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XPS-Q8 Controller
A move can be stopped at any time with the function GroupMoveAbort() that accepts
GroupNames and PositionerNames. It is important to note, however, that the function
GroupMoveAbort(PositionerNames) is accepted when the motion was commanded to
the positioner, and not to the group. In the previous example, the function
GroupMoveAbort(ScanTable.ScanAxis) is rejected for a motion that has been
launched with GroupMoveRelative(ScanTable, 100, 50). To stop this motion, send the
function GroupMoveAbort(ScanTable).
With XPS firmware 1.5.0 and higher, the XPS controller supports also asynchronous
moves of several positioners belonging to the same motion group. The individual
motion, however, needs to be managed by separate threads (see also section 18.4 for
details).
7.5
Motion Done
The XPS controller supports two methods that define when a motion is completed
(MotionDone): the theoretical MotionDone and the VelocityAndPositionWindow
MotionDone. The method used is set in the stages.ini file. In theory, MotionDone is
completed as defined by the profiler. However, it does not take into account the settling
of the positioner at the end of the move. So depending on the precision and stability
requirements at the end of the move, the theoretical MotionDone might not always be
the same as the physical end of the motion. The VelocityAndPositionWindow
MotionDone allows a more precise definition by specifying the end of the move with a
number of parameters that take the settling of the positioner into account. In the
VelocityAndPositionWindow MotionDone, the motion is completed when:
| PositionErrorMeanValue | < | MotionDonePositionThreshold | AND |
VelocityMeanValue | < | MotionDoneVelocityThreshold | is verified during the
MotionDoneCheckingTime period.
The different parameters have the following meaning:
Figure 23: Motion Done.
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XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
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