Newport XPS-Q8 Manuel utilisateur

XPS-Q8

Universal High-Performance

Motion Controller/Driver

Tcl Manual

V1.4

XPS-Q8 Tcl Manual

NOTE

Tcl/Tk has been distributed freely for over 10 years and is now used in thousands

of applications by companies and individuals worldwide. You are free to use it

however you wish, even in commercial applications.

Original instructions.

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 subject to change without notice. Any change will be

reflected in future publishings.

EDH0307En1041 — 10/17 ii

XPS-Q8 Tcl Manual

Table of Contents

1.0 TCP/IP Communication............................................................................... 1

2.0 Tool Command Language............................................................................ 2

2.1 Introduction .............................................................................................................................2

2.2 Tcl scripting language features ................................................................................................2

2.2.1 “Hello, World!” example .....................................................................................2

2.2.2 Variables ..............................................................................................................3

2.2.3 Command Substitution.........................................................................................3

2.2.4 Math Expressions.................................................................................................4

2.2.5 Backslash Substitution.........................................................................................4

2.2.6 Grouping with Braces and Double Quotes...........................................................5

2.2.6.1 Square Brackets Do Not Group................................................ 6

2.2.6.2 Grouping before Substitution................................................... 6

2.2.6.3 Grouping Math Expressions with Braces................................. 7

2.2.6.4 More Substitution Examples .................................................... 7

2.2.7 Procedures............................................................................................................7

2.2.8 A Factorial Example ............................................................................................8

2.2.9 More about Variables...........................................................................................9

2.2.9.1 Funny Variable Names............................................................10

2.2.9.2 The unset Command................................................................10

2.2.9.3 Using info exists to check whether a variable exists...............11

2.2.10 More about Math Expressions .........................................................................11

2.2.11 Comments ........................................................................................................12

2.2.12 Substitution and Grouping Summary...............................................................12

2.2.13 Fine Points .......................................................................................................13

2.3 Reference...............................................................................................................................14

2.3.1 Backslash Sequences .........................................................................................14

2.3.2 Arithmetic Operators .........................................................................................14

3.0 Tcl Script Execution at Boot...................................................................... 15

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XPS-Q8 Tcl Manual

4.0 Principle of a Tcl Script Redirection to a telnet Session ......................... 16

4.1 Introduction ...........................................................................................................................16

4.2 “Hello world !” Example .......................................................................................................17

4.2.1 Tcl script example..............................................................................................17

4.2.2 Tcl script execution............................................................................................17

4.2.3 Tcl script execution result ..................................................................................18

5.0 Example of a Tcl Script Redirection to a telnet Session ......................... 19

6.0 Proposed Function for Error Handling.................................................... 20

7.0 Examples of Tcl Programs......................................................................... 23

7.1 Using analog I/O for motion..................................................................................................23

7.1.1 Configuration.....................................................................................................23

7.1.2 Description.........................................................................................................23

7.1.3 Tcl code..............................................................................................................23

7.2 Using Digital I/O for Motion.................................................................................................26

7.2.1 Configuration.....................................................................................................26

7.2.2 Description.........................................................................................................26

7.2.3 Tcl Code.............................................................................................................26

7.3 GPIO1 Test............................................................................................................................29

7.3.1 Description.........................................................................................................29

7.3.2 Tcl Code.............................................................................................................29

7.4 Gathering with motion...........................................................................................................31

7.4.1 Configuration.....................................................................................................31

7.4.2 Description.........................................................................................................31

7.4.3 Tcl Code.............................................................................................................31

7.5 External gathering..................................................................................................................34

7.5.1 Configuration.....................................................................................................34

7.5.2 Description.........................................................................................................34

7.5.3 Tcl Code.............................................................................................................34

7.6 Position Compare...................................................................................................................37

7.6.1 Configuration.....................................................................................................37

7.6.2 Description.........................................................................................................37

7.6.3 Tcl Code.............................................................................................................37

7.7 Master-Slave Mode................................................................................................................39

7.7.1 Configuration.....................................................................................................39

7.7.2 Description.........................................................................................................39

7.7.3 TCL Code ..........................................................................................................39

7.8 Jogging...................................................................................................................................42

7.8.1 Configuration.....................................................................................................42

7.8.2 Description.........................................................................................................42

7.8.3 TCL code ...........................................................................................................42

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XPS-Q8 Tcl Manual

7.9 Jogging and Gathering...........................................................................................................44

7.9.1 Configuration.....................................................................................................44

7.9.2 Description.........................................................................................................44

7.9.3 Tcl Code.............................................................................................................44

7.10 Analog Position Tracking ....................................................................................................49

7.10.1 Configuration ...................................................................................................49

7.10.2 Description.......................................................................................................49

7.10.3 TCL Code ........................................................................................................49

7.11 Backlash Compensation.......................................................................................................51

7.11.1 Configuration ...................................................................................................51

7.11.2 Description.......................................................................................................51

7.11.3 TCL Code ........................................................................................................51

7.12 Timer Event and Global Variables ......................................................................................53

7.12.1 Configuration ...................................................................................................53

7.12.2 Description.......................................................................................................53

7.12.3 TCL Code ........................................................................................................53

7.13 Tcl Script with Input Arguments .........................................................................................56

7.13.1 Configuration ...................................................................................................56

7.13.2 Description.......................................................................................................56

7.13.3 TCL Code ........................................................................................................57

Service Form ........................................................................................................ 59

v EDH0307En1041 — 10/17

XPS-Q8 Tcl Manual

EDH0307En1041 — 10/17

XPS-Q8 Tcl Manual

NOTE

This manual describes how to use Tcl scripts with the XPS-Q8 Controller. Several

Tcl script examples have been provided to help illustrate key features of the XPS-

Q8.

The Tcl drivers for the XPS-Q8 Controller have been developed for Tcl 8.4.19

interpreter and includes all XPS-Q8 functions.

For detailed Tcl documentation and support refer to the official tcl/tk tutorial:

http://www.tcl.tk

1.0 TCP/IP Communication

XPS is based on a 10/100/1000 Base-T Ethernet communication link with TCP/IP

protocol and uses a website approach for software tools and an FTP server for file

transfers. This makes the XPS controller mostly independent from the user’s operating

system.. When networked, Unix, Linux or Windows users can access the same

controller remotely from any place in the world. The full software feature set of the

XPS is then available for code development, file transfer or general diagnostics.

The XPS firmware has been developed with a completely object-oriented approach.

providing powerful, multi-parameter Function’s (commands) in a more self-consistent

and intuitive way than old-style mnemonic commands.

Universal High

-Performance

Motion Controller/Driver

XPS

-Q8

EDH0307En1041 — 10/17

XPS-Q8 Tcl Manual

2.0 Tool Command Language

2.1 Introduction

Tcl is short for Tool Command Language. Tcl commands perform a variety of

functions, such as: output a string, compute a math expression, or display a widget. Tcl

casts everything into the mold of a command, even programming constructs like

variable assignments and procedure definitions. Tcl requires a minimal amount of

syntax to properly invoke commands, leaving the remainder of the work to command

implementation.

The basic syntax of a Tcl command is:

command arg1 arg2 arg3 ...

The command is either the name of a built-in command or a Tcl procedure. White

space (i.e., spaces or tabs) is used to separate the command name from command

arguments, and a new line (i.e., the end of line character) or semicolon is used to

terminate a command. Tcl does not interpret arguments respective to commands, other

than to perform grouping. This allows multiple words to be used in a single

argument. Tcl also performs substitution, which is used with programming

variables and nested command calls. The behavior of the Tcl command processor can

be summarized in three basic steps:

•Argument grouping.

•Value substitution of nested commands, variables, and backslash escapes.

•Command invocation. It is up to the command to interpret its arguments.

NOTE

The Tcl gets from stdio command is not supported.

2.2 Tcl scripting language features

2.2.1 “Hello, World!” example

puts stdout {Hello, World!}

⇒Hello, World!

In this example, the command is puts, which takes two arguments: an I/O stream

identifier and a string. puts writes the string to the I/O stream along with a trailing

newline character.

There are two points to emphasize:

•Arguments are interpreted by the command. In the example, stdout is used to

identify the standard output stream. The use of stdout as a name is a convention

employed by puts and other I/O commands. Also, stderr is used to identify

the standard error output, and stdin is used to identify the standard error input.

•Curly braces are used to group words together into a single argument. The puts

command receives Hello, World! as its second argument.

The braces are not part of the value.

The braces are required syntax for the interpreter, and they get stripped off before the

value is passed to the command. Braces group all characters, including newlines and

nested braces, until a matching brace is found. Tcl also uses double quotes for grouping.

Grouping arguments will be described in more detail later.

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XPS-Q8 Tcl Manual

2.2.2 Variables

The set command is used to assign a value to a variable. It requires two arguments:

The first is the name of the variable, and the second is the value. Variable names can be

any length, and case is recognized. In fact, you can use any character in a variable

name.

NOTE

It is not necessary to declare Tcl variables before you use them.

The interpreter will create the variable when it is assigned a value.

The value of a variable is obtained later with the dollar-sign syntax, as illustrated in

Example 1–2.

Example 1–2: Tcl variables.

set var 5

⇒5

set b $var

⇒5

The second set command assigns to variable bthe value of variable var.

The use of the dollar sign is our first example of substitution. You might guess that the

second set command substitutes the value of var for $var to obtain a new

command.

set b 5

The actual implementation of substitution is more efficient, which is important when the

value is large.

2.2.3 Command Substitution

The second form of substitution is command substitution. A nested command is

delimited by square brackets, [ ]. The Tcl interpreter takes everything between the

brackets and evaluates it as a command. Rewriting the outer command by replacing the

square brackets and everything between them with the result of the nested command.

This is similar to the use of backquotes in other shells, except that it has the additional

advantage of supporting arbitrary nesting of commands.

Example 1–3: Command substitution.

set len [string length foobar]

⇒6

In Example 1–3, the nested command is:

string length foobar

This command returns the length of the string foobar. The nested command runs first.

Then, command substitution causes the outer command to be rewritten as if it were:

set len 6

If there are several cases of command substitution within a single command, the

interpreter processes them from left to right. As each right bracket is encountered, the

command it delimits is evaluated. This results in a sensible ordering in which nested

commands are evaluated first so that their result can be passed as arguments to the outer

command.

EDH0307En1041 — 10/17

XPS-Q8 Tcl Manual

2.2.4 Math Expressions

The Tcl interpreter itself does not evaluate math expressions. Tcl just performs

grouping, substitutions and command invocations. The expr command must be used

to parse and evaluate math expressions.

Example 1–4: Simple arithmetic.

expr 7.2 / 4

⇒1.8

The math syntax supported by expr is the same as the C expression syntax. The expr

command deals with integer, floating point, and boolean values. Logical operations

return either 0 (false) or 1 (true). Integer values are promoted to floating point values as

needed. Octal values are indicated by a leading zero (e.g., 033 is 27 decimal).

Hexadecimal values are indicated by a leading 0x. Scientific notation for floating point

numbers is also supported. A summary of the operator precedence is provided on page

20.

You can include variable references and nested commands in math expressions.

The following example uses expr to add the value of xto the length of the string

foobar. As a result of the innermost command substitution, the expr command sees

6+ 7, and len gets the value 13:

Example 1–5: Nested commands.

set x 7

set len [expr [string length foobar] + $x]

⇒13

The expression evaluator supports a number of built-in math functions. Example 1–6

computes the value of pi:

Example 1–6: Built-in math functions.

set pi [expr 2*asin(1.0)]

⇒3.1415926535897931

The implementation of expr is careful to preserve accurate numeric values and avoid

conversions between numbers and strings. However, you can make expr operate more

efficiently by grouping the entire expression in curly braces. The explanation has to do

with the byte code compiler that Tcl uses internally, the effects of which are explained

in more detail on page 15. For now, you should be aware that these expressions are all

valid and run a bit faster than the examples shown above:

Example 1–7: Grouping expressions with braces.

expr {7.2 / 4}

set len [expr {[string length foobar] + $x}]

set pi [expr {2*asin(1.0)}]

2.2.5 Backslash Substitution

The final type of substitution done by the Tcl interpreter is backslash

substitution. This is used to quote characters that have special meaning to the

interpreter. For example, you can specify a literal dollar sign, brace, or bracket by

quoting it with a backslash. As a rule, however, if you find yourself using a lot of

backslashes, there is probably a simpler way to achieve the effect you are striving

for. In particular, the list command will do quoting for you automatically. In

Example 1–8 backslash is used to get a literal $:

EDH0307En1041 — 10/17

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