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XPS-Q8 Controller
Use the following functions:
GroupInitialize(MyGroup)
GroupHomeSearch(MyGroup)
PositionerMotionDoneGet(MyGroup.MyPositioner)
This function returns the parameters for the VelocityAndPositionWindow
Motion done previously set in the stages.ini file, so 4, 100, 0.1, 0.001 and 0.5.
PositionerMotionDoneSet(MyGroup.MyPositioner,
PositionThresholdNewValue, VelocityThresholdNewValue,
CheckingTimeNewValue, MeanPeriodNewValue, TimeoutNewValue)
This function replaces the parameters with the newly entered values. If this
function is not executed, the default setting from the .ini file is used.
7.6
JOG
Jog is an indeterminate motion defined by velocity and acceleration. Unlike a
GroupMoveAbsolute() or a GroupMoveRelative(), the end of the motion is not
defined by a target position. It can be best described by a "go"-command with a
definition how fast, but not how far.
In Jog mode, the speed and acceleration of a motion group can be changed on-the-fly to
accommodate varying situations. This is not possible with a GroupMoveAbsolute() or
a GroupMoveRelative() which are defined moves. Practical examples for Jog are with
tracking systems or coordinate transformations where the speed or acceleration of the
jogging group is modified depending on the position or speed of the other motion
groups or based on an analog input value.
The Jog mode can be enabled using the function GroupJogModeEnable() and is
available to all motion groups. Once this mode is enabled, the motion parameters can be
set using the command GroupJogParameterSet() which is applicable to positioners
and to motion groups. To exit the Jog mode, first set the velocity to zero and then send
the function GroupJogModeDisable().
Examples
For a single axis group:
GroupJogModeEnable (MySingleGroup)
Enables the Jog mode.
GroupJogParameterSet (MySingleGroup, 5, 20)
The single stage starts moving with a velocity of 5 units per second and an
acceleration of 20 units per second
GroupJogParameterSet (MySingleGroup, -5, 20)
The single stage starts moving in the reverse direction with the same velocity
and same acceleration.
GroupJogParameterSet (MySingleGroup, 0, 20)
The single stage stops moving, its velocity being 0 units per second.
GroupJogModeDisable (MySingleGroup)
Disables the Jog mode.
For an XY group:
GroupJogModeEnable (MyXYGroup)
Enables the Jog mode.
GroupJogParameterSet (MyXYGroup, 5, 20, 10, 40)
The X axis and Y axis start moving with a velocity of 5 and 10 units per
second and an acceleration of 20 and 40 units per second
2
.
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XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
2
respectively.
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