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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Gathering.dat
SamplePeriod
GatheringTypeA
ValueA1
ValueA2
...
ValueAN
12.1
Time-Based (Internal) Data Gathering
The data for time-based gathering are latched by an internal interrupt related to the
servo cycle of the XPS (8 kHz). The function GatheringConfigurationSet() defines the
type of data that will be stored in the data file. The following is a list of all the data
type(s) that can be collected:
PositionerName.CurrentPosition
PositionerName.SetpointPosition
PositionerName.FollowingError
PositionerName.CurrentVelocity
PositionerName.SetpointVelocity
PositionerName.CurrentAcceleration
PositionerName.SetpointAcceleration
PositionerName.CorrectorOutput
GPIO (ADC, DAC, DI, DO) See the Programmer's Guide for a list of all the
GPIO Names of the Analog and Digital I/O.
The Setpoint values refer to the theoretical values from the profiler whereas the current
values refer to the actual or real values of position, velocity and acceleration.
To gather information from the secondary positioner of a gantry, append
".SecondaryPositioner" to the positioner name. Example:
PositionerName.SecondaryPositioner.FollowingError
For details about gantry configurations, see chapter 4.9.
It is possible to start the gathering either by a function call or at an event. The following
sequence of functions is used for a time-based data gathering started by a function call:
GatheringConfigurationSet()
GatheringRun()
The following sequence of functions is used to start a time-based data gathering at an
event:
GatheringConfigurationSet()
EventExtendedConfigurationTriggerSet()
EventExtendedConfigurationActionSet()
EventExtendedStart()
A function triggers the action, for instance, a GroupMoveRelative().
When all data is gathered, use the function GatheringStopAndSave() to save the data
from the buffer to the flash disk of the XPS controller.
0
GatheringTypeB
ValueB1
ValueB2
...
ValueBN
148
Motion Tutorial
0
GatheringTypeC
ValueC1
ValueC2
...
ValueCN
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