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XPS-Q8 Controller
Example
In the Backlash section of the stages.ini file, set a value greater than or equal to 0:
;--- Backlash
Backlash = 5
This example shows the sequence of functions that enable backlash compensation:
PositionerBacklashEnable (MyGroup.MyPositioner)
GroupInitialize (MyGroup)
GroupHomeSearch (MyGroup)
...
PositionerBacklashSet (MyGroup.MyPositioner, 10)
PositionerBacklashGet (MyGroup.MyPositioner, *Backlash, *Status)
Returns the backlash value (10) and the backlash status (Enable).
...
PositionerBacklashDisable (MyGroup.MyPositioner)
10.2
Linear Error Correction
Linear error correction is applicable on all positioners and works in parallel with any
other compensation. To use linear error correction, you need to set a value for
"LinearErrorCorrection" in the stages.ini. When set, the corrected positions are
calculated in the following way:
(EncoderPosition – HomePreset) x (1 + LinearEncoderCorrection/10
The value of LinearEncoderCorrection is specified in ppm (parts per million). The
correction is applied relative to the physical home position of the positioner (the
Encoder position by definition is set to the HomePreset value at the home position).
This hardware reference for linear error correction has the advantage of being
independent of the value of the HomePreset.
Example
In the Encoder section of the stages.ini file, set a value other than 0,
but -0.5 x 10
6
< value < 0.5 x 10
;--- Encoder
EncoderType =AquadB
EncoderResolution = 0.001
LinearEncoderCorrection =5
10.3
Positioner Mapping
Positioner mapping corrects for any nonlinear errors of a positioner. Positioner mapping
is applicable on all positioners and can be used with to other compensations except
backlash compensation.
; units
Corrected position = HomePreset +
6
, in parameter LinearEncoderCorrection:
; unit
; ppm
113
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
6
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