Motion Controller, 4-axis Universal Driver, Ethernet, Basic GPIO and PCO

The XPS-RLD4 is a high-performance,very easy to use, 4-axis integrated motion controller/driver with 10kHz servo control rate. High-speed communication is achieved through 10/100 Base-T Ethernet for outstanding trajectory accuracy and powerful programming functionality. Basic I/O and new PCO/PSO functions are included in new 4-Axis controllers and recent controllers SN > 22348036 with new firmware Snapshot & latest CIE Board.

(Historically MKS has used PCO = Position Compare Output for single axis. In industry the common term is PSO = Position Synchronized Output this is the term we use for multi-axis). PSO Multi-Axis User Guide

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.

Compensation for Maximum Accuracy

Example error before (left) and after (right) compensation

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, updated at the rate of 10 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.

Line-Arc, Spline and PVT Trajectories Motion Paths

Catmull-Rom spline

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.

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.

Inputs and Outputs for Integrating External Devices

The XPS-RLD provides GPIO with a total of 8 digital I/Os and 2 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 occurrence 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 50 ns for position triggers and digital I/Os and 125 µs for analog I/Os. 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.

Cable Kits for direct drive stages only have to be ordered separely based on the selected drivercard.