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XPS-Q8 Controller
1. GroupInitialize
2. GroupHomeSearch
3. GroupMoveAbsolute
4. GroupMoveRelative
5. GroupMotionDisable
6. GroupMotionEnable
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Called function
7. GroupMoveAbort
8. GroupKill or KillAll
9. GroupSpinParametersSet
10. GroupSpinModeStop
11. SpinSlaveModeEnable
12. SpinSlaveModeDisable
6.3
Motion Groups
Within the XPS controller, each positioner or axis of motion must be assigned to a
motion group. This "group" can either be a SingleAxis group, a Spindle group, an XY
group, an XYZ group or a MultipleAxes group. Once defined, the XPS automatically
manages all safeties and trajectories of the motion group from the same function. For
instance, the function GroupHomeSearch (GroupName) automatically homes the
whole motion group GroupName independent of its definition as a SingleAxis group, a
Spindle group, an XY group, an XYZ group or a MultipleAxes group. Within the
system configuration file, system.ini, select the home sequence as "sequential", one
positioner after the other, or in "parallel", with all positioners homing at the same time.
With a single function such as GroupMoveAbsolute (GroupName, Position), the
whole motion group, GroupName, is moved synchronously to the defined absolute
position, where "Position" may be one or more parameters depending on the number of
positioners this motion group contains. This same command can be used to move a
single positioner of a group to an absolute position by using the syntax
GroupMoveAbsolute (GroupName.PositionerName, Position1). These powerful,
object-oriented functions are not only extremely intuitive and easy to use, they are also
more consistent with other programming methods and reduce the number of commands
learned compared to traditional mnemonic commands.
Another benefit provided by motion groups is improved error handling. For instance,
whenever an error occurs due to a following error or a loss of the end-of-run signal,
only the motion group where the error originated is affected (disabled) while all other
motion groups remain active and enabled. The XPS manages these events
automatically. This greatly reduces complexity and improves the security and safety of
sensitive applications.
13. GroupAnalogTrackingModeEnable
14. GroupAnalogTrackingModeDisable
15. GroupInitializeWithEncoderCalibration
16. GroupReferencingStart
17. GroupReferencingStop
State diagram of the XPS controller.
70
Motion Tutorial
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