XPS-Q8 Controller Motion Tutorial
simultaneously, different or even the same
script, the TCL Task Name is used to track
individual TCL programs.
Action parameter #2 to #4 These parameters are 0 by default.
GatheringOneData: This action acquires one data as defined by the function
GatheringConfigurationSet. Different from the GatheringRun (see next action),
which generates a new gathering file, the GatheringOneData appends the data to the
current gathering file stored in memory. In order to store the data in a new file, first
launch the function GatheringReset, which deletes the current gathering file from
memory.
Action parameter #1 to #4 These parameters are 0 by default.
GatheringRun: This action starts an internal data gathering. It requires that an
internal gathering was previously configured with the function
GatheringConfigurationSet. The gathering must be launched by a punctual event and
does not work with events that have duration.
Action Parameter #1 – NbPoints This parameter defines the number of data
acquisitions. NbPoints multiplied by the
number of gathered data types must be
smaller than 1,000,000. For instance, if 4
types of data are collected, NbPoints can not
be larger than 250,000 (4*250,000 =
1,000,000).
Action Parameter #2 – Divisor This parameter defines the frequency of data
gathering in relation to the servo frequency of
the system (8 kHz). This parameter must be
an integer and greater than or equal to 1. For
instance, if the parameter is set to 8, then data
gathering will take place every 8
th
servo cycle
or at a rate of 1 kHz (8 kHz/8) or at every 1
msec.
Action Parameter #3 and #4 These parameters are 0 by default.
GatheringRunAppend: This action continues a gathering previously stopped with
the action GatheringStop, see next action.
Action parameter #1 to #4 These parameters are 0 by default.
GatheringStop: This action halts a data gathering previously launched by the action
GatheringStart. Use the action GatheringRunAppend to continue data gathering.
Note that the action GatheringStop does not automatically store the gathered data
from the buffer to the flash disk of the controller. To store data, use the function
GatheringStopAndSave. For more details about data gathering, refer to chapter 12:
“Data Gathering”.
Action parameter #1 to #4 These parameters are 0 by default.
ExternalGatheringRun: This action starts an external data gathering. It requires
that an external data gathering was previously configured with the function
GatheringExternalConfigurationSet. The gathering must be launched by a punctual
event and does not work with events that have duration.
Action Parameter #1 – NbPoints This parameter defines the number of data
acquisitions. NbPoints multiplied by the
number of gathered data types must be
smaller than 1,000,000. For instance, if 4
types of data are collected, NbPoints can not
be larger than 250,000 (4*250,000 =
1,000,000).
Action Parameter #2 – Divisor This parameter defines every Nth number of
the trigger input signal at which the gathering
141 XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
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