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XPS-Q8 Controller
User's Manual
one million users. It is quickly becoming a standard and critical component in thousands
of corporations. Consequently TCL is field proven, very well documented and has many
tutorials, applications, tools and books publicly available (www.tcl.tk).
XPS users can use TCL to write complete application code and the XPS allows them to
include any function in a TCL script. When developed, the TCL script can be executed
in real time in the background of the motion controller processor and does not impact
any processing requirements for servo updates or communication. The QNX hardware
real time multiprocessing operating system used on the XPS controller assures precise
management of the multiple processes with the highest reliability. Multiple TCL
programs run in a time-sharing mode with the same priority and will get interrupted
only by the servo, or communication tasks or when the maximum available time of 20
ms for each TCL program is over.
The advantage of executing application code within the controller over host run code is
faster execution and better synchronization, in many cases without any time taken from
the communication link. The complete communication link can be reserved for time
critical process interaction from or to the process or host controller.
NOTE
It is important to note that the XPS gives communication requests priority over
TCL script execution. When using TCL scripts for machine security or other time
critical tasks, it is therefore important to limit the frequency of continuous
communication requests from a host computer, which includes the XPS website,
and to verify the execution speed of repetitive TCL scripts.
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XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
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