XPS-Q8 Controller Motion Tutorial
As shown in the above state diagram, all groups have to be first initialized and then
homed before any group is ready to perform any other function. Once the group is
homed, it is in a ready state. There are five different motion groups available with the
XPS controller:
• SingleAxis group
• Spindle group
• XY group
• XYZ group
• MultipleAxes group
Each group also has group specific states. Please refer to the Programmer’s Manual for
group-specific state diagrams for the five different groups.
All positioners of a group are bundled together for security handling. Security handling
of different groups is treated independently. Following is a list of the different faults and
consequences that can happen in the XPS controller:
• After an emergency brake or an emergency stop, both considered major faults, the
corresponding group goes to a “not initialized” state: the system has to be initialized
and homed again before any further motion.
• After a following error, as it is considered a minor fault, the corresponding group
goes to a “Disable” state: a GroupMotionEnable() command puts the system back
into “ready” state.
At any given time the group status can be queried from the controller. The function
GroupStatusGet (GroupName) returns the current state number. The state numbers
correspond to the state and to the event that generated the transition (if any). The
function GroupStatusStringGet (StateNumber) returns the state description
corresponding to the state number.
69 XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
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