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XPS-Q8 Controller
7.3.4
State Diagram
The Referencing state is a parallel state to the homing state. It is between the
NotReferenced state and the Ready state. Please see the state diagram below:
7.3.5
Example: MechanicalZeroAndIndexHomeSearch
The following sequence of functions has the same effect as the
MechanicalZeroAndIndexHomeSearch:
GroupReferencingStart(GroupName)
PositionerHardwareStatusGet (PositionerName, &status)
if ((status & 4) == 0) { // 4 is the Mechanical zero mask on the hardware status
GroupReferencingActionExecute(PositionerName, "LatchOnLowToHighTransition",
"MechanicalZero, -10) }
GroupReferencingActionExecute(PositionerName, "LatchOnHighToLowTransition",
"MechanicalZero", 10)
GroupReferencingActionExecute(PositionerName, "LatchOnLowToHighTransition",
"MechanicalZero", -5)
GroupReferencingActionExecute(PositionerName,
"LatchOnIndexAfterSensorHighToLow", "MechanicalZero", 5)
GroupReferencingActionExecute(PositionerName, "MoveToPreviouslyLatchedPosition",
"None", 5)
GroupReferencingActionExecute(PositionerName, "SetPositionToHomepreset", "None",
0)
GroupReferencingStop(GroupName)
7.4
Move
A move is a point-to-point motion. On execution of a move command, the motion
device moves from a current position to a desired destination (absolute move) or by a
defined increment (relative move). During motion, the controller is monitoring the
feedback of the positioner and is updating the output based upon the following error.
The XPS controller's position servo is being updated at 8 kHz and the profile generator
at 2.5 kHz, providing highly accurate closed loop positioning. Between the profiler and
the corrector, there is a time-based linear interpolation to accommodate the different
frequencies.
Figure 22: State Diagram.
81
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
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