Alignment

The Alignment element provides an interface for alignment configuration. Alignment is used to align the magnetic fields of an actuator.

Example

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<Controller Name="Arcas 5EG-0">
  <Controller Name="Cygnus Q3-48-10-1">
    <NamedMutation FromDefault="Mot1" To="ActX"/>
    <Actuator Name="ActX">
      <Alignment Name="Alignment" Method="CatchAndMove" Timeout="17.0">

        <Signal Name="PositiveAngle">1.0</Signal>
        <Signal Name="NegativeAngle">0.3</Signal>
        <Signal Name="DeltaAngle">6.28</Signal>
        <Signal Name="ErrorMargin">0.1</Signal>
        <Signal Name="HoldTime">0.9</Signal>
        <Signal Name="MoveTime">0.3</Signal>
        <Signal Name="RampTime">0.3</Signal>
        <Signal Name="HighCurrent">3.5</Signal>
        <Signal Name="LowCurrent">1.5</Signal>

        <Input Name="CommutationAngle" Source="Cygnus Q3-48-10-1/ActX/Angle"/>
      </Alignment>
    </Actuator>
  </Controller>
</Controller>

Note

Alignment can be configured only when in not aligning state.

XML schema

Complex type AlignmentType
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<xs:complexType name="AlignmentType">
  <xs:choice minOccurs="0" maxOccurs="unbounded">
    <xs:element name="Signal" type="SignalType"/>
    <xs:element name="StateMachine" type="StateMachineType"/>
    <xs:element name="Input" type="InputType"/>
    <xs:element name="Variant" type="AlignmentVariantType"/>
    <xs:element name="NamedMutation" type="NamedMutationType"/>
  </xs:choice>
  <xs:attribute name="Name" type="xs:string" use="optional"/>
  <xs:attribute name="Method" type="xs:string" use="optional"/>
  <xs:attribute name="Timeout" type="xs:string" use="optional"/>
</xs:complexType>

Attribute

Description

Name

Used to define a name for an alignment block.

Method

Alignment methods. Acceptable methods are: None, AbsoluteAngle, AbsoluteOffset, KickAndSwing, CatchAndMove, WakeAndShake.

Timeout

Limits the alignment procedure time (s).
Complex type AlignmentVariantType
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<xs:complexType name="AlignmentVariantType">
  <xs:complexContent>
    <xs:extension base="BaseVariantType">
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:element name="Signal" type="SignalType"/>
        <xs:element name="StateMachine" type="StateMachineType"/>
        <xs:element name="Input" type="InputType"/>
        <xs:element name="Variant" type="AlignmentVariantType"/>
        <xs:element name="NamedMutation" type="NamedMutationType"/>
      </xs:choice>
    </xs:extension>
  </xs:complexContent>
</xs:complexType>