Newport XPS-Q8 Users Manual, Software Tools And Tutorial page 6

XPS-Q8
XPSDocumentation V1.4.x (EDH0301En1060 - 10/17)
Universal High-Performance Motion Controller/Driver
7.3.2 Moves of Certain Displacements ....................................................................... 80
7.3.3 Position Counter Resets ..................................................................................... 80
7.3.4 State Diagram .................................................................................................... 81
7.3.5 Example: MechanicalZeroAndIndexHomeSearch ............................................. 81
7.4 Move ...................................................................................................................................... 81
7.5 Motion Done .......................................................................................................................... 83
7.6 JOG ........................................................................................................................................ 85
7.7 Master Slave .......................................................................................................................... 86
7.8 Analog Tracking .................................................................................................................... 87
7.8.1 Analog Position Tracking .................................................................................. 88
7.8.2 Analog Velocity Tracking .................................................................................. 88
8.0 Trajectories ................................................................................................. 90
8.1 Line-Arc Trajectories ............................................................................................................. 90
8.1.1 Trajectory Terminology ..................................................................................... 90
8.1.2 Trajectory Conventions ...................................................................................... 91
8.1.3 Geometric Conventions ..................................................................................... 91
8.1.4 Defining Line-Arc Trajectory Elements ............................................................ 91
8.1.5 Define Lines ....................................................................................................... 92
8.1.6 Define Arcs ........................................................................................................ 93
8.1.7 Trajectory File Description ................................................................................ 93
8.1.8 Trajectory File Examples ................................................................................... 93
8.1.9 Trajectory Verification and Execution ............................................................... 94
8.1.10 Examples of the Use of the Functions.............................................................. 95
8.2 Splines ................................................................................................................................... 96
8.2.1 Trajectory Terminology ..................................................................................... 96
8.2.2 Trajectory Conventions ...................................................................................... 96
8.2.3 Geometric Conventions ..................................................................................... 96
8.2.4 Catmull-Rom Interpolating Splines ................................................................... 97
8.2.5 Trajectory Elements Arc Length Calculation..................................................... 97
8.2.6 Trajectory File Description ................................................................................ 98
8.2.7 Trajectory File Example .................................................................................... 98
8.2.8 Spline Trajectory Verification and Execution .................................................. 100
8.2.9 Examples .......................................................................................................... 101
8.3 PVT Trajectories .................................................................................................................. 101
8.3.1 Trajectory Terminology ................................................................................... 101
8.3.2 Trajectory Conventions .................................................................................... 101
8.3.3 Geometric Conventions ................................................................................... 102
8.3.4 PVT Interpolation ............................................................................................ 102
8.3.5 Influence of the Element Output Velocity to the Trajectory ............................ 103
8.3.6 Trajectory File Description .............................................................................. 104
8.3.7 Trajectory File Example .................................................................................. 105
8.3.8 PVT Trajectory Verification and Execution .................................................... 106
8.3.9 Examples of the Use of the functions .............................................................. 107
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