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XPS-Q8 Controller
13.2
Triggers on PVT Trajectories
This capability outputs pulses at constant time intervals on a PVT trajectory. The pulses
are generated between a first and a last trajectory element (see 9.3, PVT Trajectories for
details). The minimum possible time interval is 125 µs.
Two signals are provided:
GPIO2, pin11, Window:
GPIO2, pin12, Pulse:
For details about the XPS I/O connectors, see appendix, section 22.2.
To define the first element, the last element and the time interval, use the function
MultipleAxesGroupPVTPulseOutputSet().
Example 1
MultipleAxesGroupPVTPulseOutputSet (Group1, 3, 5, 0.01)
One pulse will be generated every 10 ms between the start of the 3rd element
and the end of the 5th element.
MultipleAxesPVTVerification(Group1, Traj.trj)
Loads and verifies the trajectory Traj.trj
MultipleAxesPVTExecution(XY, Traj.trj, 1)
Executes the trajectory Traj.trj one time.
Note that the pulse output settings are automatically removed when the trajectory is
over. Hence, with the execution of every new trajectory, the pulse output settings must
be defined 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.
Example 2
MultipleAxesPVTPulseOutputSet(Group1, 3, 5, 0.01)
One pulse will be generated every 10 ms between the start of the 3rd element
and the end of the 5th element.
MultipleAxesPVTVerification(Group1, Traj.trj)
Loads and verifies the trajectory Traj.trj
GatheringConfigurationSet(Group1.P.CurrentPosition, GPIO2.ADC1)
Configures data gathering to capture the current position of the Group1.P
positioner and the analog input GPIO2.ADC1
EventExtendedConfigurationTriggerSet(Always,
0,0,0,0,Group1.PVT.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
MultipleAxesPVTExecution(XY, Traj.trj, 1)
Executes the trajectory Traj.trj one time.
GatheringStopAndSave()
A constant 5 V signal is sent between the beginning of the
first and the end of the last trajectory element.
A 1 µs pulse with 5V peak voltage is sent for every time
interval
157
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
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