Compare Model Drawings, CAD & Specs Availability Price
2-axis Universal Controller/Driver, ethernet, Basic GPIO and PCO
1 Week
XPS-RL2 2-axis Universal Controller/Driver, ethernet, Basic GPIO and PCO
1 Week
2-axis Universal Controller/Driver, ethernet, Extended GPIO and PCO
6 Weeks
XPS-RL2X 2-axis Universal Controller/Driver, ethernet, Extended GPIO and PCO
6 Weeks
4-axis Universal Controller/Driver, ethernet, Basic GPIO and PCO
6 Weeks
XPS-RL4 4-axis Universal Controller/Driver, ethernet, Basic GPIO and PCO
6 Weeks
4-axis Universal Controller/Driver, Ethernet, Extended GPIO and PCO
1 Week
XPS-RL4X 4-axis Universal Controller/Driver, Ethernet, Extended GPIO and PCO
1 Week
1-axis Direct Drive Controller/Driver, ethernet, Basic GPIO and PCO
In Stock
XPS-RLM 1-axis Direct Drive Controller/Driver, ethernet, Basic GPIO and PCO
In Stock


  • Command Set
    Objected oriented language, 100+ functions, TCL generated scripts, EPICS Compatible
  • Compensation
    Linear error, backlash compensation, error mapping
  • Computer Interfaces
    Two Ethernet 10/100/1000 Base-T
  • Control Algorithm
    PI Position, PIDFF Velocity, PIDFF Acceleration, PIDDualFF Voltage, Variable PID's, Derivative Cut-off Filter, Notch Filters, or Open Loop
  • ESP Compatibility
    ESP Stage Detection
  • Motion
    Synchronized pt to pt, Spindle, Linear/circular interpolation, Splines, PVT, Analog tracking, Master-slave


ESP Plug-and-Play Compatibility

When an ESP-compatible stage is connected to the XPS, the stage is quickly recognized and operating parameters are configured without the need for user inputs. This Plug and Play feature is not only transparent to the user, but it also ensures the safe operation of the stage.

Meaningful Error Messages

Moving away from numerical error codes, a new set of more descriptive error codes is now available and visible in the XPS-RL.

Single-click Configuration

The new web interface now allows a quick configuration of the XPS, as simple as that in the ESP301 controller.

Intuitive File Management

The system files stored in the XPS-RL are now easily accessible, much like a Windows environment. At the same time, these files can be edited and saved in situ, without having to pull them from the folders and opening them with notepad or other text editor.

Optimum Position Grouping

The XPS incorporates pre-configured motion groups and user-definable motion groups to optimize the performance and simplify the use of advanced features like line-arc trajectories, splines, contouring, and complex PVT trajectories. These motion groups can be single axis positioners, spindles, gantry groups, XY groups, XYZ groups or multiple axis groups. The flexibility of grouping stages greatly improves process flow and error handling and provides a uniform structure for easy application development.

Native Tool Command Language (TCL)

TCL scripts can be quickly generated then executed directly from the XPS GUI Terminal for rapid development for motion programs. TCL stands for Tool Command Language and is an open-source string-based command language. TCL is field-proven, very well documented and has many tutorials, applications, tools and books publicly available (

Easy Data Gathering

Here the  users can define and save  both internal and external data gathering configurations for routine data acquisition operations. For more details please refer to sections 4.24-4.26  of XPS-RL User's manual.


Gathered Data Plotting

Use the DISPLAY button to view gathered data after data acquisition.

Line-Arc, Spline and PVT Trajectories Motion Paths

The Line-arc trajectory is a motion path defined by a combination of straight and curved segments (available only for positioners in XY groups) such that constant speed is maintained throughout the entire region of interest. Sequential execution of the lines-arc trajectories eliminates discontinuities. A dedicated function performs a precheck of the trajectory to ensure optimized and safe execution within the positioners' parameters. The spline trajectory executes a Catmull-Rom spline on an XYZ group, passing through user-specified points with 3rd order polynomial segments at a constant speed. Similar to Line-arc trajectory, spline trajectory has functions for trajectory prechecking. The PVT-mode is the most flexible mode for creating complex trajectories. 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). The controller then calculates the cubic function trajectory that will pass through all defined positions at the defined times and velocities. PVT is a powerful tool for any kind of trajectory with varying speeds and for trajectories with nonlinear motion devices.

Inputs and Outputs for Integrating External Devices

The XPS-RL offers two GPIO options. The Basic GPIO has a total of 8 digital I/O's and 2 analog I/Os while power users have the Extended GPIO option which has a total of 40 digital I/Os and 8 analog I/Os. These GPIOs can be used to read external switches, control valves or other digital devices. The analog outputs can be used to precisely monitor any motion axis (such as position, velocity or acceleration). To synchronize external devices during a motion process, the XPS has dedicated “event and action" API's which users can use to trigger an action upon the occurence of an event. Typical examples include sending a digital output when 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! This powerful feature does not require any complex programming by the user and does not consume any time of the host PC or communication link since processing is done at the controller level. The XPS can be used as a master controller for a complete application.

Real-time Processing and Multitasking

Based on QNX real-time operating system and multi-tasking functionality, the XPS is capable of executing complex, internally stored, user-generated applications using TCL scripts. The motion processor supports TCL program execution without adversely impacting higher-priority tasks. With this advanced real-time multi-tasking functionality, the XPS not only manages the most complex motion requirements but also serve as a powerful, standalone process controller to concurrently support multiple applications.

Compensation for Maximum Accuracy

An extensive set of compensation features are available to the user including backlash, linear error and error mapping in single, 2D, or 3D. All compensations are corrected dynamically at each servo cycle, default 8 kHz. This broad selection of options transforms the most basic positioner into a high performance device; thus increasing the accuracy and performance of any motion application culminating in more reliable results.

Command Motion With an External Analog Device

The XPS features two or eight channels of 12-Bit analog-to-digital converters which can be integrated with a motion process using a TCL script. The analog inputs can be converted to directly control the position or speed of a motion axis via external analog inputs. This is critical in precision alignment or auto-focusing routines which require real-time feedback from other devices such as power meters, vision systems, or other sensors. Besides higher communication speed, the A-to-D conversion is internal to the XPS, therefore no processing burden is added to the host PC or the communication link. Consequently, this feature can improve process development and throughput.