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XPS-Q8
7.11
Backlash Compensation
7.11.1
Configuration
Group type
Single axis
7.11.2
Description
This example opens a TCP connection and kills the single axis group. It enables the
backlash compensation capability (for this the controller must be in the not initialized
state). The group then is initialized and homed. The value of the backlash compensation
is set to 0.1. The positioner executes relative moves with the backlash compensation.
Finally, the backlash compensation is disabled and the program ends by closing the
socket.
• The HomeSearchSequenceType in the stages.ini file must not be
• The Backlash parameter in the stages.ini file must be greater than
• To apply any modifications of the stages.ini, the controller must
Please see the sections:
4 Principle of a Tcl script redirection to a telnet session.
6 Proposed function for error handling.
7.11.3
TCL Code
# Set channel's name to be used for telnet.
# In this example we assume it is passed to the script as the
# first argument, if not specified output to stdio.
# Open the channel for read mode and get its id,
# this is the id that will be passed to puts function.
if
{$tcl_argv(0) != 0} {
set
telnetOut [ open "/dev/$tcl_argv(0)" r+]
else
}
{
set
telnetOut stdout
}
# Initialization
set
60
TimeOut
set
Group "SINGLE_AXIS"
set
Positioner "SINGLE_AXIS.MY_STAGE"
set
BacklashValue 0.1
set
Displacement
set
0
code
# Open TCP socket
set
code
[catch
if
{$code != 0} {
puts
stdout "OpenConnection failed => $code"
flush
else
}
{
Number
Group name
1
SINGLE_AXIS
set as CurrentPositionAsHome.
zero.
be rebooted after the modification is made.
10
"OpenConnection $TimeOut socketID"]
$telnetOut
51
Positioner name
SINGLE_AXIS.MY_STAGE
CAUTION
EDH0307En1041 — 10/17
Tcl Manual
- Quick Links:
- Tcp/Ip Communication
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