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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
• MotionDonePositionThreshold: This parameter defines the position error window.
The position error has to be within ± of this value for a period of
MotionDoneCheckingTime to validate this condition.
• MotionDoneVelocityThreshold: This parameter defines the velocity window. The
velocity at the end of the motion has to be within ± of this value for a period of
MotionDoneCheckingTime to validate this condition.
• MotionDoneCheckingTime: This parameter defines the period during which the
conditions for the MotionDonePositionThreshold and the
MotionDoneVelocityThreshold must be true before setting the motion done.
• MotionDoneMeanPeriod: A sliding mean filter is used to attenuate the noise for
the position and velocity parameters. The MotionDoneMeanPeriod defines the
duration for calculating the sliding mean position and velocity. The mean position
and velocity values are compared to the threshold values as defined above. This
parameter is not illustrated on the graph.
• MotionDoneTimeout: This parameter defines the maximum time the controller will
wait from the end of the theoretical move for the MotionDone condition, before
sending a MotionDone time-out.
Important:
The XPS controller can only execute a new move on the same positioner or on the same
motion group when the previous move is completed (MotionDone) and when the
positioner or the motion group is again in the ready state.
The XPS controller allows triggering an action when the motion is completed
(MotionDone) by using the event MotionEnd. For further details see chapter 11.0.
The functions PositionerMotionDoneGet() and PositionerMotionDoneSet() allow
reading and modifying the parameters for the VelocityAndPositionWindow
MotionDone. These parameters are only taken into account when the MotionDoneMode
is set to VelocityAndPositionWindow in the stages.ini.
Example
Modifications of the MotionDoneMode can be made only manually in the stages.ini
file. The stages.ini file is located in the config folder of the XPS controller, see Chapter
5 "FTP connection" for details. Stage parameters can also be modified from the website,
in Administrator mode, STAGES menu, Modify submenu.
Make a copy of the stages.ini file to the PC. Open the file with any text editor and
modify the MotionDoneMode parameter of the appropriate stage to
VelocityAndPositionWindow, and set the following parameters:
;--- Motion done
MotionDoneMode = VelocityAndPositionWindow ; instead of Theoretical
MotionDonePositionThreshold = 4
MotionDoneVelocityThreshold = 100
MotionDoneCheckingTime = 0.1
MotionDoneMeanPeriod = 0.001
MotionDoneTimeout = 0.5
Replace the current stages.ini file on the XPS controller with this modified version
(make a copy of the old .ini file first). Reboot the controller. To apply any changes to
the stages.ini or system.ini, the controller has to reboot.
84
Motion Tutorial
; units
; units/s
; seconds
; seconds
; seconds
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