XPS-Q8
Tcl Manual
7.11
Backlash Compensation
7.11.1
Configuration
Group type Number
Group name
Positioner name
Single axis
1
SINGLE_AXIS
SINGLE_AXIS.MY_STAGE
7.11.2
Description
This example opens a TCP connection and kills the single axis group. It enables the
backlash compensation capability (for this the controller must be in the not initialized
state). The group then is initialized and homed. The value of the backlash compensation
is set to 0.1. The positioner executes relative moves with the backlash compensation.
Finally, the backlash compensation is disabled and the program ends by closing the
socket.
CAUTION
•
The HomeSearchSequenceType in the stages.ini file must not be
set as CurrentPositionAsHome.
•
The Backlash parameter in the stages.ini file must be greater than
zero.
•
To apply any modifications of the stages.ini, the controller must
be rebooted after the modification is made.
Please see the sections:
4 Principle of a Tcl script redirection to a telnet session
.
6 Proposed function for error handling.
7.11.3
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 "SINGLE_AXIS"
set
Positioner "SINGLE_AXIS.MY_STAGE"
set
BacklashValue
0
.1
set
Displacement
10
set
code
0
# Open TCP socket
set
code [
catch
"
OpenConnection
$TimeOut socketID"]
if
{$code !=
0
} {
puts
stdout "OpenConnection failed => $code"
flush
$telnetOut
}
else
{
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