Events - Newport XPS-Q8 Users Manual, Software Tools And Tutorial

XPS-Q8 Controller
Actor
Group GPIO SGamma
Positioner TimerX
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11.1

Events

General events are defined as "Always", "Immediate" and "Timer". With the event
"Always", an action is triggered each servo cycle, meaning every 125 µs. For events
that are defined as "Immediate", an action is triggered once immediately (during the
very next servo cycle). For the events defined as "Timer", an action is triggered
immediately and every nth servo cycle. Here, "n" corresponds to the "FrequencyTicks"
defined in the function TimerSet(). There are five different timers available that can be
selected by the actor (1...5) (Actor is the object that actions/events are linked to).
All events that are motion related (from MotionStart to TrajectoryPulseOutputState in
the below table, except MotionDone) refer to the motion profiler of the XPS controller.
The motion profiler runs at a frequency of 2.5 kHz, or every 400 µs. Thus, events
triggered by the motion profiler have a resolution of 400 µs. Consequently, events with
duration, such as MotionState, will trigger an action every 400 µs. All motion related
events, except MotionDone, have a category such as "Sgamma" or "Jog". This category
refers to the motion profiler. Here, SGamma refers to the profiler used with the function
GroupMoveRelative and GroupMoveAbsolute and Jog refers to the profiler used in the
Jogging state. The other event categories refer to trajectories. The separator between the
category, the actor, and the event name is a dot (.).
Category
XYLineArc PVT
Jog Spline
Immediate
Always
Timer
MotionStart
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MotionStop
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MotionState
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ConstantVelocityStart
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ConstantVelocityEnd
ConstantVelocityState
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ConstantAccelerationStart
ConstantAccelerationEnd
ConstantAccelerationState
ConstantDecelerationStart
ConstantDecelerationEnd
ConstantDecelerationState
TrajectoryStart
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TrajectoryEnd
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TrajectoryState
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ElementNumberStart
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ElementNumberState
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MotionDone
TrajectoryPulse
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TrajectoryPulseOutputState
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DILowHigh
DIHighLow
DIToggled
ADCHighLimit
ADCLowLimit
PositionerError
PositionerHardwareStatus
Event Name
1
Element #
Element #
Bit index
Bit index
Bit index
Value
Value
Mask
Mask
129 XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
Parameter
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