of the internal position variables.
Call
get_stepper_status( &Status1, &Pos1, &Status2, &Pos2 )
Returned para-
Status1,
meter values
Status2
Pos1,
Pos2
Comments • For programming the stepper motor signals, see
• If the SWITCH signal (limit switch signal) is set to (LOW), no more CLOCK pulses will be
generated.
• The Busy status indicates that a previously initiated (via stepper_abs, stepper_rel, etc.)
set-position movement has not yet completed.
• The Init status indicates that a previously initiated (via stepper_init) reference movement
has not yet completed.
® ®
RTC 4 RTC 5 new command
Version info • Available beginning with version DLL 527, OUT 529, RBF 519
• For older RTC
the command is not executed
®
RTC 5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
Current statuses of stepper motor outputs 1 and 2 as pointers to unsigned
32-bit values.
Bit #0 (LSB) ENABLE signal
Bit #1 DIRECTION signal
Bit #2 CLOCK signal
Bit #3 SWITCH signal
Bit #4 Busy status
Bit #5 Init status
Bits #6...7 Reserved.
Bits #8...#31 CLOCK pulse period (24-bit value)
Current values of the internal position variables for stepper motor outputs 1
and 2 as pointers to signed 32-bit values.
®
5 boards with DSP version numbers < 2
(get_last_error
page 205.
(get_rtc_version bits #16-23),
return code: RTC5_TYPE_REJECTED).
282