XPS-Q8
Tcl Manual
7.0
Examples of Tcl Programs
Please refer to the XPS Programmer’s Manual for the list of XPS API’s that are used
with Tcl.
7.1
Using analog I/O for motion
7.1.1
Configuration
Group type
Number
Group name
Positioner name
XY
1
alignstation
alignstation.middle and
alignstation.base
7.1.2
Description
This example opens a TCP connection, kills the XY group, then initializes and homes
the group. Five relative moves of 1 unit each are commanded to the group. Then, the
value of the GPIO2 analog input is read in a continuous loop and sent to the redirected
stdout
(refer to
Section 4
,
Principle of a Tcl script redirection to a telnet session)
as
long as the voltage of the analog input is greater than 0.2 volt. While above 0.2 volts,
absolute moves are commanded to both axes: the X positioner moves correspond to the
voltage value of the analog input, and the Y positioner moves correspond to the
opposite of the voltage value of the analog input. When the GPIO2 input voltage is
equal to or less han the limit of 0.2 volt, the final move and display occurs. Finally the
program ends by closing the socket.
If the voltage is less than 0.2 volt during the first reading, the program goes directly to
the end without displaying the I/O value or absolute moves of the XY group.
Please see the
Section 6
,
Proposed function for error handling
for the code of the
procedure
DisplayErrorAndClose
.
7.1.3
Tcl code
# Set channel’s name to be used for telnet.
# In this example we assume it is passed to the script as the
# first argument, if not specified output to stdio.
# Open the channel for read mode and get its id,
# this is the id that will be passed to puts function.
if
{$tcl_argv(
0
) !=
0
} {
set
telnetOut [ open "/dev/$tcl_argv(
0
)" r+]
}
else
{
set
telnetOut stdout
}
# Initialization
set
TimeOut
60
set
group "alignstation"
set
axis1 "alignstation.middle"
set
axis2 "alignstation.base"
set
analogin "GPIO2.ADC1"
# Open socket
set
code [catch "
OpenConnection
$TimeOut socketID"]
if
{$code !=
0
} {
puts
$telnetOut "
OpenConnection
failed => $code"
# Force transfer to channel’s output buffer
flush
$telnetOut
EDH0307En1041 — 10/17
23
