XPS-Q8 Controller Motion Tutorial
with the event “Always” (see next example). This link will avoid that the event
trigger gets removed after it is not happening anymore.
3. EventExtendedConfigurationTriggerSet (Always, 0, 0, 0, 0,
G1.P1.SGamma.ConstantVelocityStart, 0, 0, 0, 0)
EventExtendedConfigurationActionSet (GPIO1.DO.DOSet, 4, 4, 0, 0)
EventExtendedStart()
EventExtendedConfigurationTriggerSet (Always, 0, 0, 0, 0,
G1.P1.SGamma.ConstantVelocityEnd, 0, 0, 0, 0)
EventExtendedConfigurationActionSet (GPIO1.DO.DOSet, 4, 0, 0, 0)
EventExtendedStart()
GroupMoveAbsolute (G1.P1, 50)
GroupMoveAbsolute (G1.P1, -50)
In this example, when positioner G1.P1 reaches constant velocity, bit #3 on the
digital output on connector number 1 is set to 1 (Note: 4 = 00000100) and when the
constant velocity of the positioner G1.P1 is over, bit #3 will be set to zero. Different
from the previous example, adding the event “Always” avoids the event trigger
being removed after the event is over. Hence, the state of the bit #3 will change with
every beginning and with every end of the constant velocity state of a motion.
4. EventExtendedConfigurationTriggerSet
(G1.P1.SGamma.ConstantVelocityState, 0, 0, 0, 0)
EventExtendedConfigurationActionSet (GPIO1.DO.DOSet, 255, 0, 0, 0)
EventExtendedStart()
GroupMoveAbsolute (G1.P1, 50)
In this example, during the constant velocity state of the positioner G1.P1, 1 µs
pulses are generated on all 8 bits in the digital output on connector number 1, at
every cycle of the motion profiler (Note: 255 = 11111111). The cycle time of the
motion profiler is 400 µs, so pulses are generated every 400 µs (see picture below).
5. EventExtendedConfigurationTriggerSet (Always, 0, 0, 0, 0)
EventExtendedConfigurationActionSet
(GPIO2.DAC1.DACSet.SetpointPosition, G1.P1, 0.1, -10, 0,
GPIO2.DAC2.DACSet.SetpointVelocity, G1.P1, 0.5, 0, 0)
EventExtendedStart()
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17) 144
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