Move On Sensor Events - Newport XPS-Q8 Users Manual, Software Tools And Tutorial

XPS-Q8 Controller
Action
LatchOnLowToHighTransition
LatchOnHighToLowTransition
LatchOnIndex
LatchOnIndexAfterSensorHighToLowTransition
SetPosition
SetPositionToHomePreset
MoveToPreviouslyLatchedPosition
MoveRelative
The following table summarizes all possible configurations:
MechanicalZero
7.3.1

Move on sensor events

The "move on sensor events" starts a motion at a defined velocity, latches the position
when a state transition of a certain sensor is detected, then stops the motion. There are
four possible actions under this category:
• LatchOnLowToHighTransition
• LatchOnHighToLowTransition
• LatchOnIndex
• LatchOnIndexAfterSensorHighToLow
With LatchOnLowToHighTransition and LatchOnHighToLowTransition, latching
happens when the right transition on the defined sensor occurs. The sensor can be
latched to either MechanicalZero, MinusEndOfRun and PositiveEndOfRun when
supported by the hardware, refer to §7.2 to know which hardware supports the function.
With LatchOnIndex and LatchOnIndexAfterSensorHighToLow, latching happens
on the index signal. With LatchOnIndexAfterSensorHighToLow, latching happens
on the first index after a high to low transition at the defined sensor (MechanicalZero
or MinusEndOfRun). Because of the dedicated hardware circuits used for the position
latch, there is essentially no latency between sensor transition detection and position
acquisition.
In all cases, motion stops after the latch. However, this means that the stopped position
doesn't rest on the sensor transition, but at some short distance from it. To move exactly
to the position of the sensor transition, use the action
MoveToPreviouslyLatchedPosition.
The latch does not change the current position value. In order to set the current position
value, use the action SetPosition or SetPositionToHomePreset, for instance, after a
MoveToPreviouslyLatchedPosition.
In the Referencing state, the limit switch safeties (emergency stop) are still enabled until
the MinusEndOfRun sensor is specified with a GroupReferencingActionExecute()
function. When specified, the limit switch safeties are disabled and will only be re-
enabled with the function GroupReferencingStop().
The Parameter has a sign, if it is assigned as velocity (floating point). This means that
the direction of motion is dictated by the sign of the velocity parameter.
Sensor
MinusEndOfRun None
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79 XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
Parameter
Position Velocity
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