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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
To define the StartLength, EndLength, and PathLengthInterval, use the function
XYLineArcPulseOutputSet().
Example
XYLineArcPulseOutputSet(XY, 10, 30, 0.01)
One pulse will be generated every 10 µm on the next Line-Arc Trajectory
between 10 mm and 30 mm.
XYLineArcVerification(XY, Traj.trj)
Loads and verifies the trajectory Traj.trj
XYLineArcExecution(XY, Traj.trj, 10, 100, 1)
Executes the trajectory at a trajectory speed of 10 mm/s and with a trajectory
acceleration of 100 mm/s one time.
Please note, that the pulse output settings are automatically removed when the trajectory
is over. Hence, with the execution of every new trajectory, it is also required to define
the pulse output settings again.
It is also possible to use the trajectory pulses and the pulse window state as events in the
event triggers (see section 11.0: "Event Triggers" for details). This allows the gathering
of data on a trajectory at constant length intervals.
Example
XYLineArcPulseOutputSet(XY, 10, 30, 0.01)
One pulse every 10 µm will be generated on the Line-Arc Trajectory between
10 mm and 30 mm.
XYLineArcVerification(XY, Traj.trj)
Loads and verifies the trajectory Traj.trj
GatheringConfigurationSet(XY.X.CurrentPosition,
XY.Y.CurrentPosition, GPIO2.ADC1)
Configures data gathering to capture the current positions of the XY.X and
the XY.Y and the analog input GPIO2.ADC1
EventExtendedConfigurationTriggerSet(Always,
0,0,0,0,XY.LineArc.TrajectoryPulse,0,0,0,0)
Triggers an action for every trajectory pulse. The link of the event
TrajectorPulse with the event Always is important to make the event
permanent. Otherwise, the event will be removed after the first pulse.
EventExtendedConfigurationActionSet(GatheringOneData,0,0,0,0)
Defines the action; gathers one set of data each trajectory pulse.
EventExtendedStart()
Starts the event trigger.
XYLineArcExecution(XY, Traj.trj, 10, 100, 1)
Executes the trajectory at a trajectory speed of 10 mm/s and a trajectory
acceleration of 100 mm/s one time.
GatheringStopAndSave()
Saves the gathering data from memory into a file gathering.dat in the
..admin/public folder of the XPS.
In this example, one set of data will be gathered on the trajectory between length 10 mm
and 30 mm at constant trajectory length intervals of 10 µm.
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Motion Tutorial
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