XPS-Q8 Controller Motion Tutorial
For devices with sine/cosine 1Vpp analog encoder interface, the resolution is equal to
the encoder scale pitch divided by the value of the positioner hard interpolator, see
function PositionerHardInterpolatorFactorGet(). Its value is set to 20 by default; the
maximum allowed value is 200. Please refer to the Programmer’s Manual for details.
The external latch positions require that the device has an encoder. No position data can
be latched with this method for devices that have no encoder.
GPIO2.ADC1 to GPIO.ADC4
(referring to the 4 analog input channels on the GPIO2)
The following sequence of functions is used for a trigger-based data gathering:
GatheringExternalConfigurationSet()
EventExtendedConfigurationTriggerSet()
EventExtendedConfigurationActionSet()
EventExtendedStart()
Other functions associated with event-based gathering are:
GatheringConfigurationGet()
GatheringCurrentNumberGet()
GatheringExternalDataGet()
Please refer to the Programmer’s Manual for details.
Example
GatheringExternalConfigurationSet(XY.X.ExternalLatchPosition,
GPIO2.ADC1)
EventExtendedConfigurationTriggerSet(Immediate,0,0,0,0)
EventExtendedConfigurationActionSet(ExternalGatheringRun,100,2,0,0)
EventExtendedStart()
In this example, a trigger-based (external) gathering is started immediately (with the
function EventExtendedStart()). The types of data being collected are the XY.X encoder
position and the value of the GPIO2.ADC1. A total of 100 data sets are collected; one
set of data at each second trigger input. Gathering will stop automatically after the 100th
data acquisition. Use the function GatheringExternalStopAndSave() to save the data
to a file. The file format is the same as for internal data gathering.
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17) 154
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