Universal High-Performance Motion Controllers/Drivers
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- Coral Rice
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1 Universal High-Performance Motion Controllers/Drivers X P S RoHS Compliant The XPS is an extremely high-performance, easy to use, integrated motion controller/driver offering high-speed communication through 10/100 or 10/100/1000 Base-T Ethernet, outstanding trajectory accuracy and powerful programming functionality. By combining user-friendly web interfaces, extensive driver libraries, and advanced trajectory and synchronization features, the XPS can precisely control the most complex motion tasks, simply. Multiple digital and analog I/O's, triggers and supplemental encoder inputs provide users with additional data acquisition, synchronization and control features that can improve the most demanding motion applications. The XPS's proprietary universal driver modules driver motorized positioners such as actuators, linear or rotary stages. Standard universal driver modules are available to control motion devices with stepper, DC brush, DC brushless, or piezoelectric motors. By using the XPS-DRV00P passthrough driver module, the XPS is also capable of controlling many other motion devices or external driver modules. The XPS utilizes a high-performance Ethernet communication link with TCP/IP protocol and uses an integrated web-site interface for all utility software tools, data transfer using FTP and device communication. This enables the XPS to perform complex multi-tasking and execute user applications with virtually any operating system including Windows XP, 7, 8 and 10, etc. When networked, authorized Unix-, Linux-, or Windows users can access the same controller from any place in the world for remote control, code development, data transfer or diagnostics. The object oriented format of the XPS firmware with powerful, yet intuitive, multi-parameter functions (commands) is also more consistent with state-of-the-art programming methods than traditional mnemonic commands. High performance, 1 8 axes motion controller for steppers, DC servos, brushless, voice coils and other motors High-speed 10/100 or 10/100/1000 Base-T Ethernet TCP/IP communication interface (typ. 0.3 ms command execution) Advanced servo loop (default value 8 khz) with variable PID s, low-pass and notch filters, linear error compensation and 3D error mapping Wide variety of motion modes including point-to-point, velocity profiling, line-arc trajectories, splines, PVT trajectories, electronic gearing and analog input tracking Extensive I/O functionalities including user-definable analog inputs and outputs as well as digital inputs and outputs Extensive list of event triggers for process development and synchronization High speed data acquisition adjustable with default value 8 khz Execution of TCL scripts on the XPS controller in real-time multi-tasking for high-speed multi-process control EPICS (Experimental Physics and Industrial Control System) compatible Complete library of LabVIEW VI s, DLL in source code, numerous program examples Custom training programs upon request
2 XPS Positioner Grouping and Compensation Features All connectors are easily accessible at the back of the controller. Handles and rack mounting brackets are included and mount on both sides of the box. Driver cards are inserted into the slots and can be added in the future. To optimize the performance and ease-of-use of advanced features like line-arc trajectories, splines, contouring, and complex PVT trajectories, the XPS incorporates motion groups which are user defined as single axis positioners, spindles, gantry groups, XY groups, XYZ groups or multiple axis groups. This greatly improves process flow and error handling and provides a uniform structure for easy application development. An extensive set of compensation factors including backlash, linear error and single axis, 2D, and 3D mapping offer a broad selection of options to increase the accuracy and performance to address the most demanding applications and optimize the performance of attached positioners. All compensations, including the most sophisticated 3D mapping, are corrected dynamically during each servo cycle, with default value 8 khz. Advanced Trajectory and Servo Loop Features The advanced trajectory generation and servo loop algorithms of the XPS are some of the most powerful developments in the motion control industry. The proprietary motion profiler (trajectory generator) automatically optimizes the S-Gamma trajectory jerk time for each commanded move profile. This drastically reduces the excitation of mechanical resonances and stress in any motion system resulting in faster settling, more accurate trajectory execution and an increased lifetime without sacrificing move time. A sophisticated PID loop corrects for any variations of the actual motion from the commanded trajectory. In addition to the classical PID gain parameters, customers can optimize their motion system by applying feedforward gains, a deadband threshold, a derivative filter cut-off frequency or apply up to two notch filters. Furthermore, the XPS features variable PID s that automatically adjust their values proportional to the distance from final position. This unique feature can tighten the gain loop when in position or close to final position while loosening the gain during motion to improve stability. Using variable PID s also allows dedicated tuning of the servo behavior for short and long stroke motion resulting in enhanced motion sensitivity. High Speed Execution and Synchronization The XPS-RC remote control plugs into the front panel of the XPS controller to enable computerindependent motion and basic system diagnostics. Advanced system diagnostics, incremental stepping, absolute positioning, or jogging of individual axis can be performed from different sub-screens. The integrated 3.8 touch-screen allows simultaneous position and error display of up to eight axes. The ambercolored screen is readable from farther distances and with most laser goggles. The XPS-RC - control is supplied with a 2 m cable. The XPS is much more than just a motion controller. Based on a real-time multitasking functionality, the XPS is capable of executing complex, internally stored, userdefined applications in real time using TCL scripts (for more information about TCL go to The integrated motion processor has enough bandwidth to support TCL program execution without adversely impacting higher-priority tasks. With this advanced real-time multi-tasking functionality, the XPS can not only manage the most complex motion requirements but also serve as a powerful process controller. The XPS also offers a very convenient and powerful way to synchronize the triggering of I/O s during a motion process using dedicated event and action API's. With a single function, users can direct the XPS to trigger an action upon the occurrence of an event. Typical examples include setting a digital output when the constant velocity is reached or initiating a TCL script when the motion is done. Once defined, the XPS autonomously monitors the status of the event to trigger the action with a latency of less than 125 µs (at default servo rate)! This powerful feature does not require complex programming or consume CPU time of the host PC or the communication link since all the processing is done internally by the XPS.
3 UNIVERSAL HIGH-PERFORMANCE MOTION CONTROLLERS/DRIVERS Motor PSU 500W Interconnect Hardware overview of the XPS controller. ATX-12V 300W I/O Board CPU Driver 2 Axes Control Card POWER SUPPLY CPU X8 XX44 AIR FLOW OUTPUT CPU BOARD POWER SUPPLY 48 V 300 W POWER INLET AIR FLOW INPUT 2 t Hardware overview of the XPS-RL controller. 3 FAN INHIBIT CONNECTOR AXIS BOARD 1, 2 OR 4 AXES GPIO BOARD BASICS OR ADVANCED UP TO 4 DRIVER BOARDS XPS-DRVxx High Speed Data Integration and Acquisition Another significant benefit provided by the XPS controller is its high-performance data acquisition capability: The XPS features 2, 4 or 8 channels of instrument-grade analog-todigital converters that can, for example, be integrated with a motion process using a TCL script. This provides significant advantages in applications such as precision alignment or auto-focusing routines that require real-time feedback from other devices including power meters, vision systems, or other sensors. Besides the obvious communication speed advantages, since the A-to-D conversion is internal to the XPS there is no added processing burden to the host PC or the communication link, which can improve process development and throughput. Alternatively, the analog inputs can be also configured to directly control the position or speed of a motion axis. For applications that require the capture and analysis of analog data in real-time relation to position, the XPS offers the gathering mode. In gathering, the XPS captures all important axis information and all I/O s with a time jitter of less than 50 ns and stores the data in a custom configured table. Ideal for high speed, high data rate applications, gathering can be accomplished at the servo rate and with up to 1,000,000 entries to the data table. Dedicated hardware on the XPS processor can also capture the axis positions and the I/O information based on an externally triggered TTL input with latency between the trigger input and the position acquisitions of less than 50 ns. This is equivalent to less than 10 nm of uncertainty when moving at 200 mm/s. External data acquisition tools or other devices can be synchronized to the motion as well. For this purpose, the XPS features one dedicated TTL trigger output per axis that can be either configured to output a single pulse when crossing a specified position or output continuous pulses at specified distance intervals. Also, output pulses at constant time or constant trajectory length are supported.
4 XPS Powerful, Yet Easy To Use While the XPS is a very powerful motion controller and processor, it is still very easy to use. The web based software, when used with Newport stages and drivers, allows fast and easy configuration with just a few clicks or automatically using the auto-configuration function. Once the system is defined, the XPS will check with every re-boot, whether the configuration is compatible with the connected hardware components including Newport ESP compatible motor drives and stages. This minimizes the risk of damage due to incorrect settings, incompatible hardware or improper use from unexpected hardware changes (important with multiple users).. Other software tools include a manual mode screen with options to initiate simple motions, and a monitor for axis position and group status information. Detailed system diagnostics are supported by numerous, well organized subscreens. A user-friendly motion tuning utility helps optimizing all servo PID settings and allows simultaneous display of analog control signal, position error, integral error, target position, velocity, acceleration and more. The XPS also provides auto-tuning and auto-scaling. Configuring the XPS controller is facilitated by a convenient software tool. When used with Newport ESP-compatible stages, all motion settings are loaded with just a few mouse clicks. The command screen lists all XPS functions including the necessary or available parameters. Once familiar with the XPS syntax, iit is a convenient tool which allows for simple programming, code testing and debugging. The command screen is a very convenient way to learn all XPS functions and allows for simple programming and code testing. All functions are listed by groups including all required or available parameters and short descriptions. Executable TCL scripts can be generated from the command history. For LabVIEW users there is an extensive library of LabVIEW drivers available, one sub VI for each individual API command. The XPS also comes with a DLL for Windows and MatLab, as well as sample programs for Visual Basic program development in Windows.
5 U N I V E R S A L H I G H - P E R F O R M A N C E M O T I O N C O N T R O L L E R S / D R I V E R S S P E C I F I C A T I O N S Number of Axes Communication Interfaces Firmware Features Motion Compensation Servo Rate Control Loop XPS-Q 1 to 8 axes of stepper, DC brush or DC brushless motors and piezo stacks using internal drives Other devices using external third-party drives Internet protocol TCP/IP Two Ethernet 10/100 Base-T (RJ45 connector): one with fixed IP address for local communication and one for networking, dynamic addressing with DHCP and DNS Typically 0.3 ms from sending a tell position command to receive the answer Optional XPS-RC remote control Powerful and intuitive, object-oriented command language Natural user defined units (no need to program in encoder counts) Real time execution of custom tasks using TCL scripts Multi-user capability using the concept of sockets Distance spaced trigger output pulses, less than 50 ns latency between position crossing and trigger pulse; max. 2.5 MHz rate Time spaced trigger output pulses, 0.02 to 2.5 MHz rate, 50 ns accuracy Trigger output on trajectories with 100 µs resolution Data gathering at up to 10 khz rate and up to 1,000,000 data entries User-defined actions at events monitored by the controller independently at a rate of 10 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 pre-check function that returns travel requirement and max. possible speed Auto-tuning and auto-scaling Jogging mode including on-the fly changes of speed and acceleration Synchronized point-to-point motion 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 trajectories based on position, velocity and time coordinates) Analog tracking (using analog input as position or velocity command) Master-slave incl. single master-multiple slaves and custom gear ratio Linear error, Backlash, 1D positioner error mapping 2D and 3D error mapping All corrections are taken into account on the servo loop 8 10 khz 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 XPS-RL 1 to 4 axes of stepper, DC brush, DC brushless motors or piezoelectric stacks using internal drives Other motion devices using external third-party drives Internet protocol TCP/IP One Ethernet 10/100/1000 Base-T (RJ45 connector) with fixed IP address and DHCP server for local communication One Ethernet 10/100/1000 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 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. 1.6 MHz rate (5 MHz for less than 4096 pulses), programmable filter Array-based compensated position trigger output pulses, max 1.6 MHz (5 MHz for less than 4096 pulses) Time spaced trigger output pulses, 0.05 Hz to 20 MHz, 5 ns accuracy Trigger output on trajectories with 125 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 the servo rate 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-configuration, auto-tuning and auto-scaling Jogging mode including on-the fly changes of speed and acceleration Synchronized point-to-point Spindle motion (continuous motion with periodic position reset) 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 Linear error, Backlash, positioner error mapping XY and XYZ error mapping All corrections are taken into account on the servo loop Adjustable with default value 8 khz 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 Continued on next page.
6 XPS I/O Trigger In Trigger Out Dedicated Inputs per Axis Dedicated Outputs per Axis (when using external drives) Drive capability AC Power Requirements Dimensions (W x D x H) Weight 30 TTL inputs and 30 TTL outputs (open-collector) 4 synch. analog inputs ±10 V, 14 Bit 4 synch. uncommitted analog outputs, 16 Bit Watchdog timer and remote interlock Hardware latch of all positions and all I/O s; 10 khz max. frequency <50 ns latency on positions <100 µs latency of analog input data One high-speed position compare output per axes that can be either configured for position synchronized pulses or for time synchronized pulses: <50 ns accuracy/latency, 2.5 MHz max. rate RS-422 differential inputs for A, B and I, Max. 25 MHz, over-velocity and quadrature error detection 1V PP analog encoder input up to x32768 interpolation used for servo; 1 V PP analog encoder input up to x65536 interpolation used for servo; amplitude, phase and offset correction; additional 2nd hardware amplitude, phase and offset correction and synchronisation interpolator used for synchronization; up to x200 interpolation Forward and reverse limit, home, error input Forward and reverse limit, home, error input Dedicated outputs per axis 2 channel 16-bit, ±10 V D/A 2 channel 16-bit, ±10 V D/A Drive enable, error output Analog voltage, analog velocity, and analog acceleration (used with XPS-DRV01 and XPS-DRV03 for DC brush motor control) Analog position (used with XPS-DRV01 for stepper motor control) Analog position (used with external drives for example for piezo control) Analog acceleration, sine acceleration and dual sine acceleration (used with XPS-DRV02 for brushless motor control) Step and direction and ± pulse mode for stepper motors (requires special XPS-DRV00 and external stepper motor driver. Call Newport for details) 500 W total available drive power 19 x 20 x 177 [4U] in. (482 x 508 x 177 mm) 33 lb (15 kg) max. Basic GPIO: 8 TTL inputs and 8 TTL outputs (open collector) 2 synch. analog inputs ±10 V, 12 bits 2 synch. analog outputs ±10 V, 12 bits Extended GPIO: 40 TTL inputs and 40 TTL outputs (open collector) 8 synch. analog inputs ±10 V, 16 bits 8 synch. analog outputs ±5 V, ±10 V or ± V (configurable), 16 bits Hardware latch of all positions and all analog I/O s; 8 khz max. frequency <50 ns latency on positions <125 µs time jitter on analog I/O s One high-speed position compare output only for axes 1 and 2 that can be either configured for position synchronized pulses or for time synchronized pulses: 5 ns accuracy, <700 ns latency (from real stage position to pulse generation), 5 MHz max frequency Basic PCO: interpolation x256 not compensated Extended PCO: interpolation x65536 compensated RS-422 differential inputs for A, B and I, max. 25 MHz, over-velocity and quadrature error detection Analog voltage, analog velocity, and analog acceleration (used with XPS-DRV01 and XPS-DRV03 for DC brush motor control). Analog position (used with XPS-DRV01 for stepper motor control or with the XPS-DRVP1 for piezo control) Analog position (used with external drives for example 3rd party motors) Analog acceleration, sine acceleration and dual sine acceleration (used with XPS-DRV02 for brushless motors control) Step and direction and ± pulse mode for stepper motors (requires XPS-DRV00P and external stepper motor driver) VAC total available power VAC 60/50 Hz 7.5 A 3.8 A The controller should be connected to a power installation that incorporates appropriate protection devices x x 6.94 [4U] in. (320.4 x 340 x mm). The chassis is compatible to an 19'' rack with the purchase of additional hardware lb (7.8 kg) max.
7 U N I V E R S A L H I G H - P E R F O R M A N C E M O T I O N C O N T R O L L E R S / D R I V E R S C O M P A T I B L E N E W P O R T P O S I T I O N E R S A N D D R I V E P O W E R C O N S U M P T I O N The following table lists all Newport positioners that are directly compatible with the XPS controller including the drive module needed. Listed also is the maximum power consumption for each stage when used at max. speed, with full load and with max. acceleration. In order to be able to operate all stages simultaneously and at these maximum values, the total power consumption of all stages must be less than 500 W. Model Max Power Driver Consumption Module BGM120CC (M-BGM120CC) BGM200CC (M-BGM200CC) 60 W XPS-DRV01 BGM120PE (M-BGM120PE) BGM200PE (M-BGM200PE) 20 W XPS-DRV01 BGM120PP (M-BGM120PP) 60 W XPS-DRV01 BGM160PP (M-BGM160PP) BGM200PP (M-BGM200PP) 100 W XPS-DRV01 BGS50CC BGS80CC 10 W XPS-DRV01 BGS50PP BGS80PP 20 W XPS-DRV01 FMS_CC FMS_PP FMS_PPHA LTA Series 6W XPS-DRV01 MFA Series 6W XPS-DRV01 IDL165-LM IDL225-LM IDL280-LM IDL560-LM ILS_CC (M-ILS_CC) 65 W XPS-DRV01 ILS_HA (M-ILS_HA) 70 W XPS-DRV03 ILS_PP (M-ILS_PP) 60 W XPS-DRV01 IMS_CC & IMS_CCHA (M-IMS_CC & M-IMS_CCHA) 150 W XPS-DRVM1 IMS_LM Series 170 W XPS-DRV02 IMS_PP (M-IMS_PP) 150 W XPS-DRV01 MTM_CC.1 (M-MTM_CC.1) 36 W XPS-DRV01 MTM_CC1 (M-MTM_CC1) 72 W XPS-DRV01 MTN_CC MTN_PP NPA Series 10 W XPS-DRVP1 NPM Series 10 W XPS-DRVP1 NPO Series 10 W XPS-DRVP1 NPX Series 10 W XPS-DRVP1 ONE-XY Series PR50 10 W XPS-DRV01 PSM2 Series 10 W Model Max Power Driver Consumption Module RGV100BL 100 W XPS-DRV02 RV120CC to RV350CC 154 W XPS-DRV03 RV120CCHL & RV120HAHLT 71 W XPS-DRV01 RV120HAT to RV350HAT 154 W XPS-DRV03 RV120PE 50 W XPS-DRV01 RV120PP to RV350PP 110 W XPS-DRV01 RV160CCHL to RV350CCHL 154 W XPS-DRV03 RV160HAHLT to RV350HAHLT 154 W XPS-DRV03 RV160PE to RV350PE 110 W XPS-DRV01 RVS80CC 71 W XPS-DRV01 RVS80PP 50 W XPS-DRV01 SR50CC 5W XPS-DRV01 SR50PP 10 W XPS-DRV01 URM_CC (M-URM_CC) 6W XPS-DRV01 TRA_CC 10 W XPS-DRV01 TRA_PPD 10 W XPS-DRV01 TRA_PPM 10 W URM_CCHL (M-URM_CCHL) 36 W XPS-DRV01 URM_PE (M-URM_PE) 10 W XPS-DRV01 URM_PP (M-URM_PP) 50 W XPS-DRV01 URS_BCC 45 W XPS-DRV01 URS_BPP 20 W XPS-DRV01 UTS_CC 40 W XPS-DRV01 UTS_PP 20 W XPS-DRV01 UZM160PP.05 (M-UZM160PP.05) 50 W XPS-DRV01 UZM160CC.05 (M-UZM160CC.05) 36 W XPS-DRV01 UZM160PE.05 (M-UZM160PE.05) 40 W XPS-DRV01 UZS80CC (M-UZS80CC) 50 W XPS-DRV01 UZS80PP (M-UZS80PP) 10 W XPS-DRV01 VM Series 10 W XPS-DRV01 VP-25XA (M-VP-25XA) 48 W XPS-DRV01 VP-25XL (M-VP-25XL) 48 W XPS-DRVM5 VP-5ZA (M-VP-5ZA) 48 W XPS-DRV01 XMS50, XMS100 & XMS W XPS-DRV02 XML210 & XML W XPS-DRV02
8 XPS O R D E R I N G I N F O R M AT I O N Controllers Model XPS-Q2 XPS-Q4 XPS-Q6 XPS-Q8 XPS-RL2 XPS-RL2X XPS-RL4 XPS-RL4X XPS-RLM Description 2-axis Universal Controller/Driver, ethernet 4-axis Universal Controller/Driver, ethernet 6-axis Universal Controller/Driver, ethernet 8-axis Universal Controller/Driver, ethernet 2-axis Universal Controller/Driver, ethernet, Basic GPIO and PCO 2-axis Universal Controller/Driver, ethernet, Extended GPIO and PCO 4-axis Universal Controller/Driver, ethernet, Basic GPIO and PCO 4-axis Universal Controller/Driver, ethernet, Extended GPIO and PCO 1-axis Direct Drive Cotnroller/Driver, ethernet, Basic GPIO and PCO XPS-Q8 Driver Modules and Accessories Model XPS-CONKIT XPS-DRV00P XPS-DRV01 XPS-DRV02 XPS-DRV02L XPS-DRV02P XPS-DRV03 XPS-DRVP1 XPS-RC XPS-TG5 Description Connector kit with 6 GPIO connectors Pass-through driver module with pulse and direction capability PWM drive module for DC brush and stepper motors, 3 A/48 V max. PWM drive module for brushless motors, 5 A/44 VPP max. Low Noise drive module for brushless motors, 2 A/44 VPP max. Low Noise drive module for brushless motors, 7 A/44 VPP max. High performance PWM drive module for DC motors, 5 A/48 V max. NanoPositioning drive module for piezo-stack based products Remote Control for XPS controller, 3.8 inch Touch Screen Trigger output cable, LEMO/flying leads, 5 m Note: Although user-friendly, XPS training options are available. XPS-RL4X Note the controllers and driver modules are sold separately. When ordering an XPS controller, specify a controller part number and the driver modules part numbers and quantities. XPS-DRV01 XPS-DRV02 Example 1 x XPS-Q8 2 x XPS-DRV01 1 x XPS-DRV00P XPS-DRV03 XPS-DRVP1 This is an 8-axis XPS controller with 3 driver modules compatible with (M-)VP-25XA (linear stage), (M-)IMS300CCHA (linear stage) and one pass-through module. The XPS-Q8 is capable of driving an additional 3 stages therefore more driver modules can be ordered. Upgrading a controller to driver more axes (up to 8 for XPS-Q or 4 for XPS-RL) is possible and requires a factory return of the unit. XPS-RC
9 U N I V E R S A L H I G H - P E R F O R M A N C E M O T I O N C O N T R O L L E R S / D R I V E R S D I M E N S I O N S 4 SLOTS ø.28 (Ø 7.0) 4.0 (101.6) 4U: 7.0 (177) 1.48 (37,7) MIN MAX (MIN MAX. 473) 20 (508) XPS-Q Controllers 19 (482) MODEL SHOWN: XPS-Q8 DIMENSIONS IN INCHES (AND MILLIMETERS) 16.9 (429) XPS-RL Controllers (320.4) (340) MODEL SHOWN: XPS-RL4X DIMENSIONS IN INCHES (AND MILLIMETERS) 2 x 4 M6 THD, USABLE DEPTH <.39 (10) [4U] 6.94 (176.3) 4.15 (105.5) 4 REMOVABLE RUBBER STANDS (304.4).694 (17.63).35 (8.9)
10 XPS A D D I T I O N A L N O T E S Motion and Trajectories The XPS controller provides several modes of positioning from simple point-to-point motion to the most complex trajectories. The following gives a summary of the main positioning capabilities: In jogging mode, the speed and acceleration of a positioner (motion axis) can be changed on-the-fly to accommodate varying situations. This mode can be used for alignment applications or coordinate transformations by modifying the speed or acceleration of the jogging axis, independent of the position or speed of the other axes or can be based on an analog input value. In synchronized mode, all positioners move synchronously. At any time, any positioner of that group has executed the same section of its trajectory. The slowest positioner defines the speed and acceleration of the other positioners. This is the most popular mode for point-to-point motions and requires an accurate knowledge of the trajectory. It is also known as linear interpolation. In line-arc mode, a trajectory will be executed on an xygroup that is defined by elements of straight and curved segments. The definition of the trajectory is done conveniently in a text file that is sent to the controller via FTP. Once defined, the controller manages all calculations and motion commands, including precise monitoring of the speed and acceleration along the trajectory. Repeated execution of the same trajectory can also be performed without delays. A dedicated function can be implemented to perform a pre-check of the trajectory and this function returns the maximum and minimum travel required for execution as well as the maximum possible vector speed that is achievable with the different axes parameters. In spline mode, a trajectory will be executed on an xyzgroup using a Catmull-Rom spline at constant speed. The definition of the trajectory is similar to the line-arc mode. This mode also has a trajectory pre-check function. The PVT-mode can be used to perform the most complex trajectories and can be implemented in multiaxes motion groups. In PVT, a trajectory element is defined by the end position (P) and end speed (V) of each positioner plus the duration for the element (T). When all points are defined, the controller calculates the complete trajectory by applying a constant acceleration for each positioner and each trajectory element. PVT is an excellent mode for executing trajectories that require varying vector speeds and for complex, synchronized trajectories that need to be executed with rotation stages or other non-linear motion devices. In the analog-tracking mode, one of the analog input channels is used as a position or velocity signal to the positioner. This mode is valuable in applications such as auto-focusing sensors, alignment and precision remote control or motion simulation. In the master-slave mode (XPS-Q only), a positioner can be electronically geared to any other positioner, or a single master positioner with multiple slave positioners. The gear ratio between the master and the slave is user defined. During motion execution, all axes compensations, including 3D mapping and linear compensation, are applied to each axis for optimal positioning accuracy Sockets, Multitasking and Multi-User Applications Based on the TCP/IP Internet Communication Protocol, the XPS controller can utilize a high number of virtual communication ports, known as sockets. To establish communication, the user must first request a socket id from the XPS controller (listening at a defined IP number and port number). When sending a function to a socket, the controller will always reply with a completion or error message to the socket that has requested the action. The concept and application of sockets has many advantages. First, users can split their application into different segments that run independently on different threads or even on different computers.
11 U N I V E R S A L H I G H - P E R F O R M A N C E M O T I O N C O N T R O L L E R S / D R I V E R S SocketID1=OpenSocket (...) SocketID2=OpenSocket (...) For i = 1 to nbpos Zerror=ReadAFSensor Goal=Position (i) error=groupmoverelative (SocketID2, Z, Zerror) error=groupmoveabsolute (SocketID1, XY, goal) if error=ok than TakePicture Next i Second, the concept of sockets has another practical advantage for many laboratory users since the use of threads allows sharing the same controller for different applications at the same time. With XPS, it is possible that one group uses one axis of the XPS controller for an optical delay line while another group simultaneously uses other axes for a totally different application. Both applications can run completely independent from different workstations without any delays or cross-talk. TCL TCL stands for Tool Command Language and is an opensource string-based command language. Via the Terminal webpage of the XPS interface, users can quickly write a TCL script by calling on API functions to control motion. User's can the build more complicated architecture writing complete application code in TCL. When completed, the TCL script can be executed in real time in the background of the motion controller processor without impacting process processing requirements for servo updates or communication. The QNX real time multitasking operating system used on the XPS controller assures precise management of multiple processes with the highest reliability. For additional details about XPS features and how they can enable your process, contact Newport.
12 XPS U N I V E R S A L H I G H - P E R F O R M A N C E M O T I O N C O N T R O L L E R S / D R I V E R S Newport Corporation, Global Headquarters 1791 Deere Avenue, Irvine, CA 92606, USA PHONE: FAX: sales@newport.com Complete listings for all global office locations are available online at Newport Corporation, Irvine, California PHONE and Franklin, Massachusetts; Evry and Beaune-la-Rolande, France and Wuxi, China have all been certified compliant PHONE with ISO 9001 by the British Standards Institution. Santa Clara, California is DNV certified. XPS_DSE (02/16)
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