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XPS Motion Controller/Driver
3.0
XPS Controller/Driver Documentation
To maximize the value of the XPS Controller/Driver system, it is important that users
become thoroughly familiar with available documentation:
The User's Manual & Motion Tutorial
The first part of this book is the getting-started part of the system. This handy
introduction can be considered as a reference manual. It includes:
• System overview (Hardware, front and rear panels descriptions, Ethernet
connection, programming).
• Getting started guide (unpacking, inspection, system set up, connection,
configuration).
• Software tools description (web site interface).
• FTP (File Transfer Protocol) Connection.
• Maintenance and service (cleaning, service, troubleshooting).
The Motion Tutorial
The other part of the book provides an exhaustive overview of the XPS architecture, and
a complete description of its features and capabilities. It is educational and it contains
the following sections:
• Explanations of XPS architecture (state diagrams, motion groups, units).
• Motion modes (move, jog, master slave, analog tracking).
• Trajectories (line-arc, splines, PVT, conventions, mathematical explanations).
• Compensation (backlash, linear error correction, positioner/XY/XYZ mapping).
• Event triggers (event, actions, examples).
• Data gathering (internal and external).
• Triggers (position compare output, position capture).
• Control loops (XPS servo loops, filtering and limitation, feed forward loops and
servo tuning).
• Analog encoder calibration.
• Introduction to XPS Programming.
• Appendices: hardware, general I/O description, power inhibit connector, GPIO
connectors, PCO connector, motor driver boards pinning diagrams, analog encoder
connector, trigger in connector.
The Programmer's Manual
This book is the general programmer's guide for the experienced user. It provides
explanations of all functions and a list of all API's with complete syntax (TCL and DLL
prototypes), parameters, errors, and short descriptions. It refers to the motion tutorial for
more thorough explanations on some features. It details:
• TCP/IP communication explanations and functions.
• Firmware features and list of API's by groups: General features, Positioners, Single
Axis groups, XY groups, XYZ groups, Multiple Axes groups, analog and digital
I/O's, gathering, events and actions, TCL programming, version).
• Examples of motion processes.
9
Quick Start
EDH0205En1051 – 10/17
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