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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
In this example, gathering is started when the positioner XY.X starts its next motion
using the Sgamma profiler, in this case with GroupMoveRelative() or possibly with
GroupMoveAbsolute(). The types of data being collected are the Setpoint Position,
Current Velocity and Setpoint Acceleration for the positioner XY.X. A total of 4000
data sets is collected, one data point every 8
8/8000 s = 0.001 s.
Example 2
Using the terminal screen of the XPS utility, this example shows the sequence of
functions to accomplish a time-based data gathering started by a function call.
GroupInitialize(X)
GroupHomeSearch(X)
GatheringConfigurationSet(X.X.SetpointPosition, X.X.FollowingError)
GatheringRun (5000,8)
GroupMoveRelative (X, 10)
GatheringStop ()
GatheringStopAndSave ()
In this example, gathering is started by a function call. The SetpointPosition and
FollowingError of the positioner XY.X are gathered at a rate of 1 kHz (every 8
cycle, 8 kHz servo cycle rate). Data gathering is stopped after the relative move is
completed.
Gathering will stop automatically once the number of points specified has been
collected. However, data will not be saved automatically to a file. The function
GatheringStopAndSave() must be used to save the data to a file.
It is also possible to halt data gathering at an event. To do so, define another event
trigger and assign the action GatheringStop to that event. Use another event trigger and
assign the action GatheringRunAppend to continue with gathering. For details, see
chapter 11.0: "Event Triggers".
The function GatheringRun() always starts a new internal data gathering and
deletes any previous internal gathering data hold in the buffer. If you want to
append data to the file, use the function GatheringRunAppend() instead.
12.2
Event-Based (Internal) Data Gathering
The event-based gathering provides a method to gather data at an event. For instance,
gathering data at a certain value of a digital or analog input, during a constant velocity
state of a motion or on a trajectory pulse.
The event-based data gathering uses the same file as the time-based and the function
based data gathering (see sections 12.1 and 12.3). However, unlike the time-based
gathering, the event-based gathering appends data to the existing file in memory. This
allows gathering of data during several periods or even with different methods in one
common file, see examples. To start data gathering in a new file, use the function
GatheringReset(), which deletes the current gathering file from memory.
The data type(s) that can be collected with event-based gathering are the same as data
for time-based and function-based gathering:
PositionerName.CurrentPosition
PositionerName.SetpointPosition
PositionerName.FollowingError
PositionerName.CurrentVelocity
PositionerName.SetpointVelocity
th
servo cycles, or one data point every
Note
150
Motion Tutorial
th
servo
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