XPS-Q8 Controller User’s Manual
2.0 System Overview
2.1 Specifications
Number of Axes • 1 to 8 axes of stepper, DC brush, DC brushless motors or piezo-electric stacks using internal
drives
•
Other motion devices using external third-party drives
Communication Interfaces • Internet protocol TCP/IP
• One Ethernet 10/100 Base-T (RJ45 connector) with fixed IP address for local communication
• One Ethernet 10/100 Base-T (RJ45 connector) for networking, dynamic addressing with
DHCP and DNS
• Typically 0.3 ms from sending a tell position command to receiving the answer
• Optional XPS-RC remote control
Firmware Features
• Powerful and intuitive, object oriented command language
• Native user defined units (no need to program in encoder counts)
• Real time execution of custom tasks using TCL scripts
• Multi-user capability
• Concept of sockets for parallel processes
• Distance spaced trigger output pulses, max. 2.5 MHz rate, programmable filter
• Time spaced trigger output pulses, 0.02 Hz to 2.5 MHz rate, 50 ns accuracy
• Trigger output on trajectories with 100 µs resolution
• Data gathering at up to 8 kHz rate, up to 1,000,000 data entries
• User-defined “actions at events” monitored by the controller autonomously at a rate of 8 kHz
• User-definable system referencing with hardware position latch of reference signal transition
and “set current position to value” capability
• Axis position or speed controlled by analog input
• Axis position, speed or acceleration copied to analog output
• Trajectory precheck function replying with travel requirement and max. possible speed
• Auto-tuning and auto-scaling
Motion • Jogging mode including on-the fly changes of speed and acceleration
• Synchronized point-to-point
• Spindle motion (continuous motion with periodic position reset)
• Gantry mode including XY gantries with variable load ratio
• Line-arc mode (linear and circular interpolation incl. continuous path contouring)
• Splines (Catmull-Rom type)
• PVT (complex trajectory based on position, velocity and time coordinates)
• Analog tracking (using analog input as position or velocity command)
• Master-slave including single master-multiple slaves and custom gear ratio
Compensation • Linear error, Backlash, positioner error mapping
• XY and XYZ error mapping
• All corrections are taken into account on the servo loop
Control Loop • Open loop, PI position, PIDFF velocity, PIDFF acceleration, PIDDualFF voltage
• Variable PID’s (PID values depending on distance to target position)
• Deadband threshold; Integration limit and integration time
• Derivative cut-off filter; 2 user-defined notch filters
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17) 6
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