Table of Contents
Advertisement
XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Action Parameter #3 and #4
For further details on data gathering, see chapter 12: "Data Gathering".
MoveAbort: This action stops (abort) a motion on an event. It is similar to sending a
MoveAbort() function on the event. After stopping, the group is in the READY
state.
Action Parameter #1 to #4
11.3
Functions
The following functions are related to event triggers:
• EventExtendedConfigurationTriggerSet (): This function configures one or
several events. In the case of several events, the different events are separated by a
comma (,) in the argument list. Before activating an event, one or several actions
must be configured with the function EventExtendedConfigurationActionSet(). Only
then, the event and the associated action(s) can be activated with the function
EventExtendedStart().
• EventExtendedConfigurationTriggerGet (): This function returns the event
configuration defined by the last EventExtendedConfigurationTriggerSet() function.
• EventExtendedConfigurationActionSet (): This function associates an action to
the event defined by the last EventExtendedConfigurationTriggerSet() function.
• EventExtendedConfigurationActionGet (): This function returns the action
configuration defined by the last EventExtendedConfigurationActionSet() function.
• EventExtendedStart (): This function launches (activates) the last configured event
and the associated action(s) defined by the last
EventExtendedConfigurationTriggerSet() and
EventExtendedConfigurationActionSet() and returns an event identifier. When
activated, the XPS controller checks for the event at each servo cycle (or at each
profiler cycle for those events that are motion related) and triggers the action when
the event occurs. Hence, the maximum latency between the event and the action is
equal to the servo cycle time of 125 µs or equal to the profiler cycle time of 400 µs
for motion related events. For events with duration, it also means that the same
action is triggered at each servo cycle, meaning every 125 µs, or at each profiler
cycle, which is every 400 µs as long as the event occurs.
Event triggers (and their associated action) are automatically removed after the
event configuration has happened at least once and is no longer true. The only
exception is if the event configuration contains any of the permanent events
"Always" or "Trigger". In this case the event trigger will always stay active. With
the function EventExtendedRemove(), any event trigger can get removed.
• EventExtendedWait (): This function halts a process (essentially by blocking the
socket) until the event defined by the last EventExtendedConfigurationTriggerSet()
occurs.
• EventExtendedRemove (): This function removes the event trigger associated with
the defined event identifier.
• EventExtendedGet (): This function returns the event configuration and the action
configuration associated with the defined event identifier.
• EventExtendedAllGet (): This function returns, for all active event triggers, the
event identifier, the event configuration and the action configuration. The details of
the different event triggers are separated by a comma (,).
will take place. This parameter must be an
integer and greater than or equal to 1. For
example if the divisor is set to 5 then
gathering will take place every 5th trigger on
the trigger input signal.
These parameters are 0 by default.
These parameters are 0 by default.
142
Motion Tutorial
Advertisement
Table of Contents
