XPS-Q8 Controller Motion Tutorial
the theoretical motion which is not the same as the
definition of MotionDone (see section 7.5).
MotionState: Triggers an action during motion. Event parameter 1 to 4 =
0 by default.
Figure 43: Motion Event.
There are also several trajectory events that can be defined:
TrajectoryStart: Triggers an action when the trajectory has started. Event
parameter 1 to 4 = 0 by default.
TrajectoryEnd: Triggers an action when the trajectory has stopped. Event
parameter 1 to 4 = 0 by default.
TrajectoryState: Triggers an action during trajectory execution. Event
parameter 1 to 4 = 0 by default.
Figure 44: Trajectory Event.
ElementNumberStart: Triggers an action when the trajectory element number has
started. The first event parameter specifies the number of
the trajectory element. The other event parameters are 0 by
default.
ElementNumberState: Triggers an action during the execution of that trajectory
element number. The first event parameter specifies the
number of the trajectory element. The other event
parameters are 0 by default.
Figure 45: Element Number Event.
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17) 132
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