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HXP

Hexapod

Motion Controller

Command Interface

Manual

Intaller Pack Version #30002

Содержание MKS HXP Series

Страница 1: ...HXP Hexapod Motion Controller Command Interface Manual Intaller Pack Version 30002...

Страница 2: ...ctions No part of this document may be reproduced or copied without the prior written approval of Newport Corporation This document is provided for information only and product specifications are subj...

Страница 3: ...ecuteAndWait 5 2 2 9 TCLScriptKill 6 2 2 10 TCLScriptKillAll 6 2 2 11 TimerGet 7 2 2 12 TimerSet 7 2 2 13 Reboot 8 2 2 14 Login 8 2 2 15 CloseAllOtherSockets 9 2 2 16 EventAdd 9 2 2 17 EventGet 10 2 2...

Страница 4: ...GPIOAnalogSet 26 2 2 49 GPIOAnalogGainGet 26 2 2 50 GPIOAnalogGainSet 27 2 2 51 GPIODigitalGet 27 2 2 52 GPIODigitalSet 28 2 2 53 GroupCorrectorOutputGet 28 2 2 54 GroupHomeSearch 29 2 2 55 GroupHome...

Страница 5: ...DriverStatusGet 51 2 2 94 PositionerDriverStatusStringGet 52 2 2 95 PositionerEncoderAmplitudeValuesGet 52 2 2 96 PositionerEncoderCalibrationParametersGet 53 2 2 97 PositionerErrorGet 53 2 2 98 Posit...

Страница 6: ...2 135 EEPROMDACOffsetCIESet 75 2 2 136 EEPROMDriverSet 76 2 2 137 EEPROMINTSet 76 2 2 138 CPUCoreAndBoardSupplyVoltagesGet 77 2 2 139 CPUTemperatureAndFanSpeedGet 77 2 2 140 RunTraceloggerProcessWith...

Страница 7: ...64 ReferencingSensorListGet 90 2 2 165 GatheringUserDatasGet 90 2 2 166 ControllerMotionKernelPeriodMinMaxGet 91 2 2 167 ControllerMotionKernelPeriodMinMaxReset 91 2 2 168 TestTCP 92 2 2 169 PrepareFo...

Страница 8: ...HXP Command Interface Manual EDH0318En1042 12 18 viii...

Страница 9: ...ace dll is the assembly used for communicating with HXP instrument This assembly gets installed when HXP applet is installed NOTE Each function name is defined with the command code AA For each comman...

Страница 10: ...ut parameters None Output parameters string Address TCP IP address controller int Port TCP IP port Return int error code 0 in success and 1 on failure Description This function is used to open the com...

Страница 11: ...rofilerLoadRatio CPUServitudesLoadRatio errstring ControllerMotionKernelTimeLoadGet Parameters Input parameters None Output parameters double CPUTotalLoadRatio CPUTotalLoadRatio double CPUCorrectorLoa...

Страница 12: ...string errstring Python prototype ErrorString errstring ErrorStringGet ErrorCode Parameters Input parameters Int32 ErrorCode ErrorCode Output parameters string ErrorString ErrorString string errStrin...

Страница 13: ...rsList Parameters Input parameters string TCLFileName TCLFileName string TaskName TaskName string ParametersList ParametersList Output parameters string errString The failure reason Return int error c...

Страница 14: ...efer to the XPS Programmer s manual to get the command description 2 2 9 TCLScriptKill Syntax C prototype int TCLScriptKill string TaskName out string errstring Python prototype errstring TCLScriptKil...

Страница 15: ...ncyTicks errstring TimerGet TimerName Parameters Input parameters string TimerName TimerName Output parameters Int32_i FrequencyTicks FrequencyTicks string errString The failure reason Return int erro...

Страница 16: ...ers None Output parameters string errString The failure reason Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous Reboot command which is use...

Страница 17: ...used to send this command Refer to the XPS Programmer s manual to get the command description 2 2 16 EventAdd Syntax C prototype int EventAdd string PositionerName string EventName string EventParamet...

Страница 18: ...EventsAndActionsList EventsAndActionsList string errString The failure reason Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous EventGet com...

Страница 19: ...tName EventName string EventParameter EventParameter Output parameters string errString The failure reason Return int error code 0 in success and 1 on failure Description This function is used to proc...

Страница 20: ...ndedConfigurationTriggerGet out string EventTriggerConfiguration out string errstring Python prototype EventTriggerConfiguration errstring EventExtendedConfigurationTriggerGet Parameters Input paramet...

Страница 21: ...tionActionSet command which is used to Configure one or several actions Refer to the XPS Programmer s manual to get the command description 2 2 23 EventExtendedConfigurationActionGet Syntax C prototyp...

Страница 22: ...efer to the XPS Programmer s manual to get the command description 2 2 25 EventExtendedAllGet Syntax C prototype int EventExtendedAllGet out string EventActionConfigurations out string errstring Pytho...

Страница 23: ...function is used to process synchrounous EventExtendedGet command which is used to Read the event and action configuration defined by ID Refer to the XPS Programmer s manual to get the command descri...

Страница 24: ...uration Refer to the XPS Programmer s manual to get the command description 2 2 29 GatheringConfigurationGet Syntax C prototype int GatheringConfigurationGet out string Type out string errstring Pytho...

Страница 25: ...escription 2 2 31 GatheringCurrentNumberGet Syntax C prototype int GatheringCurrentNumberGet out Int32 CurrentNumber out Int32 MaximumSamplesNumber out string errstring Python prototype CurrentNumber...

Страница 26: ...sed to Stop acquisition and save data Refer to the XPS Programmer s manual to get the command description 2 2 33 GatheringDataAcquire Syntax C prototype int GatheringDataAcquire out string errstring P...

Страница 27: ...manual to get the command description 2 2 35 GatheringDataMultipleLinesGet Syntax C prototype int GatheringDataMultipleLinesGet Int32 IndexPoint Int32 NumberOfLines out string DataBufferLine out stri...

Страница 28: ...ng from scratch Refer to the XPS Programmer s manual to get the command description 2 2 37 GatheringRun Syntax C prototype int GatheringRun Int32 DataNumber Int32 Divisor out string errstring Python p...

Страница 29: ...grammer s manual to get the command description 2 2 39 GatheringExternalConfigurationSet Syntax C prototype int GatheringExternalConfigurationSet string Type out string errstring Python prototype errs...

Страница 30: ...mmand description 2 2 41 GatheringExternalCurrentNumberGet Syntax C prototype int GatheringExternalCurrentNumberGet out Int32 CurrentNumber out Int32 MaximumSamplesNumber out string errstring Python p...

Страница 31: ...on and save data Refer to the XPS Programmer s manual to get the command description 2 2 43 GlobalArrayGet Syntax C prototype int GlobalArrayGet Int32 Number out string ValueString out string errstrin...

Страница 32: ...lobal array value Refer to the XPS Programmer s manual to get the command description 2 2 45 DoubleGlobalArrayGet Syntax C prototype int DoubleGlobalArrayGet Int32 Number out double DoubleValue out st...

Страница 33: ...et double global array value Refer to the XPS Programmer s manual to get the command description 2 2 47 GPIOAnalogGet Syntax C prototype int GPIOAnalogGet string GPIOName out double AnalogValue out st...

Страница 34: ...utput for one or few output Refer to the XPS Programmer s manual to get the command description 2 2 49 GPIOAnalogGainGet Syntax C prototype int GPIOAnalogGainGet string GPIOName out Int32 AnalogInputG...

Страница 35: ...command which is used to Set analog input gain Refer to the XPS Programmer s manual to get the command description 2 2 51 GPIODigitalGet Syntax C prototype int GPIODigitalGet string GPIOName out UInt1...

Страница 36: ...r one or few output TTL Refer to the XPS Programmer s manual to get the command description 2 2 53 GroupCorrectorOutputGet Syntax C prototype int GroupCorrectorOutputGet string GroupName out double Co...

Страница 37: ...GroupHomeSearchAndRelativeMove Syntax C prototype int GroupHomeSearchAndRelativeMove string GroupName double TargetDisplacement Int32 nbItems out string errstring Python prototype errstring GroupHomeS...

Страница 38: ...n3 EncoderPosition3 double EncoderPosition4 EncoderPosition4 double EncoderPosition5 EncoderPosition5 double EncoderPosition6 EncoderPosition6 Output parameters string errString The failure reason Ret...

Страница 39: ...ode 0 in success and 1 on failure Description This function is used to process synchrounous GroupInitializeWithEncoderCalibration command which is used to Start the initialization with encoder calibra...

Страница 40: ...ual to get the command description 2 2 61 GroupMoveAbsolute Syntax C prototype int GroupMoveAbsolute string GroupName double TargetPosition Int32 nbItems out string errstring Python prototype errstrin...

Страница 41: ...used to process synchrounous GroupMoveRelative command which is used to Do a relative move Refer to the XPS Programmer s manual to get the command description 2 2 63 GroupMotionDisable Syntax C protot...

Страница 42: ...pName double PositionX double PositionY out double CorrectedProfilerPositionX out double CorrectedProfilerPositionY out string errstring Python prototype CorrectedProfilerPositionX CorrectedProfilerPo...

Страница 43: ...nd which is used to Return current positions Refer to the XPS Programmer s manual to get the command description 2 2 67 GroupPositionSetpointGet Syntax C prototype int GroupPositionSetpointGet string...

Страница 44: ...hich is used to Return target positions Refer to the XPS Programmer s manual to get the command description 2 2 69 GroupReferencingActionExecute Syntax C prototype int GroupReferencingActionExecute st...

Страница 45: ...s and 1 on failure Description This function is used to process synchrounous GroupReferencingStart command which is used to Enter referencing mode Refer to the XPS Programmer s manual to get the comma...

Страница 46: ...l to get the command description 2 2 73 GroupStatusStringGet Syntax C prototype int GroupStatusStringGet Int32 GroupStatusCode out string GroupStatusString out string errstring Python prototype GroupS...

Страница 47: ...Not initialized state Refer to the XPS Programmer s manual to get the command description 2 2 75 RestartApplication Syntax C prototype int RestartApplication out string errstring Python prototype errs...

Страница 48: ...ous PositionerBacklashGet command which is used to Read backlash value and status Refer to the XPS Programmer s manual to get the command description 2 2 77 PositionerBacklashSet Syntax C prototype in...

Страница 49: ...h is used to Enable the backlash Refer to the XPS Programmer s manual to get the command description 2 2 79 PositionerBacklashDisable Syntax C prototype int PositionerBacklashDisable string Positioner...

Страница 50: ...ndwith2 double NotchGain2 NotchGain2 Output parameters string errString The failure reason Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous...

Страница 51: ...ring PositionerName bool ClosedLoopStatus double KP double KI double KD double KS double IntegrationTime double DerivativeFilterCutOffFrequency double GKP double GKI double GKD double KForm double Fee...

Страница 52: ...ouble GKP out double GKI out double GKD out double KForm out double FeedForwardGainAcceleration out string errstring Python prototype ClosedLoopStatus KP KI KD KS IntegrationTime DerivativeFilterCutOf...

Страница 53: ...tionerName ClosedLoopStatus KP KI KD KS IntegrationTime DerivativeFilterCutOffFrequency GKP GKI GKD KForm FeedForwardGainVelocity Parameters Input parameters string PositionerName PositionerName bool...

Страница 54: ...KD KD double KS KS double IntegrationTime IntegrationTime double DerivativeFilterCutOffFrequency DerivativeFilterCutOffFrequency double GKP GKP double GKI GKI double GKD GKD double KForm KForm double...

Страница 55: ...n Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous PositionerCorrectorPIDDualFFVoltageSet command which is used to Update corrector paramet...

Страница 56: ...error code 0 in success and 1 on failure Description This function is used to process synchrounous PositionerCorrectorPIDDualFFVoltageGet command which is used to Read corrector parameters Refer to th...

Страница 57: ...rationTime errstring PositionerCorrectorPIPositionGet PositionerName Parameters Input parameters string PositionerName PositionerName Output parameters bool ClosedLoopStatus ClosedLoopStatus double KP...

Страница 58: ...FiltersSet PositionerName CurrentVelocityCutOffFrequency CurrentAccelerationCutOffFrequency Parameters Input parameters string PositionerName PositionerName double CurrentVelocityCutOffFrequency Curre...

Страница 59: ...mand which is used to Get current velocity and acceleration cut off frequencies Refer to the XPS Programmer s manual to get the command description 2 2 93 PositionerDriverStatusGet Syntax C prototype...

Страница 60: ...onding to the positioner error code Refer to the XPS Programmer s manual to get the command description 2 2 95 PositionerEncoderAmplitudeValuesGet Syntax C prototype int PositionerEncoderAmplitudeValu...

Страница 61: ...tionParametersGet PositionerName Parameters Input parameters string PositionerName PositionerName Output parameters double SinusOffset SinusOffset double CosinusOffset CosinusOffset double Differentia...

Страница 62: ...me Parameters Input parameters string PositionerName PositionerName Output parameters Int32_i ErrorCode ErrorCode string errString The failure reason Return int error code 0 in success and 1 on failur...

Страница 63: ...tusGet PositionerName Parameters Input parameters string PositionerName PositionerName Output parameters Int32_i HardwareStatus HardwareStatus string errString The failure reason Return int error code...

Страница 64: ...ng PositionerHardInterpolatorFactorGet PositionerName Parameters Input parameters string PositionerName PositionerName Output parameters Int32_i InterpolationFactor InterpolationFactor string errStrin...

Страница 65: ...rameters Input parameters string PositionerName PositionerName Output parameters double MaximumVelocity MaximumVelocity double MaximumAcceleration MaximumAcceleration string errString The failure reas...

Страница 66: ...DoneSet string PositionerName double PositionWindow double VelocityWindow double CheckingTime double MeanPeriod double TimeOut out string errstring Python prototype errstring PositionerMotionDoneSet P...

Страница 67: ...s function is used to process synchrounous PositionerSGammaExactVelocityAjustedDisplacementGet command which is used to Return adjusted displacement to get exact velocity Refer to the XPS Programmer s...

Страница 68: ...leration Acceleration double MinimumTjerkTime MinimumTjerkTime double MaximumTjerkTime MaximumTjerkTime Output parameters string errString The failure reason Return int error code 0 in success and 1 o...

Страница 69: ...ase Refer to the XPS Programmer s manual to get the command description 2 2 111 PositionerSGammaPreviousMotionTimesGet Syntax C prototype int PositionerSGammaPreviousMotionTimesGet string PositionerNa...

Страница 70: ...e Description This function is used to process synchrounous PositionerStageParameterGet command which is used to Return the stage parameter Refer to the XPS Programmer s manual to get the command desc...

Страница 71: ...erMaximumTarget UserMaximumTarget string errString The failure reason Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous PositionerUserTravel...

Страница 72: ...ut parameters string GroupName GroupName string CoordinateSystem CoordinateSystem double X X double Y Y double Z Z double U U double V V double W W Output parameters string errString The failure reaso...

Страница 73: ...2 2 118 HexapodCoordinatesGet Syntax C prototype int HexapodCoordinatesGet string GroupName string CoordinateSystemIn string CoordinateSystemOut double Xin double Yin double Zin double Uin double Vin...

Страница 74: ...type int HexapodCoordinateSystemSet string GroupName string CoordinateSystem double X double Y double Z double U double V double W out string errstring Python prototype errstring HexapodCoordinateSyst...

Страница 75: ...Z double U U double V V double W W string errString The failure reason Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous HexapodCoordinateS...

Страница 76: ...podMoveIncrementalControlWithTargetVelocity Syntax C prototype int HexapodMoveIncrementalControlWithTargetVelocity string GroupName string CoordinateSystem string HexapodTrajectoryType double dX doubl...

Страница 77: ...Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous HexapodMoveIncrementalControlPulseAndGatheringSet command which is used to Configure gath...

Страница 78: ...iption 2 2 125 HexapodSGammaParametersDistanceGet Syntax C prototype int HexapodSGammaParametersDistanceGet string PositionerName double Displacement double Velocity double Acceleration double MinJerk...

Страница 79: ...deEnable GroupName Parameters Input parameters string GroupName GroupName Output parameters string errString The failure reason Return int error code 0 in success and 1 on failure Description This fun...

Страница 80: ...parameters string errString The failure reason Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous SingleAxisSlaveParametersSet command which...

Страница 81: ...rn int error code 0 in success and 1 on failure Description This function is used to process synchrounous OptionalModuleExecute command which is used to Execute an optional module Refer to the XPS Pro...

Страница 82: ...cription 2 2 133 ControllerStatusStringGet Syntax C prototype int ControllerStatusStringGet Int32 ControllerStatusCode out string ControllerStatusString out string errstring Python prototype Controlle...

Страница 83: ...ing Refer to the XPS Programmer s manual to get the command description 2 2 135 EEPROMDACOffsetCIESet Syntax C prototype int EEPROMDACOffsetCIESet Int32 PlugNumber double DAC1Offset double DAC2Offset...

Страница 84: ...used to Set Driver EEPROM reference string Refer to the XPS Programmer s manual to get the command description 2 2 137 EEPROMINTSet Syntax C prototype int EEPROMINTSet Int32 CardNumber string Referenc...

Страница 85: ...oltage1P5V SupplyVoltage1P5V double SupplyVoltage3P3V SupplyVoltage3P3V double SupplyVoltage5V SupplyVoltage5V double SupplyVoltage12V SupplyVoltage12V double SupplyVoltageM12V SupplyVoltageM12V doubl...

Страница 86: ...otype errstring RunTraceloggerProcessWithTimeSetting TraceloggerTime Parameters Input parameters Int32 TraceloggerTime TraceloggerTime Output parameters string errString The failure reason Return int...

Страница 87: ...entName Parameters Input parameters Int32 EventNumber EventNumber string EventName EventName Output parameters string errString The failure reason Return int error code 0 in success and 1 on failure D...

Страница 88: ...nd 1 on failure Description This function is used to process synchrounous StopEventsAcqusition command which is used to Stop Events Acqusition Refer to the XPS Programmer s manual to get the command d...

Страница 89: ...to Action list Refer to the XPS Programmer s manual to get the command description 2 2 147 ActionExtendedListGet Syntax C prototype int ActionExtendedListGet out string ActionList out string errstring...

Страница 90: ...command which is used to API method list Refer to the XPS Programmer s manual to get the command description 2 2 149 APIListGet Syntax C prototype int APIListGet out string Method out string errstring...

Страница 91: ...mand which is used to Error list Refer to the XPS Programmer s manual to get the command description 2 2 151 EventListGet Syntax C prototype int EventListGet out string EventList out string errstring...

Страница 92: ...ring type list Refer to the XPS Programmer s manual to get the command description 2 2 153 GatheringExtendedListGet Syntax C prototype int GatheringExtendedListGet out string list out string errstring...

Страница 93: ...o External Gathering type list Refer to the XPS Programmer s manual to get the command description 2 2 155 GroupStatusListGet Syntax C prototype int GroupStatusListGet out string GroupStatusList out s...

Страница 94: ...Refer to the XPS Programmer s manual to get the command description 2 2 157 HardwareDriverAndStageGet Syntax C prototype int HardwareDriverAndStageGet Int32 PlugNumber out string DriverName out strin...

Страница 95: ...is used to Hexapod trajectory type list Refer to the XPS Programmer s manual to get the command description 2 2 159 ObjectsListGet Syntax C prototype int ObjectsListGet out string ObjectsList out stri...

Страница 96: ...to the XPS Programmer s manual to get the command description 2 2 161 PositionerHardwareStatusListGet Syntax C prototype int PositionerHardwareStatusListGet out string PositionerHardwareStatusList out...

Страница 97: ...nous PositionerDriverStatusListGet command which is used to Positioner driver status list Refer to the XPS Programmer s manual to get the command description 2 2 163 ReferencingActionListGet Syntax C...

Страница 98: ...he command description 2 2 165 GatheringUserDatasGet Syntax C prototype int GatheringUserDatasGet out double UserData1 out double UserData2 out double UserData3 out double UserData4 out double UserDat...

Страница 99: ...d errstring ControllerMotionKernelPeriodMinMaxGet Parameters Input parameters None Output parameters double MinimumCorrectorPeriod MinimumCorrectorPeriod double MaximumCorrectorPeriod MaximumCorrector...

Страница 100: ...out string ReturnString out string errstring Python prototype ReturnString errstring TestTCP InputString Parameters Input parameters string InputString InputString Output parameters string ReturnStri...

Страница 101: ...Return int error code 0 in success and 1 on failure Description This function is used to process synchrounous PrepareForUpdate command which is used to Kill QNX processes for firmware update Refer to...

Страница 102: ...ppend r C Program Files x86 Newport MotionControl HXP Bin The CLR module provide functions for interacting with the underlying NET runtime import clr Add reference to assembly and import names from na...

Страница 103: ...ay Array str GPIO2 ADC1 GPIO2 ADC2 GPIO2 ADC3 nbItems len strGpioArray result responseArray errString hxp GPIOAnalogGainGet strGpioArray if result 0 for i in range nbItems print i 1 Analog Gain strGpi...

Страница 104: ...param name caption The window caption param public bool CheckCommunication string deviceKey int port bool startSuccessfull false int returnValue string err string Empty m_controllerVersion string Empt...

Страница 105: ...HXP Command Interface Manual catch Exception e startSuccessfull false MessageBox Show CheckCommunication error e Message return startSuccessfull 97 EDH0318En1042 12 18...

Страница 106: ...HXP Command Interface Manual 3 3 LabVIEW The NET component named Newport HXP CommandInterface can be used with LabVIEW EDH0318En1042 12 18 98...

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