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XPS-Q8 Controller
Example 2
This example shows the sequence of functions used to set-up a Master slave relation
between two axes that are mechanically joined. Different from example 1, all
motions, including the motion done during the home search routine, are performed
synchronously.
Important: First, set the HomeSearchSequenceType of the Slave group's positioner to
CurrentPositionAsHome in the stages.ini and reboot the XPS controller.
GroupInitialize (SlaveGroup)
GroupHomeSearch (SlaveGroup)
GroupInitialize (MasterGroup)
SingleAxisSlaveParametersSet (SlaveGroup, MasterGroup.Positioner,
Ratio)
SingleAxisSlaveModeEnable (SlaveGroup)
GroupHomeSearch (MasterGroup)
...
GroupMoveRelative (MasterGroup.Positioner, Displacement)
The slave positioners should have similar capabilities as the master positioner in
terms of velocity and acceleration. Otherwise the full capabilities of the master or
the slave positioners may not be utilized.
7.8
Analog Tracking
Analog tracking controls the position or velocity of a motion group via external analog
inputs. Analog tracking is available with all motion groups. To enable this mode, first
set the tracking parameters of the positioners belonging to that motion group. Then
enable tracking while the motion group is homed (in ready state after homing). In
analog tracking mode, the analog inputs are filtered by a first order low-pass filter. Its
cut-off frequency is defined by the parameter "TrackingCutOffFrequency" given in the
section "profiler" of the stage.ini parameter file.
To set or get the tracking parameters, use the following functions:
PositionerAnalogTrackingPositionParametersSet()
PositionerAnalogTrackingPositionParametersGet()
...
PositionerAnalogTrackingVelocityParametersSet()
PositionerAnalogTrackingVelocityParametersGet()
The functions PositionerAnalogTrackingPositionParametersSet() and
PositionerAnalogTrackingVelocityParametersSet() define the maximum velocity and
acceleration used during analog tracking.
NOTE
87
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
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