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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Example 2
TimerSet(Timer1, 8)
Sets the timer 1 to 8 servo ticks, means every 1 ms.
GatheringReset()
Deletes gathering buffer from 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(Timer1,0,0,0,0,
GPIO2.ADC1.ADCHighLimit,5,0,0,0)
EventExtendedConfigurationActionSet(GatheringOneData,0,0,0,0)
EventExtendedStart()
Different from the previous example, here the event ADCHighLimit is linked to the
event Timer1. This has two effects. First, the event becomes permanent as the event
timer is permanent. Second, one set of data is gathered only every 10 ms (combination
of events must be true). For details on the event definition, please see chapter 11.0:
"Event Triggers".
As a result, one set of data is gathered every 10 ms whenever the value of the
GPIO2.ADC1 exceeds 5 Volts.
Example 3
TimerSet(Timer1, 8)
Sets the timer 1 to 8 servo ticks, means every 1 ms.
GatheringReset()
Deletes gathering buffer from memory.
GatheringConfigurationSet(XYZ.X.CurrentPosition,
XYZ.Y.CurrentPosition, XYZ.Z.CurrentPosition)
EventExtendedConfigurationTriggerSet(Timer1,0,0,0,0,
XYZ.Spline.TrajectoryState,0,0,0,0)
EventExtendedConfigurationActionSet(GatheringOneData,0,0,0,0)
EventExtendedStart()
In this example, during the execution of the next spline trajectory on the group XYZ,
one set of data will be gathered every 10 ms. In contrast to time-based gathering, which
allows programming of a similar function, data gathering will automatically stop at the
end of the trajectory. Also, it is not needed to define the total number of data sets that
will be gathered.
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Motion Tutorial
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