SubController

The Controller element is the root element, which represents a motion controller. The Controller element can also represent a sub-controller. A model can be applied to a sub-controller using a ModelPath element containing an absolute or relative path.

See also

Controller

Explanation of the general concept of controllers and their purpose in the motion software.

Sub-controller

Sub-controller description and its purpose in the motion software.

Example

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<Controller Name="Arcas 5EG-0">
  <!-- Controller configuration area -->
  <Controller Name="Cygnus Q3-48-10-1">
    <ModelPath>../controller_cygnus_q3_48_10.xml</ModelPath>
    <!-- SubController configuration area -->
  </Controller>
</Controller>

XML schema

Complex type SubControllerType
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<xs:complexType name="SubControllerType">
  <xs:choice minOccurs="0" maxOccurs="unbounded">
    <xs:element name="Signal" type="SignalType" />
    <xs:element name="Sensor" type="SensorType" />
    <xs:element name="Actuator" type="ActuatorType" />
    <xs:element name="Controller" type="SubControllerType" />
    <xs:element name="NamedMutation" type="NamedMutationType" />
    <xs:element name="AxisControl" type="AxisControlType" />
    <xs:element name="AxisControlGroup" type="AxisControlGroupType" />
    <xs:element name="Latch" type="LatchType" />
    <xs:element name="Matrix" type="MatrixType" />
    <xs:element name="Event" type="EventType" />
    <xs:element name="Template" type="TemplateType" />
    <xs:element name="ProcessingBlock" type="ProcessingBlockType" />
    <xs:element name="Updatable" type="UpdatableType" />
    <xs:element name="ModelPath" type="PathType" />
    <xs:element name="Model" type="xs:base64Binary" />
    <xs:element name="Variant" type="ControllerVariantType" />
  </xs:choice>
  <xs:attribute name="Name" type="xs:string" use="required"/>
</xs:complexType>

Attribute

Description

Name

Used to specify a sub controller, which is required to be defined.
Simple type PathType
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<xs:complexType name="PathType">
  <xs:simpleContent>
    <xs:extension base='xs:string'>
      <xs:attribute name="RelativeTo" type="RelativeToType" use="optional" default="CurrentWorkingDirectory"/>
    </xs:extension>
  </xs:simpleContent>
</xs:complexType>
Simple type RelativeToType
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<xs:simpleType name="RelativeToType">
  <xs:restriction base="xs:string">
    <xs:enumeration value="CurrentWorkingDirectory"/>
    <xs:enumeration value="File"/>
  </xs:restriction>
</xs:simpleType>