Scanlab RTC 5 PC Interface Board User manual

Installation and
Operation
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, 2014RTC®5 PC Interface Board
Rev. 1.9 e
innovators for industry

SCANLAB AG
Siemensstr. 2a
82178 Puchheim
Germany
Tel. [phone]
Fax: [phone]
[email protected]
www.scanlab.de
©SCANLAB AG 2014
(Doc. Rev. 1.9 e - September 09, 2014)
SCANLAB reserves the right to change the information in this document without 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 permission of SCANLAB.
RTC®is a registered trademark of SCANLAB AG.
PC/104-Plus and PCIe/104 are a registered trademarks of the “PC/104 Embedded Consortium”.
Other mentioned trademarks are hereby acknowledged as properties of their respective owners.

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Contents
1 Introduction ..................................................................................................................................... 22
1.1 Manufacturer ................................................................................................................................ 22
1.2 Identification ................................................................................................................................. 22
1.3 Unpacking Instructions and Typical Package Contents .................................................................. 23
1.3.1 Delivered Software ............................................................................................................. 23
2 Product Overview ............................................................................................................................. 25
2.1 Intended Use ................................................................................................................................. 25
2.2 System Requirements .................................................................................................................... 26
2.2.1 Hardware ........................................................................................................................... 26
2.2.2 Software ............................................................................................................................ 26
2.3 Optional Functionality ................................................................................................................... 27
2.4 Jumper Settings and Type Identification ....................................................................................... 28
2.4.1 Jumper JP1: Selecting the Output Signal Level at the EXTENSION 1 Connector .................. 28
2.4.2 Jumper 2-8: Configuring Pin15 and Pin17 at the EXTENSION 2 Connector ........................ 28
2.4.3 Type Identification .............................................................................................................. 29
2.5 Optional Accessories ..................................................................................................................... 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 Hardware Changes ............................................................................................................. 30
Scan System Control ..................................................................................................... 30
Laser Control ................................................................................................................ 31
EXTENSION 1 Connector ............................................................................................... 31
EXTENSION 2 Connector ............................................................................................... 31
MARKING ON THE FLY Connector ................................................................................. 31
Other Connectors ......................................................................................................... 31
2.7.2 Porting RTC®4 Programs to the RTC®5 .............................................................................. 32
Changed Initialization ................................................................................................... 32
Command Changes ...................................................................................................... 32
Increased Parameter Resolution .................................................................................... 33
Changed Timing Behavior ............................................................................................. 34
2.7.3 New and Changed Functionality ........................................................................................ 34
Interface to the PC ........................................................................................................ 34
Scan System Control ..................................................................................................... 34
Laser Control ................................................................................................................ 35
Interfaces for Peripheral Equipment ............................................................................. 36
General Programming .................................................................................................. 36
Laser Marking ............................................................................................................... 36
Special Functions .......................................................................................................... 37
3 Safety During Installation and Operation ....................................................................................... 38
3.1 Steps for Safe Operation ............................................................................................................... 38
3.2 Laser Safety ................................................................................................................................... 38

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4 Layout and Interfaces ...................................................................................................................... 39
4.1 Connectors and Jumper Positions ................................................................................................. 39
4.2 Interface to PC .............................................................................................................................. 40
4.2.1 Master/Slave Synchronization ............................................................................................ 40
4.3 Interfaces to Scan System ............................................................................................................. 41
4.3.1 Scan Head Connectors and Transfer Protocol ..................................................................... 41
Primary Scan Head Connector ...................................................................................... 41
Secondary Scan Head Connector (Optionally Activated) ............................................... 41
4.3.2 XY2-100 Converter (Optional) ............................................................................................ 42
4.3.3 Data Cable (Optional) ........................................................................................................ 44
4.4 Interfaces for the Laser and Peripheral Equipment ........................................................................ 46
4.4.1 Laser Connector ................................................................................................................. 46
Laser Signals ................................................................................................................. 46
External Control Signals ................................................................................................ 46
BUSY Status .................................................................................................................. 46
Digital Input and Output .............................................................................................. 46
Analog Output Ports ..................................................................................................... 47
I/O Circuits ................................................................................................................... 47
Laser Adapter (Optional) .............................................................................................. 48
4.4.2 EXTENSION 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 ............................................................................................................. 50
Laser Signals ................................................................................................................. 50
8-Bit Digital Output Port ............................................................................................... 50
4.4.4 MARKING ON THE FLY Connector ....................................................................................... 51
Encoder Inputs ............................................................................................................. 51
External Control Signals ................................................................................................ 51
Analog Output Port ...................................................................................................... 51
BUSY Status .................................................................................................................. 51
Slot Cover (Optional) .................................................................................................... 51
4.4.5 RS232 Interface .................................................................................................................. 51
4.4.6 McBSP and I2C Interface .................................................................................................... 52
I2C Interface ................................................................................................................. 52
McBSP Interface ............................................................................................................ 52
4.4.7 Stepper Motor Control ....................................................................................................... 53
4.4.8 Analog Inputs .................................................................................................................... 54
5 Installation And Start-Up ................................................................................................................. 56
5.1 Jumper Settings ............................................................................................................................ 56
5.2 Installing the Hardware ................................................................................................................. 56
5.3 Installing the Drivers ..................................................................................................................... 57
Software Driver Upgrade .............................................................................................. 57
5.4 Installing the RTC®5 Software ....................................................................................................... 58
5.5 Safe Start-up and Shutdown Sequences ....................................................................................... 58
5.6 Start-Up and Functionality Test ..................................................................................................... 59
5.7 User Applications and Demo Software .......................................................................................... 59
5.8 Upgrading RTC®5 Boards .............................................................................................................. 60

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6 Developing User Applications .......................................................................................................... 61
6.1 RTC®5 Software Basics .................................................................................................................. 61
6.1.1 Controlling Scan Systems and Lasers – An Introductory Example ....................................... 61
6.1.2 List Commands and Control Commands ............................................................................ 61
6.2 Initialization and Program Start-Up ............................................................................................... 62
6.2.1 DLL Call .............................................................................................................................. 62
6.2.2 Importing Commands ........................................................................................................ 62
Pascal ........................................................................................................................... 62
C ................................................................................................................................... 63
C++ ............................................................................................................................... 63
C#................................................................................................................................. 63
6.2.3 Initializing the DLL and Board Management ...................................................................... 64
6.2.4 Start of Operation .............................................................................................................. 65
RTC®5 Initialization ...................................................................................................... 65
RTC®5 Configuration .................................................................................................... 65
Scan System Initialization ............................................................................................. 65
Laser Control Initialization ............................................................................................ 66
Loading and Executing Lists ......................................................................................... 66
6.2.5 Example Code .................................................................................................................... 67
6.3 List Memory .................................................................................................................................. 69
6.3.1 Lists and the Protected Buffer Area .................................................................................... 69
Lists .............................................................................................................................. 69
Protected Buffer Area ................................................................................................... 69
6.3.2 Configuring the List 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 Stopping Lists ................................................................................................ 74
6.4.5 Interrupting Lists for Synchronization of Processing .......................................................... 74
6.4.6 Automatic List Changing .................................................................................................... 75
One-Time List Change ................................................................................................... 75
Alternating List Changes ............................................................................................... 75
6.5 Structured Programming .............................................................................................................. 76
6.5.1 Subroutines ........................................................................................................................ 76
Non-Indexed Subroutines ............................................................................................. 76
Indexed Subroutines ..................................................................................................... 76
Calling Subroutines ...................................................................................................... 77
Subsequent Protection and Conversion of Non-Indexed Subroutines ........................... 78
Deprotecting Subroutines ............................................................................................. 79
Index Management and Defragmentation .................................................................... 79
6.5.2 Character Sets and Text Strings .......................................................................................... 80
Defining Indexed Character Sets ................................................................................... 80
Calling Indexed Characters ........................................................................................... 80
Defining Indexed Text Strings for Times, Dates and Serial Numbers .............................. 80
Calling Indexed Text Strings .......................................................................................... 81
Management of Indexed Characters and Text Strings ................................................... 81
6.5.3 Jumps ................................................................................................................................ 81
6.5.4 Circular Queue Mode ......................................................................................................... 82

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6.5.5 Loops ................................................................................................................................. 82
6.6 Using Multiple RTC®5 Boards in One Computer ............................................................................ 83
6.6.1 Multi-Board Programming ................................................................................................. 83
6.6.2 Sequential Programming ................................................................................................... 83
6.6.3 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 Applications ..................................................................................................... 85
6.7.1 Board Acquisition by an Application .................................................................................. 86
6.8 Error Handling .............................................................................................................................. 87
6.8.1 Download Verification ....................................................................................................... 88
6.8.2 Checking for Overruns ....................................................................................................... 89
6.8.3 Example Code .................................................................................................................... 90
6.9 Miscellaneous ............................................................................................................................... 92
6.9.1 Free Variables ..................................................................................................................... 92

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7 Basic Functions for Scan Head and Laser Control ........................................................................... 93
7.1 Marking Points, Lines and Arcs ..................................................................................................... 93
7.1.1 Marking with Vector and Arc Commands .......................................................................... 93
Jump Commands .......................................................................................................... 93
Mark Commands .......................................................................................................... 94
Arc Commands ............................................................................................................. 94
Ellipse Commands ........................................................................................................ 94
Para Commands ........................................................................................................... 95
7.1.2 Microsteps ......................................................................................................................... 96
7.1.3 Marking Points ................................................................................................................... 96
7.1.4 Example Code .................................................................................................................... 97
7.2 Delay Settings for Synchronizing Scan Head and Laser Control ..................................................... 99
7.2.1 Laser Delays ....................................................................................................................... 99
LaserOn Delay ............................................................................................................... 99
LaserOff Delay .............................................................................................................. 99
7.2.2 Scanner Delays ................................................................................................................. 100
Jump Delay ................................................................................................................. 100
Variable Jump Delay ................................................................................................... 101
Mark Delay ................................................................................................................. 102
Polygon Delay ............................................................................................................. 103
Variable Polygon Delay ............................................................................................... 104
Customizing the Variable 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
Synchronization .......................................................................................................... 115
Notes .......................................................................................................................... 117
7.3 Scan Head Control ...................................................................................................................... 118
7.3.1 Reference System ............................................................................................................. 118
7.3.2 Image Field Size and Calibration ...................................................................................... 119
Typical Image Field ..................................................................................................... 119
RTC®4 Compatibility Mode ......................................................................................... 120
7.3.3 Virtual Image Field ........................................................................................................... 120
7.3.4 Image Field Correction and Correction Tables .................................................................. 120
Field Distortion ........................................................................................................... 120
Field Correction Algorithm ......................................................................................... 121
Activating Image Field Correction ............................................................................... 122
2D and 3D Correction Files ......................................................................................... 122
Loading Correction Tables ........................................................................................... 122
Assigning Loaded Correction Tables ........................................................................... 122
1to1 Correction Tables ................................................................................................ 124
Inverse Tables ............................................................................................................. 124
Correction File Header ................................................................................................ 124
Converting Correction Files ......................................................................................... 125
7.3.5 Output Values to the Scan System ................................................................................... 126
Calculations ................................................................................................................ 126
Value Ranges .............................................................................................................. 126

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Clock Overruns ........................................................................................................... 126
7.3.6 Status Monitoring and Diagnostics .................................................................................. 127
Status Information Returned from the Scan System ................................................... 127
7.4 Laser Control ............................................................................................................................... 128
7.4.1 Enabling, Activating and Switching Laser Control Signals ................................................ 128
“Laser Active” Signals ................................................................................................. 129
“Laser Standby” Signals .............................................................................................. 129
Scan-System-Error-Induced Laser-Signal Auto-Suppression ........................................ 130
Galvanometer Position Exceedance-Induced Laser-Signal Auto-Suppression .............. 130
7.4.2 Configuring the Laser Connector (LASER) ........................................................................ 130
7.4.3 CO2Mode ........................................................................................................................ 131
7.4.4 YAG Modes ...................................................................................................................... 132
Q-Switch Signal .......................................................................................................... 132
FirstPulseKiller Signal .................................................................................................. 133
Differences Between the YAG Modes .......................................................................... 133
Lamp Current (Laser Power) ........................................................................................ 133
7.4.5 Softstart Mode ................................................................................................................. 135
7.4.6 Laser Mode 4 ................................................................................................................... 136
7.4.7 Laser Mode 6 ................................................................................................................... 137
7.4.8 Pulse Picking Laser Mode ................................................................................................. 138
7.4.9 Automatic Laser Control .................................................................................................. 140
Position-Dependent Laser Control .............................................................................. 141
Speed-Dependent Laser Control ................................................................................. 146
Vector-Defined Laser Control ...................................................................................... 147
Encoder-Speed-Dependent Laser Control ................................................................... 148
7.4.10 Output Synchronization ................................................................................................... 149
7.5 Marking Dates, Times and Serial Numbers .................................................................................. 150
7.5.1 Marking the Date and Time ............................................................................................. 150
7.5.2 Marking Serial Numbers ................................................................................................... 150
Notes .......................................................................................................................... 150

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8 Advanced Functions for Scan Head and Laser Control .................................................................. 152
8.1 iDRIVE®Functions ....................................................................................................................... 152
8.1.1 Transfer Protocol .............................................................................................................. 152
8.1.2 Configuring Status Return Behavior ................................................................................. 153
Selecting Data Signals ................................................................................................ 153
Querying Data ............................................................................................................ 153
8.1.3 Position Monitoring ......................................................................................................... 154
8.1.4 Configuring Dynamics Settings (Tuning) .......................................................................... 155
8.1.5 Jump Mode ...................................................................................................................... 156
Functional Principle .................................................................................................... 156
Requirements and Activation ...................................................................................... 157
Jump-Length-Dependent Jump Delays ....................................................................... 157
Experimental Determination of Jump Delay Values ..................................................... 158
Notes on Loading Determined Jump Delay Values ...................................................... 158
Automatic Determination of the Jump Delay Table ..................................................... 159
8.1.6 Configuring the PosAcknowledge Threshold Value .......................................................... 160
8.1.7 Configuring the Effective Calibration ............................................................................... 160
8.1.8 Configuring the Start Behavior ......................................................................................... 160
8.1.9 Fault Diagnosis and Functional Test .................................................................................. 161
8.2 Coordinate Transformations ........................................................................................................ 161
8.3 Online Positioning ....................................................................................................................... 165
Configuring Online Positioning ................................................................................... 165
Notes .......................................................................................................................... 166
8.4 Wobbel Mode ............................................................................................................................. 167
8.4.1 Wobbel Shapes – Important 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 Scan Systems ........................................................................ 170
8.5.2 Using Several Correction Tables with a Single Scan System .............................................. 170
8.6 Controlling a 3-Axis Scan System (Optional) ............................................................................... 171
8.6.1 Intended Use .................................................................................................................... 171
8.6.2 Connection and Initialization ........................................................................................... 171
8.6.3 3D Marking Commands ................................................................................................... 172
8.6.4 Adjustment ...................................................................................................................... 174
Checking the Z-Axis Calibration .................................................................................. 174
Test for 3-Axis Scan Systems with F-Theta Objective ................................................... 175
8.6.5 Enhanced 3D Correction .................................................................................................. 176
8.7 Processing-on-the-fly (Optional) .................................................................................................. 177
8.7.1 Intended Use and Initialization ........................................................................................ 177
Overview .................................................................................................................... 178
8.7.2 Compensation of Linear Movements ................................................................................ 179
Correction via Encoder Counter(s) .............................................................................. 179
Correction via McBSP Interface ................................................................................... 180
Correction via McBSP Interface with Additional McBSP Input ..................................... 181
Correction via McBSP Interface with Enhanced McBSP Input ...................................... 181
8.7.3 Compensation of Rotary Movements ............................................................................... 181
Correction via Encoder Counter .................................................................................. 181
Correction via McBSP Interface ................................................................................... 182
Correction via McBSP Interface with Additional McBSP Input ..................................... 183
8.7.4 Compensation of 2D Motions .......................................................................................... 184
2D Encoder Compensation for XY Stages ................................................................... 184

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Coordinate Transformations in the Virtual Image Field ............................................... 185
8.7.5 Deactivating Processing-on-the-fly Corrections ................................................................ 186
8.7.6 Virtual Image Field ........................................................................................................... 187
8.7.7 Synchronization of Processing-on-the-fly Applications ..................................................... 188
8.7.8 Encoder Resets ................................................................................................................. 189
8.7.9 Monitoring Processing-on-the-fly Corrections .................................................................. 190
Customer-Defined Monitoring Area and Conditional Command Execution (as of 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
8.8.2 Software Commands ....................................................................................................... 192
8.8.3 Laser Control .................................................................................................................... 193
8.8.4 Timing .............................................................................................................................. 194
8.9 Microvector Commands .............................................................................................................. 197
8.10 Timed Vector and Arc Commands ............................................................................................... 198
8.11 Automatic Self-Calibration .......................................................................................................... 199
8.11.1 Using for Drift Compensation .......................................................................................... 199
8.11.2 How it Works ................................................................................................................... 199
8.11.3 Determining Reference Values ......................................................................................... 200
8.11.4 Calibration During an Application .................................................................................... 201
Automatic Self-Calibration .......................................................................................... 201
Customer-Specific Calibration ..................................................................................... 201
Supplemental Information about Calibration ............................................................. 202

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9 Programming Peripheral Interfaces ............................................................................................... 203
9.1 Signal Output .............................................................................................................................. 203
9.1.1 16-Bit Digital Output Port ................................................................................................ 203
9.1.2 8-Bit Digital Output Port .................................................................................................. 204
9.1.3 2 Bit Digital Output Port .................................................................................................. 204
9.1.4 12-Bit Analog Output Ports .............................................................................................. 204
9.1.5 Stepper Motor Control ..................................................................................................... 205
Output Signals ............................................................................................................ 205
Reference Movements and Position Initialization ........................................................ 205
Set-Position Movements ............................................................................................. 206
Querying Signals and Status Values ............................................................................ 206
Terminating Infinite Movements ................................................................................. 206
9.1.6 RS232 Interface ................................................................................................................ 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 Signals ......................................................................................................... 209
9.3.1 Starting and Stopping Lists via External Control Signals and Master/Slave Synchronization ...
209
External List Stop ........................................................................................................ 209
External List Start ........................................................................................................ 210
External List Start with Track Delay ............................................................................. 210
Regular (Periodic) External List Starts .......................................................................... 212
9.3.2 Conditional Command Execution ..................................................................................... 213
Programming Examples .............................................................................................. 214
9.3.3 Synchronization via Encoder Signals ................................................................................ 215
Intended Use .............................................................................................................. 215
Inputs for External Encoder Signals ............................................................................ 215
Encoder Simulation .................................................................................................... 216
9.3.4 Synchronization and Online Positioning via McBSP Signals .............................................. 216

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10 Commands And Functions ............................................................................................................. 217
10.1 Overview ..................................................................................................................................... 217
10.1.1 Nomenclature .................................................................................................................. 217
Multi-Board Commands ............................................................................................. 217
Normal, Short and Variable List Commands and List Multi-Commands ...................... 217
Undelayed and Delayed Short List Commands (as of Version OUT 515) ..................... 218
List Multi-Commands ................................................................................................. 218
10.1.2 Compatibility ................................................................................................................... 219
10.1.3 Version Information ......................................................................................................... 219
10.1.4 Optional Functions ........................................................................................................... 219
10.1.5 Control Commands .......................................................................................................... 220
10.1.6 List Commands ................................................................................................................ 223
10.1.7 Data Types ........................................................................................................................ 226
10.2 RTC®5 Command 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_pos ........................................................................................................................ 239
bounce_supp .............................................................................................................................. 240
clear_fly_overflow ....................................................................................................................... 240
clear_io_cond_list ........................................................................................................................ 241
config_laser_signals .................................................................................................................... 242
config_laser_signals_list .............................................................................................................. 242
config_list ................................................................................................................................... 243
control_command ....................................................................................................................... 244
copy_dst_src ............................................................................................................................... 254
disable_laser ............................................................................................................................... 255
enable_laser ................................................................................................................................ 255
execute_at_pointer ..................................................................................................................... 256
execute_list ................................................................................................................................. 256
execute_list_1 ............................................................................................................................. 256
execute_list_2 ............................................................................................................................. 256
execute_list_pos .......................................................................................................................... 257
fly_return .................................................................................................................................... 258
fly_return_z ................................................................................................................................. 259
free_rtc5_dll ................................................................................................................................ 259
get_auto_cal ............................................................................................................................... 260
get_char_pointer ......................................................................................................................... 260
get_config_list ............................................................................................................................ 261
get_counts .................................................................................................................................. 261
get_dll_version ............................................................................................................................ 261
get_encoder ................................................................................................................................ 262
get_error ..................................................................................................................................... 263
get_fly_2d_offset ........................................................................................................................ 264

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get_free_variable ........................................................................................................................ 265
get_head_para ............................................................................................................................ 265
get_head_status .......................................................................................................................... 266
get_hex_version .......................................................................................................................... 267
get_hi_data ................................................................................................................................. 267
get_hi_pos .................................................................................................................................. 268
get_input_pointer ....................................................................................................................... 269
get_io_status .............................................................................................................................. 269
get_jump_table ........................................................................................................................... 270
get_laser_pin_in .......................................................................................................................... 270
get_last_error .............................................................................................................................. 270
get_list_pointer ........................................................................................................................... 271
get_list_serial .............................................................................................................................. 271
get_list_space ............................................................................................................................. 272
get_marking_info ........................................................................................................................ 273
get_master_slave ........................................................................................................................ 275
get_mcbsp .................................................................................................................................. 275
get_mcbsp_list ............................................................................................................................ 276
get_out_pointer .......................................................................................................................... 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_status ........................................................................................................................... 284
get_table_para ............................................................................................................................ 285
get_text_table_pointer ................................................................................................................ 285
get_time ..................................................................................................................................... 286
get_transform ............................................................................................................................. 287
get_value .................................................................................................................................... 291
get_values ................................................................................................................................... 293
get_wait_status ........................................................................................................................... 293
get_waveform ............................................................................................................................. 294
get_z_distance ............................................................................................................................ 295
goto_xy ....................................................................................................................................... 296
goto_xyz ..................................................................................................................................... 297
home_position ............................................................................................................................ 298
home_position_xyz ..................................................................................................................... 299
if_cond ........................................................................................................................................ 299
if_fly_x_overflow ......................................................................................................................... 300
if_fly_y_overflow ......................................................................................................................... 300
if_fly_z_overflow ......................................................................................................................... 301
if_not_activated .......................................................................................................................... 301
if_not_cond ................................................................................................................................. 302
if_not_fly_x_overflow .................................................................................................................. 302
if_not_fly_y_overflow .................................................................................................................. 303
if_not_fly_z_overflow .................................................................................................................. 303

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if_not_pin_cond .......................................................................................................................... 304
if_pin_cond ................................................................................................................................. 304
init_fly_2d ................................................................................................................................... 305
init_rtc5_dll ................................................................................................................................. 306
jump_abs .................................................................................................................................... 307
jump_abs_3d .............................................................................................................................. 308
jump_rel ...................................................................................................................................... 309
jump_rel_3d ................................................................................................................................ 310
laser_on_list ................................................................................................................................ 311
laser_on_pulses_list ..................................................................................................................... 312
laser_signal_off ........................................................................................................................... 313
laser_signal_off_list ..................................................................................................................... 313
laser_signal_on ........................................................................................................................... 314
laser_signal_on_list ..................................................................................................................... 314
list_call ........................................................................................................................................ 315
list_call_abs ................................................................................................................................. 316
list_call_abs_cond ....................................................................................................................... 316
list_call_cond .............................................................................................................................. 317
list_continue ............................................................................................................................... 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_char .................................................................................................................................... 327
load_correction_file .................................................................................................................... 328
load_disk ..................................................................................................................................... 331
load_fly_2d_table ........................................................................................................................ 333
load_jump_table ......................................................................................................................... 334
load_jump_table_offset .............................................................................................................. 335
load_list ...................................................................................................................................... 336
load_position_control ................................................................................................................. 338
load_program_file ....................................................................................................................... 340
load_stretch_table ...................................................................................................................... 343
load_sub ..................................................................................................................................... 344
load_text_table ........................................................................................................................... 344
load_varpolydelay ....................................................................................................................... 346
load_z_table ................................................................................................................................ 347
long_delay .................................................................................................................................. 348
mark_abs .................................................................................................................................... 349
mark_abs_3d .............................................................................................................................. 350
mark_char ................................................................................................................................... 351
mark_char_abs ............................................................................................................................ 352
mark_date ................................................................................................................................... 353
mark_date_abs ............................................................................................................................ 354
mark_ellipse_abs ......................................................................................................................... 355
mark_ellipse_rel .......................................................................................................................... 356

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mark_rel ...................................................................................................................................... 356
mark_rel_3d ................................................................................................................................ 357
mark_serial .................................................................................................................................. 358
mark_serial_abs .......................................................................................................................... 360
mark_text .................................................................................................................................... 361
mark_text_abs ............................................................................................................................. 362
mark_time ................................................................................................................................... 363
mark_time_abs ............................................................................................................................ 364
mcbsp_init .................................................................................................................................. 364
measurement_status ................................................................................................................... 365
micro_vector_abs ........................................................................................................................ 366
micro_vector_abs_3d .................................................................................................................. 367
micro_vector_rel ......................................................................................................................... 368
micro_vector_rel_3d .................................................................................................................... 369
move_to ...................................................................................................................................... 370
para_jump_abs ........................................................................................................................... 371
para_jump_abs_3d ...................................................................................................................... 372
para_jump_rel ............................................................................................................................. 373
para_jump_rel_3d ....................................................................................................................... 374
para_laser_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
read_encoder .............................................................................................................................. 385
read_io_port ............................................................................................................................... 386
read_io_port_buffer .................................................................................................................... 386
read_io_port_list ......................................................................................................................... 387
read_mcbsp ................................................................................................................................ 388
read_multi_mcbsp ...................................................................................................................... 389
read_status ................................................................................................................................. 390
read_user_data ........................................................................................................................... 391
release_rtc ................................................................................................................................... 392
release_wait ................................................................................................................................ 392
reset_error .................................................................................................................................. 393
restart_list ................................................................................................................................... 393
rs232_config ............................................................................................................................... 394
rs232_read_data ......................................................................................................................... 394
rs232_write_data ........................................................................................................................ 395
rs232_write_text ......................................................................................................................... 395
rs232_write_text_list ................................................................................................................... 396
rtc5_count_cards ........................................................................................................................ 396
save_and_restart_timer ............................................................................................................... 397
save_disk ..................................................................................................................................... 398
select_char_set ............................................................................................................................ 399
select_cor_table .......................................................................................................................... 400

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select_cor_table_list .................................................................................................................... 402
select_rtc ..................................................................................................................................... 403
select_serial_set .......................................................................................................................... 404
select_serial_set_list .................................................................................................................... 404
send_user_data ........................................................................................................................... 404
set_angle .................................................................................................................................... 405
set_angle_list .............................................................................................................................. 406
set_auto_laser_control ................................................................................................................ 407
set_auto_laser_params ................................................................................................................ 409
set_auto_laser_params_list ......................................................................................................... 409
set_char_pointer ......................................................................................................................... 410
set_char_table ............................................................................................................................. 411
set_control_mode ....................................................................................................................... 412
set_control_mode_list ................................................................................................................. 413
set_default_pixel ......................................................................................................................... 413
set_default_pixel_list ................................................................................................................... 414
set_defocus ................................................................................................................................. 414
set_defocus_list ........................................................................................................................... 415
set_delay_mode .......................................................................................................................... 415
set_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_ext_start_delay_list ............................................................................................................... 423
set_firstpulse_killer ...................................................................................................................... 423
set_firstpulse_killer_list ............................................................................................................... 423
set_fly_2d ................................................................................................................................... 424
set_fly_limits ............................................................................................................................... 425
set_fly_limits_z ............................................................................................................................ 425
set_fly_rot ................................................................................................................................... 426
set_fly_rot_pos ............................................................................................................................ 427
set_fly_tracking_error ................................................................................................................. 428
set_fly_x ...................................................................................................................................... 429
set_fly_x_pos ............................................................................................................................... 430
set_fly_y ...................................................................................................................................... 431
set_fly_y_pos ............................................................................................................................... 432
set_free_variable ......................................................................................................................... 433
set_free_variable_list ................................................................................................................... 433
set_hi .......................................................................................................................................... 434
set_input_pointer ........................................................................................................................ 434
set_io_cond_list .......................................................................................................................... 435
set_jump_mode .......................................................................................................................... 436
set_jump_mode_list .................................................................................................................... 438
set_jump_speed .......................................................................................................................... 438
set_jump_speed_ctrl ................................................................................................................... 439
set_jump_table ........................................................................................................................... 439
set_laser_control ......................................................................................................................... 440

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set_laser_delays .......................................................................................................................... 442
set_laser_mode ........................................................................................................................... 443
set_laser_off_default ................................................................................................................... 443
set_laser_pin_out ........................................................................................................................ 444
set_laser_pin_out_list .................................................................................................................. 444
set_laser_pulses .......................................................................................................................... 445
set_laser_pulses_ctrl .................................................................................................................... 445
set_laser_timing .......................................................................................................................... 446
set_list_jump ............................................................................................................................... 447
set_mark_speed .......................................................................................................................... 448
set_mark_speed_ctrl ................................................................................................................... 448
set_matrix ................................................................................................................................... 449
set_matrix_list ............................................................................................................................. 450
set_max_counts .......................................................................................................................... 451
set_mcbsp_freq ........................................................................................................................... 451
set_mcbsp_in .............................................................................................................................. 452
set_mcbsp_in_list ........................................................................................................................ 453
set_mcbsp_matrix ....................................................................................................................... 454
set_mcbsp_matrix_list ................................................................................................................. 454
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_list .............................................................................................................. 461
set_n_pixel .................................................................................................................................. 462
set_offset .................................................................................................................................... 463
set_offset_list .............................................................................................................................. 463
set_offset_xyz ............................................................................................................................. 464
set_offset_xyz_list ....................................................................................................................... 465
set_pixel ...................................................................................................................................... 466
set_pixel_line .............................................................................................................................. 467
set_pixel_line_3d ......................................................................................................................... 468
set_port_default .......................................................................................................................... 469
set_pulse_picking ........................................................................................................................ 470
set_pulse_picking_length ............................................................................................................ 470
set_pulse_picking_list .................................................................................................................. 471
set_qswitch_delay ....................................................................................................................... 471
set_qswitch_delay_list ................................................................................................................. 471
set_rot_center ............................................................................................................................. 472
set_rot_center_list ....................................................................................................................... 472
set_rtc4_mode ............................................................................................................................ 473
set_rtc5_mode ............................................................................................................................ 473
set_scale ..................................................................................................................................... 474
set_scale_list ............................................................................................................................... 475
set_scanner_delays ...................................................................................................................... 475
set_serial ..................................................................................................................................... 476
set_serial_step ............................................................................................................................. 476

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set_serial_step_list ...................................................................................................................... 477
set_sky_writing ........................................................................................................................... 477
set_sky_writing_limit ................................................................................................................... 478
set_sky_writing_limit_list ............................................................................................................ 478
set_sky_writing_list ..................................................................................................................... 478
set_sky_writing_mode ................................................................................................................ 479
set_sky_writing_mode_list .......................................................................................................... 480
set_sky_writing_para .................................................................................................................. 481
set_sky_writing_para_list ............................................................................................................ 483
set_softstart_level ....................................................................................................................... 484
set_softstart_level_list ................................................................................................................. 485
set_softstart_mode ..................................................................................................................... 486
set_softstart_mode_list ............................................................................................................... 487
set_standby ................................................................................................................................. 488
set_standby_list .......................................................................................................................... 489
set_start_list ................................................................................................................................ 489
set_start_list_1 ............................................................................................................................ 489
set_start_list_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 .................................................................................................................... 503
set_wobbel_direction .................................................................................................................. 504
set_wobbel_mode ....................................................................................................................... 505
set_wobbel_offset ....................................................................................................................... 507
set_wobbel_vector ...................................................................................................................... 507
simulate_encoder ........................................................................................................................ 509
simulate_ext_start ....................................................................................................................... 510
simulate_ext_start_ctrl ................................................................................................................ 511
simulate_ext_stop ....................................................................................................................... 511
start_loop ................................................................................................................................... 512
stepper_abs ................................................................................................................................ 513
stepper_abs_list .......................................................................................................................... 514
stepper_abs_no ........................................................................................................................... 514
stepper_abs_no_list .................................................................................................................... 515
stepper_control ........................................................................................................................... 515
stepper_control_list .................................................................................................................... 516
stepper_enable ........................................................................................................................... 516
stepper_enable_list ..................................................................................................................... 517
stepper_init ................................................................................................................................. 518
stepper_rel .................................................................................................................................. 520
stepper_rel_list ............................................................................................................................ 520
stepper_rel_no ............................................................................................................................ 521
stepper_rel_no_list ...................................................................................................................... 521
stepper_wait ............................................................................................................................... 522
stop_execution ............................................................................................................................ 523

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stop_list ...................................................................................................................................... 523
stop_trigger ................................................................................................................................ 524
store_encoder ............................................................................................................................. 524
sub_call ....................................................................................................................................... 525
sub_call_abs ................................................................................................................................ 525
sub_call_abs_cond ...................................................................................................................... 526
sub_call_cond ............................................................................................................................. 526
switch_ioport .............................................................................................................................. 527
sync_slaves .................................................................................................................................. 528
time_fix ....................................................................................................................................... 529
time_fix_f .................................................................................................................................... 529
time_fix_f_off .............................................................................................................................. 530
time_update ............................................................................................................................... 530
timed_arc_abs ............................................................................................................................. 531
timed_arc_rel .............................................................................................................................. 532
timed_jump_abs ......................................................................................................................... 533
timed_jump_abs_3d ................................................................................................................... 534
timed_jump_rel ........................................................................................................................... 535
timed_jump_rel_3d ..................................................................................................................... 536
timed_mark_abs ......................................................................................................................... 537
timed_mark_abs_3d .................................................................................................................... 538
timed_mark_rel ........................................................................................................................... 539
timed_mark_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_mark_rel_3d ............................................................................................................ 549
transform .................................................................................................................................... 550
upload_transform ....................................................................................................................... 552
verify_checksum .......................................................................................................................... 553
wait_for_encoder ........................................................................................................................ 553
wait_for_encoder_in_range ........................................................................................................ 554
wait_for_encoder_mode ............................................................................................................. 555
wait_for_mcbsp .......................................................................................................................... 556
write_8bit_port ........................................................................................................................... 556
write_8bit_port_list ..................................................................................................................... 557
write_da_1 .................................................................................................................................. 557
write_da_1_list ............................................................................................................................ 557
write_da_2 .................................................................................................................................. 557
write_da_2_list ............................................................................................................................ 558
write_da_x .................................................................................................................................. 558
write_da_x_list ............................................................................................................................ 558
write_io_port .............................................................................................................................. 559
write_io_port_list ........................................................................................................................ 559
write_io_port_mask .................................................................................................................... 559
write_io_port_mask_list .............................................................................................................. 560
10.3 Unsupported RTC®2/RTC®3/RTC®4 Commands .......................................................................... 561
11 Demo Programs ............................................................................................................................. 566

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12 Troubleshooting ............................................................................................................................. 567
13 Customer Service ........................................................................................................................... 569
13.1 Servicing and Repairs .................................................................................................................. 569
13.2 Warranty ..................................................................................................................................... 569
13.3 Contacting SCANLAB .................................................................................................................. 569
13.4 Product Disposal ......................................................................................................................... 569
14 Technical Specifications of the RTC®5 PC Interface Board ............................................................ 570
14.1 Compliance with EC Guidelines for Electromagnetic Compatibility (EMC) .................................. 573
14.2 Compliance with FCC Rules ......................................................................................................... 573
15 Appendix A: The RTC®5 PC/104-Plus Board ................................................................................... 574
15.1 Product Overview ........................................................................................................................ 574
15.1.1 Intended Use – Comparison to the RTC®5 PC interface board ......................................... 574
15.1.2 System Requirements ....................................................................................................... 574
Hardware .................................................................................................................... 574
Software ..................................................................................................................... 575
15.1.3 Optional Functionality ...................................................................................................... 575
15.1.4 Identification .................................................................................................................... 575
15.1.5 Type Identification ............................................................................................................ 575
15.1.6 Unpacking Instructions and Typical Package Contents ..................................................... 576
Delivered Software ..................................................................................................... 576
15.1.7 Optional 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 Synchronization .......................................................................................... 579
15.2.4 Interfaces to Scan System ................................................................................................ 579
15.2.5 Interfaces for the Laser and Peripheral Equipment ........................................................... 580
LASER connector ........................................................................................................ 580
MULTI connector ........................................................................................................ 580
15.3 Installation and Start-Up ............................................................................................................. 583
15.3.1 Safety During Installation and Operation ......................................................................... 583
15.3.2 Jumper Settings ............................................................................................................... 584
Jumper 17+18: Setting the Binary Stack Address ....................................................... 584
JP19: +5 V Power Supply ........................................................................................... 585
JP10+12: 10 V Output Voltage for ANALOG OUT1 and ANALOG OUT2 ..................... 585
Jumper JP1: Selecting the Output Signal Level at the MULTI connector ...................... 586
Jumper 2-8: Configuring Pin B40 and Pin B42 at the MULTI connector ...................... 586
15.3.3 Installing the RTC®5 PC/104-Plus Board ........................................................................... 587
15.3.4 Installing the Drivers and the RTC®5 Software ................................................................. 589
15.3.5 Functionality Test, User Applications and Demo Software ................................................ 589
15.4 Technical Specifications of RTC®5 PC/104-Plus Board .................................................................. 590