OKOS Wiki - User contributions [en]

Motors.xml

2025-12-15T21:29:43Z

Gshotts: /* Address */

''See Also: [[Sample Motors.xml File]]''

<p>The Motors.xml file is used to define the motor axes used in most ODIS software. It is written to be a layer of abstraction above the motor controller itself, so that multiple motor controllers can be defined and used in a system.</p>
<p>As of this writing, the file is usually located in the same directory as the ODIS application. Some applications define the location in a variable within the [[EXE_Config|*.exe.config]] file.
Depending on where ODIS was installed, you may need Administrative privileges to edit the file.</p>

==Format==
<p>Motors.xml is an [https://en.wikipedia.org/wiki/XML XML] text file. The definition and use of each XML tag is defined below. Each [[#Board|Board]] is defined within the [[#MultiBoard|Multiboard]] tag, and in turn, the axis list for the board is contained within the [[#Axes|Axes]] Tag.</p>

<MultiBoard>
<Board>
(Board-Specific Tags)
<Axes>
<Axis>
<MAxisSetup>
(Axis Setup Tags)
</MAxisSetup>
</Axis>
</Axes>
</Board>
</MultiBoard>

==MultiBoard==
*Parent Tag: none
This is the root of the Motors.xml file. Only [[#Board|Board]] definitions are contained within this tag. There can be more than one Board tag within a MultiBoard tag.

'''''Example'''''
<MultiBoard>
<Board type="..." value="0">
...
...
</Board>
<Board type="..." value="1">
...
...
</Board>
...
...
</MultiBoard>

===Board===
*Parent Tag: <MultiBoard>
Defines a type of Motor Controller. There can be multiple Board tags within the [[#MultiBoard|MultiBoard]] tag. A board tag will contain a single [[#Axes|Axes]] tag as well as some board-specific configuration tags, listed below.

'''Attributes'''</br>
There are three attributes assigned to this tag:
<ol>
<li>'''''type''''' defines the type of board. See [[Supported Hardware]] for details. As of this writing, the possible values are:
<table border="1" cellpadding="3">
<tr>
<th>Tag</th>
<th>Description</th>
</tr>
<tr><td> DMC18x0 </td> <td> Any Galil x-axis board </td></tr>
<tr><td> C870 </td><td> Melec C-870 board </td></tr>
<tr><td> C872 </td><td> Melec C-872 board </td></tr>
<tr><td> Copley </td><td> Copley CANBus card </td></tr>
<tr><td> Titan4CR </td><td> Arcus 4-axis board </td></tr>
<tr><td> Shell </td><td> Dummy entry used for [[Simulation Mode]]</td></tr>
</table>
</li>
<li>'''''value''''' is an index, assigned if there is more than one in the system. The value is 0 based (e.g. 0 is board 1, 1 is board 2, etc).
</li>
<li>'''''sn''''' adds an optional Serial Number to the board. If present, the system will attempt to match the board settings to the serial number. This guarantees hardware order of motor controllers in case more than one device is present.</li>
</ol>
'''Example'''

<Board type="DMC1830" value="0" sn="12345">
<Axes>
...
...
</Axes>
</Board>

====Address====
*Parent Tag: <Board>
''(ITK boards only)'' Defines the IP address or Serial port used to connect to this motor controller board. If an IP address, it must be in standard format; e.g.: "192.168.0.1". If a serial port, use the format "COMx", where 'x' is the serial port number.

'''Note:''' ITK devices sometimes have axes on different connections; e.g. X and Y might be on a single IP Address, with the Z axis on a separate IP or Serial port. Each connection must be treated as a separate "Board".

'''''Examples'''''
<Address>192.168.1.20</Address>
<Address>COM3</Address>

====CompareAxis====
*Parent Tag: <Board>
''(Galil boards only)'' Defines which axis is to be used for as the Compare axis in [[The Collection Cycle#Common Triggering Modes|Motor Triggering]] mode. This axis cannot be used for motion, and should generally be set to the last axis of the controller.

'''''Example'''''
<CompareAxis>7</CompareAxis>

====CompareRatio====
*Parent Tag: <Board>
''(Galil boards only)'' Defines the count ratio between the [[#CompareAxis|Compare Axis]] and the [[#SlaveAxis|Slave Axis]]. Some motor controllers will count both the rising and the falling edges of the Slave axis encoder output, in which case the ratio should be set to “2”.

'''''Example'''''
<CompareRatio>2</CompareRatio>

====EncoderDivisor====
*Parent Tag: <Board>
''(Commander Motion Control only)'' Sets the divisor for the encoder step-down on the specified [[#EncoderSource|Encoder Source]]. For example, if the original Encoder resolution is 2000 counts/mm and the Divisor is set to 8, the actual encoder count output will be 2000/8 = 250 counts/mm.

'''''Example'''''
<EncoderDivisor>8</EncoderDivisor>

====EncoderSource====
*Parent Tag: <Board>
''(Commander motion control only)'' Sets the axis used to do step-down encoder values on a Commander board. This is the axis that is used to '''output''' the reduced encoder count value, '''not''' the axis that changes the encoder count.
<EncoderSource>3</EncoderSource>

====LimitPolarity====
*Parent Tag: <Board> or <MAxisSetup> (see below)
The limit polarity sets the type of Limit switch. The two possible values are “NC” (Normally Closed) or “NO” normally open.</p>
The location of this tag depends on the Motor controller. Galil controllers set limits on a per-board basis, therefore for Galil boards the tag is located under [[#Board|Board]]. See the [[#MAxisSetup|MAxisSetup]] for limit polarity with other controllers. </br>

'''''Example'''''
<LimitPolarity>NC</LimitPolarity>

====SlaveAxis====
*Parent Tag: <Board>
''(Galil boards only)'' Sets the axis that is used as the Slave axis for [[Motor Trigger Connections|Motor Triggering]]. cannot be used for motion, and should generally be set to the next to last axis of the controller.

'''''Example'''''
<SlaveAxis>6</SlaveAxis>

===Axes===
*Parent Tag: <Board>
Contains the list of Axis definitions. Each axis definition is itself contained within an [[#Axis|Axis]] tag. There should be only one Axes tag per [[#Board|Board]] tag.

'''''Example'''''
<Axes>
<Axis value="0">
...
...
</Axis>
<Axis value="1">
...
...
</Axis>
...
...
</Axes>

====Axis====
*Parent Tag: <Axes>
Contains the definition for a single axis. An Axis tag contains exactly one [[#MAxisSetup|MAxisSetup]] tag and nothing else. There can be more than one Axis tag per [[#Axes|Axes]] tag.

'''Attributes'''</br>
<ol>
<li>'''''value''''' indicates the index into the axis array for the board (Zero-based). Thus 0 is the first axis of the board, 1 is the second, etc. </li>
</ol>

'''''Example'''''
<Axis value="0">
<MAxisSetup>
...
...
</MAxisSetup>
</Axis>

====MAxisSetup====
*Parent Tag: <Axis>
The root tag for an axis setup. Most of the tags describing axis parameters are located here.

'''''Example'''''
<MAxisSetup>
<AxisName>X</AxisName>
<AxisLength>300</AxisLength>
...
...
</MAxisSetup>

=====AxisLock=====
*Parent Tag: <MAxisSetup>
<p>If present, contains an index to an axis whose motion can be "locked" to the current axis, e.g., in a system with two Y-Axes, 1 and 2, Axis 1 could have the "AxisLock" parameter with a value of 2. It is not correct for both "locked" axes to contain the "AxisLock" parameter, only the "primary" axis.</p>
<p>This tag is not required on "normal" systems. It is only used in systems that require simultaneous motion of multiple axes along the same plane.</p>

'''''Example'''''
<AxisLock>1</AxisLock>

=====AxisLength=====
*Parent Tag: <MAxisSetup>
Contains the physical length of the axis (in the units defined in the [[#Units|Units]] tag). This should be the total allowable travel of the axis from limit to limit. This value is used to determine the dimensions of the scanning tank and the maximum allowable motion to use when searching for limits during Initialization. If Initialization direction is reversed, the axis position will be set to this value, rather than zero.

'''''Example'''''
<AxisLength>200</AxisLength>

=====AxisName=====
*Parent Tag: <MaxisSetup>
Contains a user-defined name for the axis. This name is shown in the Scan Manager and other windows when chosing a scan axis.

'''''Example'''''
<AxisName>X-Axis</AxisName>

=====Direction=====
*Parent Tag: <MAxisSetup>
Sets the count direction for a particular axis. Normally this is 1 (positive). If set to -1, the axis will move negatively when positive counts are sent, and vice versa.

'''''Example'''''
<Direction>1</Direction>

=====EncoderCountsPerRotation=====
*Parent Tag: <MaxisSetup>
Sets the number of encoder counts that occur per rotation of the axis motor. If present, this number overrides the <EncoderResolution> tag. Mostly used for Rotational axes (e.g. Turntables)

'''''Example'''''
<EncoderCountsPerRotation>7200</EncoderCountsPerRotation>

=====EncoderPresent=====
*Parent Tag: <MAxisSetup>
True or False. If true, the system will use the Encoder Resolution and/or Encoder Counts Per Rotation when doing Encoder Triggering.

'''''Example'''''
<EncoderPresent>False</EncoderPresent>

=====EncoderResolution=====
*Parent Tag: <MAxisSetup>
Sets the number of encoder counts per physical unit on an axis. The physical units defined for the axis are in the <Units> tag.
<EncoderResolution>2000</EncoderResolution>

=====EncoderType=====
*Parent Tag: <MAxisSetup>
Sets the Type of encoder on the axis. Values are "P" (Step/Dir) or "Q" (Quadrature).

'''''Example'''''
<EncoderType>P</EncoderType>

=====LimitPolarity=====
*Parent Tag: <Board> or <MAxisSetup> (see below)
The limit polarity sets the type of Limit switch. The two possible values are “NC” (Normally Closed) or “NO” normally open.</p>
With Commander/Arcus controllers, the Limit Polarity can be set on a per-axis basis, and therefore the tag is located under [[#MAxisSetup|MAxisSetup]]. See [[#Board|Board]] for limit polarity settings for Galil boards.</br>

'''''Example'''''
<LimitPolarity>NC</LimitPolarity>

=====LimitPresent=====
*Parent Tag: <MaxisSetup>
The limit present tag tells the system if limits are present on each axis. If set to "False", Initialization via limits will be prevented for safety purposes.

'''''Example'''''
<LimitPresent>true</LimitPresent>

=====MotorCountsPerRotation=====
*Parent Tag: <MAxisSetup>
Sets the number of counts per rotation of the motor. If present, this value overrides the <MotorResolution> tag. Mostly used for Rotational axes (e.g. Turntables).

'''''Example'''''
<MotorCountsPerRotation>7200</MotorCountsPerRotation>

=====MotorResolution=====
*Parent Tag: <MAxisSetup>
Sets the number of counts per physical unit on an axis. The physical units defined for the axis are in the [[#Units|Units]] tag.
<MotorResolution>10000</MotorResolution>

=====MotorType=====
*Parent Tag: <MAxisSetup>
Sets the type of motor use on the axis. The type can be "stepper" (this includes servo axes that are controlled via step/direction pulses), or "servo".

'''''Example'''''
<MotorType>stepper</MotorType>

=====PulseType=====
*Parent Tag: <MAxisSetup>
Sets the output pulse type for the axis. Pulse type is “C” (CW/CCW), “S” (Stepper), or "Q" (Quadrature).

'''''Example'''''
<PulseType>C</PulseType>

[[File:RotatorDiameter.png|thumb|Illustration showing when a Rotator Diameter is required. The Rotator(s) are the light gray circles with the red dots. The part is the dark gray circle. It will require multiple turns of the rotator to move the part 360 degrees.]]

=====RotatorDiameter=====
*Parent Tag: <MAxisSetup>
Sets the Rotator Diameter. this is used when a part will sit on the outer edge of the rotator, rather than both having a common axis of rotation. It is used to calculate how many turns of the rotator will be required to rotate the part a full 360 degrees.
<RotatorDiameter>4</RotatorDiameter>

=====RotatorDiameterUnits=====
*Parent Tag: <MAxisSetup>
Sets the units used to define the Rotator Diameter (see above).

'''''Example'''''
<RotatorDiameterUnits>in</RotatorDiameterUnits>

=====Units=====
*Parent Tag: <MAxisSetup>
Sets the physical units used to define this axis. For linear axes, can be set to “mm” (millimeters) or “in” (inches). For Rotational axes, this must be set to “deg” (degrees).

'''''Example'''''
<Units>mm</Units>

=====UseSRates=====
*Parent Tag: <MAxisSetup>
**''Deprecated: this is now set in [[Configuration Settings|ODIS Configuration]]''.
<del>
Sets whether or not to use S-Curve motion on an axis.
<UseSRates>False</UseSRates>
</del>

===GalilBoard===
*Parent Tag: <MultiBoard>
**''Deprecated: use the <Board> tag instead.''
<del>
*Defines a Galil-manufactured board. There are two attributes assigned to this tag:
** The ''type'' tag defines the type of DMC board. This should always be of a form “DMC18x0”, where “x” is the number of axes on the board. This is regardless of the actual '''type''' of the Galil board (e.g. 1846, 2162, etc.)
** The ''value'' indicates which Galil board this is, if there is more than one in the system. The value is 0 based (e.g. 0 is board 1, 1 is board 2, etc.)
<GalilBoard type="DMC1880" value="0">
</del>

===MelecBoard===
*Parent Tag: <MultiBoard>
**''Deprecated: use the <Board> tag instead.''
<del>
*Defines a Melec-manufactured board. There are two attributes assigned to this tag:
** The “type” tag defines the type of Melec board. Currently there are two possible values: “C870” and “C872”.
** The “value” indicates which Melec board this is, if there is more than one in the system. The value is 0 based (e.g. 0 is board 1, 1 is board 2, etc.)
<MelecBoard type="C870" value="0">
</del>

==Configuring Multiple Devices==

If multiple devices will be present (e.g. two Galil Motor Controllers), it is '''vital''' that the serial number of each device be present in the [[#Board|<Board>]] tag using the "sn" attribute. If missing, the detected order of the devices may not be guaranteed, causing the motion controls to be scrambled.

Example:

<Board type="..." value="0" '''sn="494393"'''>
...
...
</Board>
<Board type="..." value="1" '''sn="494394"'''>

==Axis Configuration Details==
Each axis definition should reflect the physical parameters of the specified axis. All axes should have at least the following tags:

*[[#AxisName|<AxisName>]]
*[[#Units|<Units>]]
*[[#AxisLength|<AxisLength>]]
*[[#MotorType|<MotorType>]]
*[[#MotorResolution|<MotorResolution>]] or [[#MotorCountsPerRotation|<MotorCountsPerRotation>]]
*[[#Direction|<Direction>]]

'''Important Notes:'''
* The axis [[#MotorResolution|<MotorResolution>]] (or [[#MotorCountsPerRotation|<MotorCountsPerRotation>]]) value must reflect the number of counts sent '''to the controller''', which is not necessarily the same number of counts per rotation of the motor itself. For example, if there is a 3:1 gear-down ratio between the motor and the controller, the number of counts per rotation must be a 3x multiple of the motor counts.

* The [[#MotorType|<MotorType>]] should reflect the '''controller''' configuration, not the motor itself. For example, some Servo motors can be controlled with Step/Direction pulses, in which case the [[#MotorType|<MotorType>]] should be set to "Stepper".

* If [[#MotorResolution|<MotorResolution>]] '''and''' [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] are both defined on a single axis, the [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] is used. This will cause calculation errors on non-turntable axes.

* On a properly configured system, the [[#Direction|<Direction>]] should almost always be 1.

===Configuring a Linear Axis===
A Linear Axis must use:

# Linear [[#Units|<Units>]], e.g. "mm" or "in"
# The [[#MotorResolution|<MotorResolution>]] to define the number of counts per unit; e.g. on an axis that rotates once every 2000 counts and moves a lead screw one mm for every rotation, set the value to 2000 if the [[#Units|<Units>]] are set to "mm", or 50800 if the [[#Units|<Units>]] are set to "in".

Example:
<Axis value="0">
<MAxisSetup>
<AxisName>X</AxisName>
<Units>mm</Units>
<AxisLength>10000</AxisLength>
<MotorResolution>2000</MotorResolution>
<Direction>1</Direction>
<MotorType>Stepper</MotorType>
</MAxisSetup>
</Axis>

===Configuring a Gimbal/Swivel===
A Gimbal/Swivel axis must use:

# Rotational [[#Units|<Units>]], e.g. "deg"
# The [[#AxisLength|<AxisLength>]] value must '''not''' be 360 degrees. An axis with degree units and 360 degrees of rotation is treated as a Turntable/Rotator.
# Use the [[#MotorResolution|<MotorResolution>]] to define the number of counts per degree; e.g. on an Axis that needs 1000 counts to move 3 degrees, set the value to 333.333. This value can be fractional.

Example:

<Axis value="4">
<MAxisSetup>
<AxisName>G</AxisName>
<Units>deg</Units>
<AxisLength>200</AxisLength>
<MotorResolution>133.33</MotorResolution>
<Direction>1</Direction>
<MotorType>Stepper</MotorType>
</MAxisSetup>
</Axis>

===Configuration a Turntable/Rotator===

A Turntable/Rotator axis must use:

# Rotational [[#Units|<Units>]], e.g. "deg"
# The [[#AxisLength|<AxisLength>]] value '''must''' be 360 degrees.
# Use the [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] ('''NOT''' [[#MotorResolution|<MotorResolution>]]) to define the number of counts for one full rotation of the turntable; e.g., if the turntable axes moves 5 degrees per 1000 counts, set the value to 72000. This value can be fractional.

Example:

<Axis value="3">
<MAxisSetup>
<AxisName>Rotator</AxisName>
<Units>deg</Units>
<AxisLength>360</AxisLength>
<MotorCountsPerRotation>1440000</MotorCountsPerRotation>
<Direction>1</Direction>
<MotorType>Stepper</MotorType>
</MAxisSetup>
</Axis>

===Configuring an Offset Rotator===

If the Rotator is offset from the actual pivot point of the part, the [[#RotatorDiameter|<RotatorDiameter>]] and [[#RotatorDiameterUnits|<RotatorDiameterUnits>]] must be added so that the proper counts per rotation can be calculated internally. '''DO NOT''' change the [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] to reflect the diameter of the part to be scanned: it should reflect the rotator motion only.

===Encoder Configuration (Optional)===
If Encoder positions can be read from the controller, you may wish to add the [[#EncoderResolution|<EncoderResolution>]] and/or [[#EncoderCountsPerRotation|<EncoderCountsPerRotation>]] values so that the encoder feedback can be displayed. These have the same meaning as the [[#MotorResolution|<MotorResolution>]] and [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] values, respectively. For most steups this is informational and is only useful to compare motor position and encoder positions directly on the axes. This does not affect how Scans are triggered as that is a separate physical encoder input to the A/D board(s).

If there is no encoder feedback that can be read on a particular axis, set the [[#EncoderPresent|<EncoderPresent>]] tag to "false".

==Axis Mapping==
[[File:AxisMapping.png|thumb|Illustration showing a 3-axis ODIS system mapping virtual axes to non-consecutive axes in the Motion Control hardware.]]
Under normal circumstances, motor axes are listed in the order they occur, e.g. Axis 0 is from Board 0 Axis 0, Axis 1 is Board 0 Axis 1, etc. However, there may be times where an operator wishes to re-map the axes due to specific hardware requirements. In that case, the <Map> tag can be added to change the order of the axes.

=== Format ===

The Axis Map has the following format:

<Map>
<Axis index board boardAxis/>
<Axis index .../>
</Map>

For each Virtual Axis in the mapping, there must be an "Axis" tag with three attributes:

<ol>
<li>'''''index''''' axis index (i.e. the order of the axis)</li>
<li>'''''board''''' board ID</li>
<li>'''''boardAxis''''' the axis on the specified board</li>
</ol>

All values are 0-based. The board ID will match the "value" attribute in the [[#Board|Board]] tags. the boardAxis ID will match the "value" attribute of the [[#Axis|Axis]] contained within the Board tag.

<u>If an axis map is present, '''only''' the axes described in the map will be used for motion.</u>

'''''Note:''' On Galil boards when using Motor triggering, the Slave and Compare axes must '''not''' be part of the axis map. Similarly, if doing encoder step-down on a Commander/Arcus board, the encoder source axis must '''not''' be part of the axis map.''

'''It is important that the remainder of the Motors.xml file remain unchanged: in other words, the physical settings of the axes *must* still reflect the actual hardware configuration. The Mapping is simply virtual "wiring" so that the motor code can reference the axes in a user-desired order.'''

=== Location in Motors.xml ===
The axis map must be added to the Motors.xml file immediately after the <MultiBoard> tag, and before any <Board> tags.

<MultiBoard>
'''<Map>
'''<Axis index="0" board="0" boardAxis="1"/>
'''<Axis index="1" board="0" boardAxis="0"/>
'''<Axis index="2" board="0" boardAxis="2"/>
'''<Axis index="3" board="0" boardAxis="3"/>
'''</Map>
<Board type="DMC1880" ...

=== Examples ===

The axis map can be used to reorder the physical axes in the system.

<Map>
<Axis index="0" board="0" boardAxis="1"/>
<Axis index="1" board="0" boardAxis="0"/>
<Axis index="2" board="0" boardAxis="2"/>
<Axis index="3" board="0" boardAxis="3"/>
</Map>

In the above example, the first axis in the system actually maps to the second physical axis of the first board. The second axis maps to the first physical axis of the first board.

Mapping can be across multiple motion controllers. For example, assume two 3-axis boards in one system. An axis map might look like this:

<Map>
<Axis index="0" board="1" boardAxis="1"/>
<Axis index="1" board="1" boardAxis="0"/>
<Axis index="2" board="0" boardAxis="2"/>
<Axis index="3" board="0" boardAxis="0"/>
<Axis index="4" board="0" boardAxis="1"/>
<Axis index="5" board="1" boardAxis="2"/>
</Map>

In this example, the First and second axes are mapped to the second and first physical axes of the second motor controller. The 4th and 5th axes are mapped to the first and second axes of the first motor controller.

==Encoder Step-Down==
''(Commander Motion Control only)''

When using a high-resolution encoder, it is possible to overwhelm the system reading the encoder output. This is caused by the number of counts sent by the encoder exceeding the maximum input rate of the device reading the encoder position.

To slow the rate but retain the accuracy given by the high-resolution encoder, it is possible to use an axis on a Commander motion controller to effectively reduce the encoder resolution by dividing the rate by a given factor.

To do this, the [[#EncoderSource|EncoderSource]] and [[#EncoderDivisor|EncoderDivisor]] tags should be added to the Motors.xml file under the '''Board''' Tag. These specify which commander axis is used for encoder step-down, and what divisor value should be set.

Example:

<Board type="Titan4CR" value="0">
<EncoderSource>3</EncoderSource>
<EncoderDivisor>8</EncoderDivisor>

In this case, we are using axis 3 of the Commander device as our Encoder source, and using a divisor of 8.

'''''Note:''' the EncoderSource value is the index to the axis on the particular Board. It is not altered by the Axis Map.''

===Output of the Encoder Source Axis===
On the axis used as an EncoderSource, the output can be configured by setting the [[#PulseType|PulseType]] tag.

Example:

<Axis value="3">
<MAxisSetup>
<PulseType>Q</PulseType>

In this case, axis 3 of the commander will output Quadrature signals when used as the EncoderSource.

==Motor Triggering==

It is possible to trigger on Motor pulses using Motor Triggering. Instead of using the encoder position to generate pulses, the Motor position is used. To use this capability depends on the physical wiring of the system.

===Galil Motor Triggering===

This requires proper wiring of the Galil motion control as documented in [[Motor Trigger Connections]]. The Motors.xml Slave and Compare axes must also be set for motor triggering to operate properly. The Slave and Compare axes must not be used in normal motion and should be excluded from any [[#Axis Mapping|Axis Map]], if any. The Galil CMP (Compare) output associated with the Compare axis will send a pulse on every motor trigger.

The Slave axis must be configured in [[#MotorType|<MotorType>]] as a Stepper axis, and the Compare axis must be configured as a Servo axis. In addition, the [[#Direction|<Direction>]] must be set the same as the axes that will be used to collect data.

Example:

<Board value="0">
<SlaveAxis>6</SlaveAxis>
<CompareAxis>7</CompareAxis>

In this example, axis 6 will be used as a Slave axis, and axis 7 will be used as the Compare axis that will send the output to the Compare line. On an 8-axis board, the CMP line that will be used will be the one associated with axes EFGH.

====Galil Motor Triggering with Servo Motors====
In a system with exclusively Servo motion control as defined in the [[#MotorType|<MotorType>]] tag, the Slave and Compare axes are not used. Instead, the position of the servo axis will be used directly for Compare output.

=== Commander Motor Triggering ===

Motor Triggering can also be used on Commander/Arcus controllers: however, the trigger input must be physically wired to the axis on which to do motor triggering. Using any other axis will generate an error. Slave and Compare axes are not used, and the [[#MotorType|<MotorType>]] is not relevant.

Motors.xml

2025-12-15T21:27:59Z

Gshotts: /* CompareAxis */

''See Also: [[Sample Motors.xml File]]''

<p>The Motors.xml file is used to define the motor axes used in most ODIS software. It is written to be a layer of abstraction above the motor controller itself, so that multiple motor controllers can be defined and used in a system.</p>
<p>As of this writing, the file is usually located in the same directory as the ODIS application. Some applications define the location in a variable within the [[EXE_Config|*.exe.config]] file.
Depending on where ODIS was installed, you may need Administrative privileges to edit the file.</p>

==Format==
<p>Motors.xml is an [https://en.wikipedia.org/wiki/XML XML] text file. The definition and use of each XML tag is defined below. Each [[#Board|Board]] is defined within the [[#MultiBoard|Multiboard]] tag, and in turn, the axis list for the board is contained within the [[#Axes|Axes]] Tag.</p>

<MultiBoard>
<Board>
(Board-Specific Tags)
<Axes>
<Axis>
<MAxisSetup>
(Axis Setup Tags)
</MAxisSetup>
</Axis>
</Axes>
</Board>
</MultiBoard>

==MultiBoard==
*Parent Tag: none
This is the root of the Motors.xml file. Only [[#Board|Board]] definitions are contained within this tag. There can be more than one Board tag within a MultiBoard tag.

'''''Example'''''
<MultiBoard>
<Board type="..." value="0">
...
...
</Board>
<Board type="..." value="1">
...
...
</Board>
...
...
</MultiBoard>

===Board===
*Parent Tag: <MultiBoard>
Defines a type of Motor Controller. There can be multiple Board tags within the [[#MultiBoard|MultiBoard]] tag. A board tag will contain a single [[#Axes|Axes]] tag as well as some board-specific configuration tags, listed below.

'''Attributes'''</br>
There are three attributes assigned to this tag:
<ol>
<li>'''''type''''' defines the type of board. See [[Supported Hardware]] for details. As of this writing, the possible values are:
<table border="1" cellpadding="3">
<tr>
<th>Tag</th>
<th>Description</th>
</tr>
<tr><td> DMC18x0 </td> <td> Any Galil x-axis board </td></tr>
<tr><td> C870 </td><td> Melec C-870 board </td></tr>
<tr><td> C872 </td><td> Melec C-872 board </td></tr>
<tr><td> Copley </td><td> Copley CANBus card </td></tr>
<tr><td> Titan4CR </td><td> Arcus 4-axis board </td></tr>
<tr><td> Shell </td><td> Dummy entry used for [[Simulation Mode]]</td></tr>
</table>
</li>
<li>'''''value''''' is an index, assigned if there is more than one in the system. The value is 0 based (e.g. 0 is board 1, 1 is board 2, etc).
</li>
<li>'''''sn''''' adds an optional Serial Number to the board. If present, the system will attempt to match the board settings to the serial number. This guarantees hardware order of motor controllers in case more than one device is present.</li>
</ol>
'''Example'''

<Board type="DMC1830" value="0" sn="12345">
<Axes>
...
...
</Axes>
</Board>

====Address====
*Parent Tag: <Board>
''(ITK boards only)'' Defines the IP address or Serial port used to connect to this motor controller board. If an IP address, it must be in standard format; e.g.: "192.168.0.1". If a serial port, use the format "COMx", where 'x' is the serial port number.

'''''Examples'''''
<Address>192.168.1.20</Address>
<Address>COM3</Address>

====CompareAxis====
*Parent Tag: <Board>
''(Galil boards only)'' Defines which axis is to be used for as the Compare axis in [[The Collection Cycle#Common Triggering Modes|Motor Triggering]] mode. This axis cannot be used for motion, and should generally be set to the last axis of the controller.

'''''Example'''''
<CompareAxis>7</CompareAxis>

====CompareRatio====
*Parent Tag: <Board>
''(Galil boards only)'' Defines the count ratio between the [[#CompareAxis|Compare Axis]] and the [[#SlaveAxis|Slave Axis]]. Some motor controllers will count both the rising and the falling edges of the Slave axis encoder output, in which case the ratio should be set to “2”.

'''''Example'''''
<CompareRatio>2</CompareRatio>

====EncoderDivisor====
*Parent Tag: <Board>
''(Commander Motion Control only)'' Sets the divisor for the encoder step-down on the specified [[#EncoderSource|Encoder Source]]. For example, if the original Encoder resolution is 2000 counts/mm and the Divisor is set to 8, the actual encoder count output will be 2000/8 = 250 counts/mm.

'''''Example'''''
<EncoderDivisor>8</EncoderDivisor>

====EncoderSource====
*Parent Tag: <Board>
''(Commander motion control only)'' Sets the axis used to do step-down encoder values on a Commander board. This is the axis that is used to '''output''' the reduced encoder count value, '''not''' the axis that changes the encoder count.
<EncoderSource>3</EncoderSource>

====LimitPolarity====
*Parent Tag: <Board> or <MAxisSetup> (see below)
The limit polarity sets the type of Limit switch. The two possible values are “NC” (Normally Closed) or “NO” normally open.</p>
The location of this tag depends on the Motor controller. Galil controllers set limits on a per-board basis, therefore for Galil boards the tag is located under [[#Board|Board]]. See the [[#MAxisSetup|MAxisSetup]] for limit polarity with other controllers. </br>

'''''Example'''''
<LimitPolarity>NC</LimitPolarity>

====SlaveAxis====
*Parent Tag: <Board>
''(Galil boards only)'' Sets the axis that is used as the Slave axis for [[Motor Trigger Connections|Motor Triggering]]. cannot be used for motion, and should generally be set to the next to last axis of the controller.

'''''Example'''''
<SlaveAxis>6</SlaveAxis>

===Axes===
*Parent Tag: <Board>
Contains the list of Axis definitions. Each axis definition is itself contained within an [[#Axis|Axis]] tag. There should be only one Axes tag per [[#Board|Board]] tag.

'''''Example'''''
<Axes>
<Axis value="0">
...
...
</Axis>
<Axis value="1">
...
...
</Axis>
...
...
</Axes>

====Axis====
*Parent Tag: <Axes>
Contains the definition for a single axis. An Axis tag contains exactly one [[#MAxisSetup|MAxisSetup]] tag and nothing else. There can be more than one Axis tag per [[#Axes|Axes]] tag.

'''Attributes'''</br>
<ol>
<li>'''''value''''' indicates the index into the axis array for the board (Zero-based). Thus 0 is the first axis of the board, 1 is the second, etc. </li>
</ol>

'''''Example'''''
<Axis value="0">
<MAxisSetup>
...
...
</MAxisSetup>
</Axis>

====MAxisSetup====
*Parent Tag: <Axis>
The root tag for an axis setup. Most of the tags describing axis parameters are located here.

'''''Example'''''
<MAxisSetup>
<AxisName>X</AxisName>
<AxisLength>300</AxisLength>
...
...
</MAxisSetup>

=====AxisLock=====
*Parent Tag: <MAxisSetup>
<p>If present, contains an index to an axis whose motion can be "locked" to the current axis, e.g., in a system with two Y-Axes, 1 and 2, Axis 1 could have the "AxisLock" parameter with a value of 2. It is not correct for both "locked" axes to contain the "AxisLock" parameter, only the "primary" axis.</p>
<p>This tag is not required on "normal" systems. It is only used in systems that require simultaneous motion of multiple axes along the same plane.</p>

'''''Example'''''
<AxisLock>1</AxisLock>

=====AxisLength=====
*Parent Tag: <MAxisSetup>
Contains the physical length of the axis (in the units defined in the [[#Units|Units]] tag). This should be the total allowable travel of the axis from limit to limit. This value is used to determine the dimensions of the scanning tank and the maximum allowable motion to use when searching for limits during Initialization. If Initialization direction is reversed, the axis position will be set to this value, rather than zero.

'''''Example'''''
<AxisLength>200</AxisLength>

=====AxisName=====
*Parent Tag: <MaxisSetup>
Contains a user-defined name for the axis. This name is shown in the Scan Manager and other windows when chosing a scan axis.

'''''Example'''''
<AxisName>X-Axis</AxisName>

=====Direction=====
*Parent Tag: <MAxisSetup>
Sets the count direction for a particular axis. Normally this is 1 (positive). If set to -1, the axis will move negatively when positive counts are sent, and vice versa.

'''''Example'''''
<Direction>1</Direction>

=====EncoderCountsPerRotation=====
*Parent Tag: <MaxisSetup>
Sets the number of encoder counts that occur per rotation of the axis motor. If present, this number overrides the <EncoderResolution> tag. Mostly used for Rotational axes (e.g. Turntables)

'''''Example'''''
<EncoderCountsPerRotation>7200</EncoderCountsPerRotation>

=====EncoderPresent=====
*Parent Tag: <MAxisSetup>
True or False. If true, the system will use the Encoder Resolution and/or Encoder Counts Per Rotation when doing Encoder Triggering.

'''''Example'''''
<EncoderPresent>False</EncoderPresent>

=====EncoderResolution=====
*Parent Tag: <MAxisSetup>
Sets the number of encoder counts per physical unit on an axis. The physical units defined for the axis are in the <Units> tag.
<EncoderResolution>2000</EncoderResolution>

=====EncoderType=====
*Parent Tag: <MAxisSetup>
Sets the Type of encoder on the axis. Values are "P" (Step/Dir) or "Q" (Quadrature).

'''''Example'''''
<EncoderType>P</EncoderType>

=====LimitPolarity=====
*Parent Tag: <Board> or <MAxisSetup> (see below)
The limit polarity sets the type of Limit switch. The two possible values are “NC” (Normally Closed) or “NO” normally open.</p>
With Commander/Arcus controllers, the Limit Polarity can be set on a per-axis basis, and therefore the tag is located under [[#MAxisSetup|MAxisSetup]]. See [[#Board|Board]] for limit polarity settings for Galil boards.</br>

'''''Example'''''
<LimitPolarity>NC</LimitPolarity>

=====LimitPresent=====
*Parent Tag: <MaxisSetup>
The limit present tag tells the system if limits are present on each axis. If set to "False", Initialization via limits will be prevented for safety purposes.

'''''Example'''''
<LimitPresent>true</LimitPresent>

=====MotorCountsPerRotation=====
*Parent Tag: <MAxisSetup>
Sets the number of counts per rotation of the motor. If present, this value overrides the <MotorResolution> tag. Mostly used for Rotational axes (e.g. Turntables).

'''''Example'''''
<MotorCountsPerRotation>7200</MotorCountsPerRotation>

=====MotorResolution=====
*Parent Tag: <MAxisSetup>
Sets the number of counts per physical unit on an axis. The physical units defined for the axis are in the [[#Units|Units]] tag.
<MotorResolution>10000</MotorResolution>

=====MotorType=====
*Parent Tag: <MAxisSetup>
Sets the type of motor use on the axis. The type can be "stepper" (this includes servo axes that are controlled via step/direction pulses), or "servo".

'''''Example'''''
<MotorType>stepper</MotorType>

=====PulseType=====
*Parent Tag: <MAxisSetup>
Sets the output pulse type for the axis. Pulse type is “C” (CW/CCW), “S” (Stepper), or "Q" (Quadrature).

'''''Example'''''
<PulseType>C</PulseType>

[[File:RotatorDiameter.png|thumb|Illustration showing when a Rotator Diameter is required. The Rotator(s) are the light gray circles with the red dots. The part is the dark gray circle. It will require multiple turns of the rotator to move the part 360 degrees.]]

=====RotatorDiameter=====
*Parent Tag: <MAxisSetup>
Sets the Rotator Diameter. this is used when a part will sit on the outer edge of the rotator, rather than both having a common axis of rotation. It is used to calculate how many turns of the rotator will be required to rotate the part a full 360 degrees.
<RotatorDiameter>4</RotatorDiameter>

=====RotatorDiameterUnits=====
*Parent Tag: <MAxisSetup>
Sets the units used to define the Rotator Diameter (see above).

'''''Example'''''
<RotatorDiameterUnits>in</RotatorDiameterUnits>

=====Units=====
*Parent Tag: <MAxisSetup>
Sets the physical units used to define this axis. For linear axes, can be set to “mm” (millimeters) or “in” (inches). For Rotational axes, this must be set to “deg” (degrees).

'''''Example'''''
<Units>mm</Units>

=====UseSRates=====
*Parent Tag: <MAxisSetup>
**''Deprecated: this is now set in [[Configuration Settings|ODIS Configuration]]''.
<del>
Sets whether or not to use S-Curve motion on an axis.
<UseSRates>False</UseSRates>
</del>

===GalilBoard===
*Parent Tag: <MultiBoard>
**''Deprecated: use the <Board> tag instead.''
<del>
*Defines a Galil-manufactured board. There are two attributes assigned to this tag:
** The ''type'' tag defines the type of DMC board. This should always be of a form “DMC18x0”, where “x” is the number of axes on the board. This is regardless of the actual '''type''' of the Galil board (e.g. 1846, 2162, etc.)
** The ''value'' indicates which Galil board this is, if there is more than one in the system. The value is 0 based (e.g. 0 is board 1, 1 is board 2, etc.)
<GalilBoard type="DMC1880" value="0">
</del>

===MelecBoard===
*Parent Tag: <MultiBoard>
**''Deprecated: use the <Board> tag instead.''
<del>
*Defines a Melec-manufactured board. There are two attributes assigned to this tag:
** The “type” tag defines the type of Melec board. Currently there are two possible values: “C870” and “C872”.
** The “value” indicates which Melec board this is, if there is more than one in the system. The value is 0 based (e.g. 0 is board 1, 1 is board 2, etc.)
<MelecBoard type="C870" value="0">
</del>

==Configuring Multiple Devices==

If multiple devices will be present (e.g. two Galil Motor Controllers), it is '''vital''' that the serial number of each device be present in the [[#Board|<Board>]] tag using the "sn" attribute. If missing, the detected order of the devices may not be guaranteed, causing the motion controls to be scrambled.

Example:

<Board type="..." value="0" '''sn="494393"'''>
...
...
</Board>
<Board type="..." value="1" '''sn="494394"'''>

==Axis Configuration Details==
Each axis definition should reflect the physical parameters of the specified axis. All axes should have at least the following tags:

*[[#AxisName|<AxisName>]]
*[[#Units|<Units>]]
*[[#AxisLength|<AxisLength>]]
*[[#MotorType|<MotorType>]]
*[[#MotorResolution|<MotorResolution>]] or [[#MotorCountsPerRotation|<MotorCountsPerRotation>]]
*[[#Direction|<Direction>]]

'''Important Notes:'''
* The axis [[#MotorResolution|<MotorResolution>]] (or [[#MotorCountsPerRotation|<MotorCountsPerRotation>]]) value must reflect the number of counts sent '''to the controller''', which is not necessarily the same number of counts per rotation of the motor itself. For example, if there is a 3:1 gear-down ratio between the motor and the controller, the number of counts per rotation must be a 3x multiple of the motor counts.

* The [[#MotorType|<MotorType>]] should reflect the '''controller''' configuration, not the motor itself. For example, some Servo motors can be controlled with Step/Direction pulses, in which case the [[#MotorType|<MotorType>]] should be set to "Stepper".

* If [[#MotorResolution|<MotorResolution>]] '''and''' [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] are both defined on a single axis, the [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] is used. This will cause calculation errors on non-turntable axes.

* On a properly configured system, the [[#Direction|<Direction>]] should almost always be 1.

===Configuring a Linear Axis===
A Linear Axis must use:

# Linear [[#Units|<Units>]], e.g. "mm" or "in"
# The [[#MotorResolution|<MotorResolution>]] to define the number of counts per unit; e.g. on an axis that rotates once every 2000 counts and moves a lead screw one mm for every rotation, set the value to 2000 if the [[#Units|<Units>]] are set to "mm", or 50800 if the [[#Units|<Units>]] are set to "in".

Example:
<Axis value="0">
<MAxisSetup>
<AxisName>X</AxisName>
<Units>mm</Units>
<AxisLength>10000</AxisLength>
<MotorResolution>2000</MotorResolution>
<Direction>1</Direction>
<MotorType>Stepper</MotorType>
</MAxisSetup>
</Axis>

===Configuring a Gimbal/Swivel===
A Gimbal/Swivel axis must use:

# Rotational [[#Units|<Units>]], e.g. "deg"
# The [[#AxisLength|<AxisLength>]] value must '''not''' be 360 degrees. An axis with degree units and 360 degrees of rotation is treated as a Turntable/Rotator.
# Use the [[#MotorResolution|<MotorResolution>]] to define the number of counts per degree; e.g. on an Axis that needs 1000 counts to move 3 degrees, set the value to 333.333. This value can be fractional.

Example:

<Axis value="4">
<MAxisSetup>
<AxisName>G</AxisName>
<Units>deg</Units>
<AxisLength>200</AxisLength>
<MotorResolution>133.33</MotorResolution>
<Direction>1</Direction>
<MotorType>Stepper</MotorType>
</MAxisSetup>
</Axis>

===Configuration a Turntable/Rotator===

A Turntable/Rotator axis must use:

# Rotational [[#Units|<Units>]], e.g. "deg"
# The [[#AxisLength|<AxisLength>]] value '''must''' be 360 degrees.
# Use the [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] ('''NOT''' [[#MotorResolution|<MotorResolution>]]) to define the number of counts for one full rotation of the turntable; e.g., if the turntable axes moves 5 degrees per 1000 counts, set the value to 72000. This value can be fractional.

Example:

<Axis value="3">
<MAxisSetup>
<AxisName>Rotator</AxisName>
<Units>deg</Units>
<AxisLength>360</AxisLength>
<MotorCountsPerRotation>1440000</MotorCountsPerRotation>
<Direction>1</Direction>
<MotorType>Stepper</MotorType>
</MAxisSetup>
</Axis>

===Configuring an Offset Rotator===

If the Rotator is offset from the actual pivot point of the part, the [[#RotatorDiameter|<RotatorDiameter>]] and [[#RotatorDiameterUnits|<RotatorDiameterUnits>]] must be added so that the proper counts per rotation can be calculated internally. '''DO NOT''' change the [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] to reflect the diameter of the part to be scanned: it should reflect the rotator motion only.

===Encoder Configuration (Optional)===
If Encoder positions can be read from the controller, you may wish to add the [[#EncoderResolution|<EncoderResolution>]] and/or [[#EncoderCountsPerRotation|<EncoderCountsPerRotation>]] values so that the encoder feedback can be displayed. These have the same meaning as the [[#MotorResolution|<MotorResolution>]] and [[#MotorCountsPerRotation|<MotorCountsPerRotation>]] values, respectively. For most steups this is informational and is only useful to compare motor position and encoder positions directly on the axes. This does not affect how Scans are triggered as that is a separate physical encoder input to the A/D board(s).

If there is no encoder feedback that can be read on a particular axis, set the [[#EncoderPresent|<EncoderPresent>]] tag to "false".

==Axis Mapping==
[[File:AxisMapping.png|thumb|Illustration showing a 3-axis ODIS system mapping virtual axes to non-consecutive axes in the Motion Control hardware.]]
Under normal circumstances, motor axes are listed in the order they occur, e.g. Axis 0 is from Board 0 Axis 0, Axis 1 is Board 0 Axis 1, etc. However, there may be times where an operator wishes to re-map the axes due to specific hardware requirements. In that case, the <Map> tag can be added to change the order of the axes.

=== Format ===

The Axis Map has the following format:

<Map>
<Axis index board boardAxis/>
<Axis index .../>
</Map>

For each Virtual Axis in the mapping, there must be an "Axis" tag with three attributes:

<ol>
<li>'''''index''''' axis index (i.e. the order of the axis)</li>
<li>'''''board''''' board ID</li>
<li>'''''boardAxis''''' the axis on the specified board</li>
</ol>

All values are 0-based. The board ID will match the "value" attribute in the [[#Board|Board]] tags. the boardAxis ID will match the "value" attribute of the [[#Axis|Axis]] contained within the Board tag.

<u>If an axis map is present, '''only''' the axes described in the map will be used for motion.</u>

'''''Note:''' On Galil boards when using Motor triggering, the Slave and Compare axes must '''not''' be part of the axis map. Similarly, if doing encoder step-down on a Commander/Arcus board, the encoder source axis must '''not''' be part of the axis map.''

'''It is important that the remainder of the Motors.xml file remain unchanged: in other words, the physical settings of the axes *must* still reflect the actual hardware configuration. The Mapping is simply virtual "wiring" so that the motor code can reference the axes in a user-desired order.'''

=== Location in Motors.xml ===
The axis map must be added to the Motors.xml file immediately after the <MultiBoard> tag, and before any <Board> tags.

<MultiBoard>
'''<Map>
'''<Axis index="0" board="0" boardAxis="1"/>
'''<Axis index="1" board="0" boardAxis="0"/>
'''<Axis index="2" board="0" boardAxis="2"/>
'''<Axis index="3" board="0" boardAxis="3"/>
'''</Map>
<Board type="DMC1880" ...

=== Examples ===

The axis map can be used to reorder the physical axes in the system.

<Map>
<Axis index="0" board="0" boardAxis="1"/>
<Axis index="1" board="0" boardAxis="0"/>
<Axis index="2" board="0" boardAxis="2"/>
<Axis index="3" board="0" boardAxis="3"/>
</Map>

In the above example, the first axis in the system actually maps to the second physical axis of the first board. The second axis maps to the first physical axis of the first board.

Mapping can be across multiple motion controllers. For example, assume two 3-axis boards in one system. An axis map might look like this:

<Map>
<Axis index="0" board="1" boardAxis="1"/>
<Axis index="1" board="1" boardAxis="0"/>
<Axis index="2" board="0" boardAxis="2"/>
<Axis index="3" board="0" boardAxis="0"/>
<Axis index="4" board="0" boardAxis="1"/>
<Axis index="5" board="1" boardAxis="2"/>
</Map>

In this example, the First and second axes are mapped to the second and first physical axes of the second motor controller. The 4th and 5th axes are mapped to the first and second axes of the first motor controller.

==Encoder Step-Down==
''(Commander Motion Control only)''

When using a high-resolution encoder, it is possible to overwhelm the system reading the encoder output. This is caused by the number of counts sent by the encoder exceeding the maximum input rate of the device reading the encoder position.

To slow the rate but retain the accuracy given by the high-resolution encoder, it is possible to use an axis on a Commander motion controller to effectively reduce the encoder resolution by dividing the rate by a given factor.

To do this, the [[#EncoderSource|EncoderSource]] and [[#EncoderDivisor|EncoderDivisor]] tags should be added to the Motors.xml file under the '''Board''' Tag. These specify which commander axis is used for encoder step-down, and what divisor value should be set.

Example:

<Board type="Titan4CR" value="0">
<EncoderSource>3</EncoderSource>
<EncoderDivisor>8</EncoderDivisor>

In this case, we are using axis 3 of the Commander device as our Encoder source, and using a divisor of 8.

'''''Note:''' the EncoderSource value is the index to the axis on the particular Board. It is not altered by the Axis Map.''

===Output of the Encoder Source Axis===
On the axis used as an EncoderSource, the output can be configured by setting the [[#PulseType|PulseType]] tag.

Example:

<Axis value="3">
<MAxisSetup>
<PulseType>Q</PulseType>

In this case, axis 3 of the commander will output Quadrature signals when used as the EncoderSource.

==Motor Triggering==

It is possible to trigger on Motor pulses using Motor Triggering. Instead of using the encoder position to generate pulses, the Motor position is used. To use this capability depends on the physical wiring of the system.

===Galil Motor Triggering===

This requires proper wiring of the Galil motion control as documented in [[Motor Trigger Connections]]. The Motors.xml Slave and Compare axes must also be set for motor triggering to operate properly. The Slave and Compare axes must not be used in normal motion and should be excluded from any [[#Axis Mapping|Axis Map]], if any. The Galil CMP (Compare) output associated with the Compare axis will send a pulse on every motor trigger.

The Slave axis must be configured in [[#MotorType|<MotorType>]] as a Stepper axis, and the Compare axis must be configured as a Servo axis. In addition, the [[#Direction|<Direction>]] must be set the same as the axes that will be used to collect data.

Example:

<Board value="0">
<SlaveAxis>6</SlaveAxis>
<CompareAxis>7</CompareAxis>

In this example, axis 6 will be used as a Slave axis, and axis 7 will be used as the Compare axis that will send the output to the Compare line. On an 8-axis board, the CMP line that will be used will be the one associated with axes EFGH.

====Galil Motor Triggering with Servo Motors====
In a system with exclusively Servo motion control as defined in the [[#MotorType|<MotorType>]] tag, the Slave and Compare axes are not used. Instead, the position of the servo axis will be used directly for Compare output.

=== Commander Motor Triggering ===

Motor Triggering can also be used on Commander/Arcus controllers: however, the trigger input must be physically wired to the axis on which to do motor triggering. Using any other axis will generate an error. Slave and Compare axes are not used, and the [[#MotorType|<MotorType>]] is not relevant.

Constants

2025-11-05T18:28:13Z

Gshotts: Created blank page

Scan Collections

2025-11-05T18:28:02Z

Gshotts: Created blank page

Diagnostics

2025-11-05T18:27:50Z

Gshotts: Created blank page

2025-11-05T18:06:45Z

Gshotts: /* ProgramData */

ODIS Configuration files are stored in a few different locations, depending on type. The lists below show the locations.

= Install Directory =
This is the location of the ODIS executable. if you installed with defaults, it is located in the directory C:\OKOS\<ODIS type & version #>, where "ODIS type & version #" is the ODIS branch (e.g. ODIS or ODIS-NDT) and the version #, e.g. "3_20_1". A 64-bit install will also include "-64" at the end of the directory name.

Configuration files located in the Install Directory are:
* [[*.exe.config|ODIS.exe.config]]
* ODISSecurityManager.exe.config
* [[Motors.xml]]
* ODIS_Passwords.xml (Default passwords only)
* [[ODIS_Production.xml]]
* IOConfig.xml (ODIS-IC only)

= ODIS_DATA =
The ODIS_DATA directory is where ODIS stores most of its data files. The directory is subdivided into directories for different data types.

By default, the ODIS_DATA directory is located in C:\ODIS_DATA. The location of the subdirectories can be overridden by changing the appropriate keys in [[*.exe.config|ODIS.exe.config]]

==PARAMETERS==
This is the default location where parameter files are stored.
==SCANS==
Default location where scan data is stored. The location can be overridden by setting the [[Working Directory]] in ODIS.
==PALETTES==
The default location where Palette files are stored.

==TRANSDUCERS==
The default location where information from the Transducer Database is stored.

==REPORTS==
The default location where Report templates are stored. Report templates consist of XSLT and CSS files.

==TEMP==
Location where Temporary data is stored (e.g. backup data for a scan or Report data)

= ProgramData =
The hidden ProgramData directory is the location of most ODIS configuration file information. ProgramData is a Windows directory located on C: drive.

Each instance of ODIS installed has its own subdirectory in ProgramData at the following location:

C:\ProgramData\OKOS Solutions LLC\<ODIS or ODIS-NDT>\<ODIS Version #>

The directory will contain configuration files prefixed with an "ODIS_". The directory will also contain any Log files, stored as simple Text files (.txt).

File Locations

2025-11-05T18:04:21Z

Gshotts: /* TEMP */

File Locations

2025-11-05T18:03:48Z

Gshotts:

Main Page

2025-11-04T18:13:10Z

Gshotts: /* System Configuration */

<strong>Welcome to the OKOS wiki.</strong>
This wiki describes the use and operation of PVATePla-OKOS software, as well as providing information about configuration and maintenance.

'''This wiki is currently under development.'''

You can find the main index [[Index|here]].

== Getting started ==
* [[System Requirements]]
* [[Supported Hardware]]
* [[ODIS-IC/NDT Quick Installation Guide]]
* [[Simple Phased Array Quick Installation Guide]]
* [[Beam Profile Quick Installation Guide]]
* [[Visual Insight Quick Installation Guide]]
* [[Calibrating your System]]
* [[How-To Guides]]

== Common Topics ==
===Software Components===
*[[Menus]]
*[[Controls]]
**[[Motion Controls]]
**[[DPR Controls]]
**[[Digital Oscilloscope]]
**[[Scan Controls]]
*[[Toolbar]]
*[[Images]]

===Motion===
* [[Axes and Motion]]
**[[Axis Types]]
**[[Limits]]
**[[Initalization]]
**[[Jogging]]

===Acquiring Data===
*[[Collection Cycle|The Collection Cycle]]
* [[Acquisition]]
** [[Gates]]
** [[Gate Features]]
* [[Digital Pulser/Receivers]]
*[[Triggering]]

=== Running Scans===
*[[Types of Scans|Basic Scan Types]]
*[[Advanced Scan Types]]
*[[AutoCenter, AutoFocus, and AutoPeak|AutoCenter/AutoFocus/AutoPeak]]
*[[Scan Management]]

=== Use Cases===
* [[Phase Inversion Detection]]

===Data===
* [[Palettes]]
* [[Collections]]
**[[Merging Collections]]
* [[ODIS Raw File Format|ODIS File Format]]

===Analysis===
*[[Annotations]]
*[[Cluster Analysis]]
*[[Scan Math]]
*[[Auto-Analysis]]

===Administration===
* [[User Management]]
* Running in [[Basic Mode|Basic Mode]]
* Running in [[Advanced Mode|Advanced Mode]]
* Running in [[Production Mode|Production Mode]]

===System Configuration===
*[[Configuration Settings|System Configuration Settings]]
** [[Other Configurable Settings]]
*Configuration Files
** [[File Locations]]
** [[Motors.xml]]
** [[ODIS_Production.xml]]
** [[*.exe.config]]
** [[ODIS_Passwords.xml]]
** [[IOConfig.xml]]

===Troubleshooting===
*[[Common Problems and Solutions]]
* [[Glossary of Terms]]

== Software ==
* [[ODIS-IC]]
* [[ODIS-NDT]]
* [[Simple Phased Array Scanner]]
* [[OKOS Beam Profile]]
* [[Visual Insight]]

Main Page

2025-11-04T18:12:55Z

Gshotts: /* System Configuration */

<strong>Welcome to the OKOS wiki.</strong>
This wiki describes the use and operation of PVATePla-OKOS software, as well as providing information about configuration and maintenance.

'''This wiki is currently under development.'''

You can find the main index [[Index|here]].

== Getting started ==
* [[System Requirements]]
* [[Supported Hardware]]
* [[ODIS-IC/NDT Quick Installation Guide]]
* [[Simple Phased Array Quick Installation Guide]]
* [[Beam Profile Quick Installation Guide]]
* [[Visual Insight Quick Installation Guide]]
* [[Calibrating your System]]
* [[How-To Guides]]

== Common Topics ==
===Software Components===
*[[Menus]]
*[[Controls]]
**[[Motion Controls]]
**[[DPR Controls]]
**[[Digital Oscilloscope]]
**[[Scan Controls]]
*[[Toolbar]]
*[[Images]]

===Motion===
* [[Axes and Motion]]
**[[Axis Types]]
**[[Limits]]
**[[Initalization]]
**[[Jogging]]

===Acquiring Data===
*[[Collection Cycle|The Collection Cycle]]
* [[Acquisition]]
** [[Gates]]
** [[Gate Features]]
* [[Digital Pulser/Receivers]]
*[[Triggering]]

=== Running Scans===
*[[Types of Scans|Basic Scan Types]]
*[[Advanced Scan Types]]
*[[AutoCenter, AutoFocus, and AutoPeak|AutoCenter/AutoFocus/AutoPeak]]
*[[Scan Management]]

=== Use Cases===
* [[Phase Inversion Detection]]

===Data===
* [[Palettes]]
* [[Collections]]
**[[Merging Collections]]
* [[ODIS Raw File Format|ODIS File Format]]

===Analysis===
*[[Annotations]]
*[[Cluster Analysis]]
*[[Scan Math]]
*[[Auto-Analysis]]

===Administration===
* [[User Management]]
* Running in [[Basic Mode|Basic Mode]]
* Running in [[Advanced Mode|Advanced Mode]]
* Running in [[Production Mode|Production Mode]]

===System Configuration===
*[[Configuration Settings]]
** [[Other Configurable Settings]]
*Configuration Files
** [[File Locations]]
** [[Motors.xml]]
** [[ODIS_Production.xml]]
** [[*.exe.config]]
** [[ODIS_Passwords.xml]]
** [[IOConfig.xml]]

===Troubleshooting===
*[[Common Problems and Solutions]]
* [[Glossary of Terms]]

== Software ==
* [[ODIS-IC]]
* [[ODIS-NDT]]
* [[Simple Phased Array Scanner]]
* [[OKOS Beam Profile]]
* [[Visual Insight]]

ODIS Passwords.xml

2025-11-04T18:12:27Z

Gshotts: Created blank page

2025-11-04T17:53:23Z

2025-11-01T04:37:44Z

Gshotts:

Motor Configuration

2025-11-01T04:37:08Z

Gshotts: Created page with "= Motor Configuration = == Jog Speeds == Note: all Jog Speeds are defined in the units from Motors.xml {| class="wikitable" style="margin:auto" |- ! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description |- | '''Jog Speeds''' |- | - Slow|| N/A || x || x || Sets the Slowjog speed for each axis. |- | - Medium || N/A || x || x || Sets the Medium jog speed for each axis. |- | - Fast|| N/A || x || x || Sets the Fast jog speed for each axis. |}"

= Motor Configuration =

== Jog Speeds ==

Note: all Jog Speeds are defined in the units from [[Motors.xml]]

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Jog Speeds'''
|-
| - Slow|| N/A || x || x || Sets the Slowjog speed for each axis.
|-
| - Medium || N/A || x || x || Sets the Medium jog speed for each axis.
|-
| - Fast|| N/A || x || x || Sets the Fast jog speed for each axis.
|}

Color and Appearance

2025-11-01T04:33:34Z

Gshotts: /* Digital Oscilloscope (Scope) */

=Color and Appearance Settings=
<br clear="all"/>
== Digital Oscilloscope (Scope) ==
[[File:ColorAndAppearance.PNG|thumb|right|Color and Appearance section (ODIS-NDT)]]

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Colors'''
|-
| - Gridlines || [[File:ScopeSample.PNG|thumb]]|| x || x || Changes the Gridline color on the Digital Oscilloscope
|-
| - Background || TBD|| x || x || Changes the background color of the Digital Oscilloscope
|-
| - Waveform|| TBD|| x || x || Changes the color used to draw the first waveform on the Digital Oscilloscope. If multiple waveforms are present, other colors are chosen by the system.
|-
| - Region || TBD|| x || x || Changes the color of the Scope Region as displayed on the Digital Oscilloscope.
|-
| - Scales|| TBD|| x || x || Changes the color of the font and tickmarks used on the X/Y Scales of the Digital Oscilloscope.
|-
| - Scales Background|| [[File:WaveformScalesColor.PNG|thumb]] || x || x || Changes the background color of the X/Y Scales displayed on the Digital Oscilloscope.
|-
| '''Show Gradient''' || [[File:ScopeGradient.PNG|thumb]]|| x || x || If checked, the background color of the scope is shown as a gradient from top to bottom of Background Color to Black.
|-
| '''Board IDs'''
|-
| - Board <x>|| TBD|| x || x || Sets the name of the board. Names are on the Digitial Oscilloscope tabs, Collection names (if showing the Board name), and the Basic mode. If left blank, the name is the type and serial number as derived from the board firmware.
|-
| - Color button|| TBD|| x || x || Changes the color associated with the specific board. Will show on the Digital Oscilloscope tabs.
|-
| - Clear Board Colors|| TBD|| x || x || Resets the specified board colors to defaults.
|-
| '''Drawing'''
|-
| -# of Amplitude Gridlines|| TBD|| x || x ||
|-
| - WF Thickness|| TBD|| x || x ||
|-
| - Gridline Thickness|| TBD|| x || x ||
|-
| - Gate Thickness|| TBD|| x || x ||
|-
| - X-Scale Font|| TBD|| x || x ||
|-
| - Y-Scale Font|| TBD|| x || x ||
|-
| '''Options'''
|-
| - Zero Scope at Water Path|| TBD|| x || x ||
|-
| - Show Mouse Position|| TBD|| x || x ||
|-
| - Show Scope Region|| TBD|| x || x ||
|-
| - Use Variable Gridlines|| TBD|| x || x ||
|-
| - Default to Video|| TBD|| || x ||
|-
| - Show Transducer Type|| TBD|| x || x ||
|-
| - Hide Scope Gridlines|| TBD|| x || x ||
|-
| '''Max Display Length'''|| TBD|| || x ||
|}

== Gates ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Gate Annotations'''
|-
| - Hide All Gate Annotations|| [[File:HideGateAnnotations.PNG|thumb]] || x || x || Hide any gate annotations. Gates show as simple bars or regions.
|-
| -Show Gate Threshold Direction|| [[File:ShowGateThresholdDirection.PNG|thumb]] || x || x || Tick marks on gates indicate the threshold direction.
|-
| - Show Gate Results || [[File:ShowGateResults.PNG|thumb]] || x || x || The selected gate will show Peak and TOF result data.
|-
| - Show Gate Name || [[File:ShowGateName.PNG|thumb]] || x || x || The selected gate will display the user-defined name of the gate.
|-
| - Show Gate Grab Points || [[File:ShowGateGrabPoints.PNG|thumb]] || x || x || The selected gate will show the grab points used by the mouse to resize/move the gate.
|-
| - Show Gate Follower || [[File:ShowGateFollower.PNG|thumb]]|| x || x || A tickmark at the start of the gate indicates the color of parent gate.
|}

== FFT ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''First'''|| TBD | x || x ||
|}

== Motors ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example!! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''First'''|| TBD | x || x ||
|}

== Images ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Colors'''
|-
| - Use Palette || TBD || x || x || If checked, the image palette is used as the image background. Overrides "Image Background" button
|-
| - Image Background || TBD || x || x || The background color used on images if "Use Palette" is not checked.
|-
| - TOF Invalid Data || TBD || x || x || Color used when a gate used to generate TOF is not crossed, but it's parent still is.
|-
| - TOF No Data || TBD || x || x || Color used when a gate's parent is not crossed
|-
| - High Delam || TBD || x || x || Color used to indicate strong waveform inversion
|-
| - Low Delam|| TBD || x || x || Color used to indicate medium waveform inversion
|-
| - Tray ID || TBD || x || x ||
|-
| - Palette Bar || TBD || x || x ||
|-
| - Cluster Indications || TBD || x || x ||
|-
| - Void || TBD || x || x ||
|-
| - Show TOF Depth Color Gradients on Scope || TBD || x || x ||
|-
| '''Fonts'''
|-
| - Tray ID Font|| TBD || x || x ||
|-
| - Palette Bar Font|| TBD || x || x ||
|-
| - Palette Bar Decimal Precision|| TBD || x || x ||
|-
| '''Void Depth Colors'''
|-
| - Use Void Depth Colors|| TBD || x || x ||
|-
| - Void Color Selection || TBD || x || x ||
|-
| - Make Gradient || TBD || x || x ||
|-
| - Reset || TBD || x || x ||
|-
| '''A-Scan Indicators'''|| TBD || x || x ||
|-
| - Cross|| TBD || x || x ||
|-
| - Square|| TBD || x || x ||
|-
| - Circle|| TBD || x || x ||
|}

== Help ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Show Tooltips'''|| TBD | x || x ||
|}

== Basic Mode ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Colors'''|| || || || Sets the colors of the Basic Mode Control Window groups as well as the default Gate colors.
|-
| - Motors|| TBD || x || x ||
|-
| - Instruments|| TBD || x || x ||
|-
| - Gates|| TBD || x || x ||
|-
| - Scanning|| TBD || x || x ||
|-
| '''Gate Colors'''
|-
| - FSF|| TBD || x || x ||
|-
| - SSF|| TBD || x || x ||
|-
| - FFT|| TBD || x || x ||
|-
| - Data1|| TBD || x || x ||
|-
| - Data2|| TBD || x || x ||
|-
| - RTG|| TBD || x || x ||
|-
| - RTG2|| TBD || x || x ||
|-
| - B-Scan|| TBD || x || x ||
|-
| - SALI|| TBD || x || x ||
|-
| - Void|| TBD || x || x ||
|}

== Language ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Choose Language'''|| TBD || x || x || Changes the language in which ODIS labels/Text will be displayed.
|-
| - Windows Default || TBD || x || x || will display in the default language used in Windows.
|-
| - English || TBD || x || x ||
|-
| - Japanese|| TBD || x || x ||
|-
| - Korean|| TBD || x || x ||
|-
| - Chinese|| TBD || x || x ||
|}

== Startup ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example!! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Show on Startup'''|| TBD || x || x || Determines which static windows will be displayed when ODIS starts.
|-
| - Splash Screen || TBD || x || x || The ODIS "About..." Dialog
|-
| - Digital Oscilloscope || TBD || x || x || The main Digital Oscilloscope window
|-
| -- FFT || TBD || x || x || If checked, the main Digital Oscilloscope will open with the FFT view enabled.
|-
| - Motion Control || TBD || x || x ||
|-
| - Pulser/Receivers || TBD || x || x || Any configured DPRs will have their windows displayed.
|-
| - Scan Manager || TBD || x || x ||
|-
| - Session Information || TBD || x || x ||
|-
| - Live Video || TBD || x || x ||
|-
| - Measurement || TBD || x || x ||
|}

File:WaveformScalesColor.PNG

2025-11-01T04:32:56Z

Gshotts:

Color and Appearance

2025-11-01T04:31:39Z

Gshotts:

=Color and Appearance Settings=
<br clear="all"/>
== Digital Oscilloscope (Scope) ==
[[File:ColorAndAppearance.PNG|thumb|right|Color and Appearance section (ODIS-NDT)]]

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Colors'''
|-
| - Gridlines || [[File:ScopeSample.PNG|thumb]]|| x || x || Changes the Gridline color on the Digital Oscilloscope
|-
| - Background || TBD|| x || x || Changes the background color of the Digital Oscilloscope
|-
| - Waveform|| TBD|| x || x || Changes the color used to draw the first waveform on the Digital Oscilloscope. If multiple waveforms are present, other colors are chosen by the system.
|-
| - Region || TBD|| x || x || Changes the color of the Scope Region as displayed on the Digital Oscilloscope.
|-
| - Scales|| TBD|| x || x || Changes the color of the font and tickmarks used on the X/Y Scales of the Digital Oscilloscope.
|-
| - Scales Background|| TBD|| x || x || Changes the background color of the X/Y Scales displayed on the Digital Oscilloscope.
|-
| '''Show Gradient''' || [[File:ScopeGradient.PNG|thumb]]|| x || x || If checked, the background color of the scope is shown as a gradient from top to bottom of Background Color to Black.
|-
| '''Board IDs'''
|-
| - Board <x>|| TBD|| x || x || Sets the name of the board. Names are on the Digitial Oscilloscope tabs, Collection names (if showing the Board name), and the Basic mode. If left blank, the name is the type and serial number as derived from the board firmware.
|-
| - Color button|| TBD|| x || x || Changes the color associated with the specific board. Will show on the Digital Oscilloscope tabs.
|-
| - Clear Board Colors|| TBD|| x || x || Resets the specified board colors to defaults.
|-
| '''Drawing'''
|-
| -# of Amplitude Gridlines|| TBD|| x || x ||
|-
| - WF Thickness|| TBD|| x || x ||
|-
| - Gridline Thickness|| TBD|| x || x ||
|-
| - Gate Thickness|| TBD|| x || x ||
|-
| - X-Scale Font|| TBD|| x || x ||
|-
| - Y-Scale Font|| TBD|| x || x ||
|-
| '''Options'''
|-
| - Zero Scope at Water Path|| TBD|| x || x ||
|-
| - Show Mouse Position|| TBD|| x || x ||
|-
| - Show Scope Region|| TBD|| x || x ||
|-
| - Use Variable Gridlines|| TBD|| x || x ||
|-
| - Default to Video|| TBD|| || x ||
|-
| - Show Transducer Type|| TBD|| x || x ||
|-
| - Hide Scope Gridlines|| TBD|| x || x ||
|-
| '''Max Display Length'''|| TBD|| || x ||
|}

== Gates ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Gate Annotations'''
|-
| - Hide All Gate Annotations|| [[File:HideGateAnnotations.PNG|thumb]] || x || x || Hide any gate annotations. Gates show as simple bars or regions.
|-
| -Show Gate Threshold Direction|| [[File:ShowGateThresholdDirection.PNG|thumb]] || x || x || Tick marks on gates indicate the threshold direction.
|-
| - Show Gate Results || [[File:ShowGateResults.PNG|thumb]] || x || x || The selected gate will show Peak and TOF result data.
|-
| - Show Gate Name || [[File:ShowGateName.PNG|thumb]] || x || x || The selected gate will display the user-defined name of the gate.
|-
| - Show Gate Grab Points || [[File:ShowGateGrabPoints.PNG|thumb]] || x || x || The selected gate will show the grab points used by the mouse to resize/move the gate.
|-
| - Show Gate Follower || [[File:ShowGateFollower.PNG|thumb]]|| x || x || A tickmark at the start of the gate indicates the color of parent gate.
|}

== FFT ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''First'''|| TBD | x || x ||
|}

== Motors ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example!! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''First'''|| TBD | x || x ||
|}

== Images ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Colors'''
|-
| - Use Palette || TBD || x || x || If checked, the image palette is used as the image background. Overrides "Image Background" button
|-
| - Image Background || TBD || x || x || The background color used on images if "Use Palette" is not checked.
|-
| - TOF Invalid Data || TBD || x || x || Color used when a gate used to generate TOF is not crossed, but it's parent still is.
|-
| - TOF No Data || TBD || x || x || Color used when a gate's parent is not crossed
|-
| - High Delam || TBD || x || x || Color used to indicate strong waveform inversion
|-
| - Low Delam|| TBD || x || x || Color used to indicate medium waveform inversion
|-
| - Tray ID || TBD || x || x ||
|-
| - Palette Bar || TBD || x || x ||
|-
| - Cluster Indications || TBD || x || x ||
|-
| - Void || TBD || x || x ||
|-
| - Show TOF Depth Color Gradients on Scope || TBD || x || x ||
|-
| '''Fonts'''
|-
| - Tray ID Font|| TBD || x || x ||
|-
| - Palette Bar Font|| TBD || x || x ||
|-
| - Palette Bar Decimal Precision|| TBD || x || x ||
|-
| '''Void Depth Colors'''
|-
| - Use Void Depth Colors|| TBD || x || x ||
|-
| - Void Color Selection || TBD || x || x ||
|-
| - Make Gradient || TBD || x || x ||
|-
| - Reset || TBD || x || x ||
|-
| '''A-Scan Indicators'''|| TBD || x || x ||
|-
| - Cross|| TBD || x || x ||
|-
| - Square|| TBD || x || x ||
|-
| - Circle|| TBD || x || x ||
|}

== Help ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Show Tooltips'''|| TBD | x || x ||
|}

== Basic Mode ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Colors'''|| || || || Sets the colors of the Basic Mode Control Window groups as well as the default Gate colors.
|-
| - Motors|| TBD || x || x ||
|-
| - Instruments|| TBD || x || x ||
|-
| - Gates|| TBD || x || x ||
|-
| - Scanning|| TBD || x || x ||
|-
| '''Gate Colors'''
|-
| - FSF|| TBD || x || x ||
|-
| - SSF|| TBD || x || x ||
|-
| - FFT|| TBD || x || x ||
|-
| - Data1|| TBD || x || x ||
|-
| - Data2|| TBD || x || x ||
|-
| - RTG|| TBD || x || x ||
|-
| - RTG2|| TBD || x || x ||
|-
| - B-Scan|| TBD || x || x ||
|-
| - SALI|| TBD || x || x ||
|-
| - Void|| TBD || x || x ||
|}

== Language ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example !! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Choose Language'''|| TBD || x || x || Changes the language in which ODIS labels/Text will be displayed.
|-
| - Windows Default || TBD || x || x || will display in the default language used in Windows.
|-
| - English || TBD || x || x ||
|-
| - Japanese|| TBD || x || x ||
|-
| - Korean|| TBD || x || x ||
|-
| - Chinese|| TBD || x || x ||
|}

== Startup ==

{| class="wikitable" style="margin:auto"
|-
! Feature !! Example!! ODIS-IC? !! ODIS-NDT? !! Description
|-
| '''Show on Startup'''|| TBD || x || x || Determines which static windows will be displayed when ODIS starts.
|-
| - Splash Screen || TBD || x || x || The ODIS "About..." Dialog
|-
| - Digital Oscilloscope || TBD || x || x || The main Digital Oscilloscope window
|-
| -- FFT || TBD || x || x || If checked, the main Digital Oscilloscope will open with the FFT view enabled.
|-
| - Motion Control || TBD || x || x ||
|-
| - Pulser/Receivers || TBD || x || x || Any configured DPRs will have their windows displayed.
|-
| - Scan Manager || TBD || x || x ||
|-
| - Session Information || TBD || x || x ||
|-
| - Live Video || TBD || x || x ||
|-
| - Measurement || TBD || x || x ||
|}

Scan Management

2025-10-30T19:32:42Z

Gshotts: /* Beam Profile */

Scan Management is handled by the [[Scan Controls|Scan Manager]] control or by the Scan settings group in the Basic Mode Main Controls window.

= Scan Types =

[[File:ScanManager.PNG|thumb|right]]
== Linear ==

A linear scan is a simple 2-axis scan where one axis moves along a scan line, and the other steps a small amount each line, thus creating a rectangular raster scan image. A linear scan works with any two pairs of axes in a system (including Turntables/Rotators).
<br clear="all"/>

[[File:LinearMultiStep.PNG|thumb|right]]
== Linear MultiStep (ODIS-NDT only)==

A linear MultiStep scan is where a scan axis moves in a linear path, but multiple axes may be involved in the step motion. For example, scanning up a wedge shape involves a single scan axis (X) but multiple step axes (Y and Z).

The path for the step motion can be defined either with a "New Contour" or defining the shape of the part using the "Define Part" option.
<br clear="all"/>

[[File:LinearSurface.PNG|thumb|right]]

== Linear Surface (ODIS-NDT only)==

A linear surface scan is used when both the Scan and Step motion involve multiple axes, e.g. scanning an asymmetrical surface such as a fan blade. A surface must be defined using Teach-and-Learn or other methods.
<br clear="all"/>

[[File:TrayScanManager.PNG|thumb|right]]
== Tray ==

A tray scan is a type of scan where multiple parts are arranged in a regular grid. The tray scan can skip the regions between parts when scanning. Commonly used for scanning JEDEC trays of parts.
<br clear="all"/>

[[File:Rotational.PNG|thumb|right]]
== Rotational (ODIS-NDT only) ==

If a Turntable or Rotator is present in the system, a Rotational scan can be performed where the turntable/rotator moves constantly, while a step axis increments every rotation.
<br clear="all"/>

[[File:RotationalMultiStep.PNG|thumb|right]]
== Rotational MultiStep (ODIS-NDT only) ==

A rotational multistep scan performs a constant rotation on a turntable/rotator, with a step motion that involves multiple axes. For example, scanning a nose cone may involve Y, Z and Gimbal motion.
<br clear="all"/>

== Beam Profile ==

A Beam Profile is used for transducer characterization.

== Point ==

== Timed ==

= Scan Options =

File:RotationalMultiStep.PNG

2025-10-30T19:31:54Z

Gshotts: