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XPS-Q8 Controller
PositonerName.CurrentAcceleration
PositionerName.SetpointAcceleration
PositionerName.CorrectorOutput
GPIO (ADC, DAC, DI, DO) See Programmer's manual for a list of all the
GPIO Names for the Analog and Digital I/O.
The Setpoint values refer to the theoretical values from the profiler where as 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.
The following sequence of functions is used in event-based data gathering:
GatheringReset()
GatheringConfigurationSet()
EventExtendedConfigurationTriggerSet()
EventExtendedConfigurationActionSet(GatheringOneData,0,0,0,0)
EventExtendedStart()
...
Use the function GatheringStopAndSave() to store the gathered file from the
buffer to the flash disk of the XPS controller.
Other functions associated with the event-based gathering are:
GatheringConfigurationGet()
GatheringCurrentNumberGet()
GatheringDataGet()
Please refer to the programmer's manual for details.
Example 1
GatheringReset()
Deletes gathering buffer in memory.
GatheringConfigurationSet(XY.X.CurrentPosition,
XY.Y.CurrentPosition, GPIO2.ADC1)
The 3 data XY.X.CurrentPosition, XY.Y.CurrentPosition and GPIO2.ADC1
will be gathered.
EventExtendedConfigurationTriggerSet(GPIO2.ADC1.ADCHighLimit,
5,0,0,0)
EventExtendedConfigurationActionSet(GatheringOneData,0,0,0,0)
EventExtendedStart()
Data gathering starts when the value of the GPIO2.ADC1 exceeds 5 Volts. One set of
data will be gathered at each servo cycle or every 125 µs (as the event is checked at
each servo cycle). Data gathering automatically stops when the value of the
GPIO2.ADC1 falls below 5 V again and the event is automatically removed (see
chapter 11.0: "Event Triggers" for details).
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XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
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