XPS-Q8 Controller Motion Tutorial
Analog output = Velocity value * gain + offset
Action parameter #4 This parameter must be 0 by default.
DACSet.SetpointAcceleration: This action is used to output a voltage on the
Analog output to form an image of the theoretical acceleration. The gain and the
offset are used to calibrate this image. This action makes most sense with events that
have duration (Always, MotionState, ElementNumberState, etc.) as the analog
output will be updated at each servo cycle or at each profiler cycle as long as the
event lasts. When used with events that have no duration (like MotionStart or
MotionEnd), the analog output is only updated once and keep this value until it is
changed.
Action Parameter #1 – Positioner Name This parameter defines the name of the
positioner in which the SetpointAcceleration
is used to output in the analog output.
Action Parameter #2 – Gain The SetpointAcceleration is multiplied by the
gain value. For example, if the gain is set to
10 and the corrected SetpointAcceleration is
1 mm/s
2
then the output voltage will be 10 V.
Action Parameter #3 – Offset The offset value is used to correct for any
voltage that may initially be present in the
Analog output.
Analog output = SetpointAcceleration value * gain + offset
Action parameter #4 This parameter is 0 by default.
NOTE
The gain can be any constant value used to scale the output voltage and the
offset value can be any constant value used to correct for any offset voltage in
the analog output.
ExecuteTCLScript: This action executes a TCL script on an event.
Action Parameter #1 – TCL File Name This parameter defines the file name of
the TCL program.
Action Parameter #2 – TCL Task Name Since several TCL scripts can run
simultaneously different or even the same,
the TCL Task Name is used to track
individual TCL programs. For example, the
TCL Task Name stops a particular program
without stopping all other TCL programs that
are running simultaneously.
Action Parameter #3 – TCL Argument List The Argument list is used to run
the TCL scripts with input parameters. For
the argument parameter, any input can be
used (number, string). These parameters are
used inside the script. To get the number of
arguments, use $tcl_argc” inside the script.
To get each argument, use “$tcl_argc($i)”
inside the script. For example, this parameter
can be used to specify a number of loops
inside the TCL script. A zero (0) for this
parameter means there are no input
arguments.
Action parameter #4 This parameter is 0 by default.
KillTCLScript: This action stops a TCL script on an event.
Action parameter #1 – Task name This parameter defines which TCL script is
stopped. Since several TCL scripts can run
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17) 140
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