XPS-Q8 Controller Motion Tutorial
11.1 Events
General events are defined as “Always”, “Immediate” and “Timer”. With the event
“Always”, an action is triggered each servo cycle, meaning every 125 µs. For events
that are defined as “Immediate”, an action is triggered once immediately (during the
very next servo cycle). For the events defined as “Timer”, an action is triggered
immediately and every nth servo cycle. Here, “n” corresponds to the “FrequencyTicks”
defined in the function TimerSet(). There are five different timers available that can be
selected by the actor (1…5) (Actor is the object that actions/events are linked to).
All events that are motion related (from MotionStart to TrajectoryPulseOutputState in
the below table, except MotionDone) refer to the motion profiler of the XPS controller.
The motion profiler runs at a frequency of 2.5 kHz, or every 400 µs. Thus, events
triggered by the motion profiler have a resolution of 400 µs. Consequently, events with
duration, such as MotionState, will trigger an action every 400 µs. All motion related
events, except MotionDone, have a category such as “Sgamma” or “Jog”. This category
refers to the motion profiler. Here, SGamma refers to the profiler used with the function
GroupMoveRelative and GroupMoveAbsolute and Jog refers to the profiler used in the
Jogging state. The other event categories refer to trajectories. The separator between the
category, the actor, and the event name is a dot (.).
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