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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
The limit travels must be equal or within the X and Y limit positions of the
mapping files, +3 and –3, respectively in this example.
Apply the following settings in the system.ini file:
;--- Mapping XY
XMappingFileName = XYMapping_X.txt
XMappingLineNumber = 7
XMappingColumnNumber = 7
XMappingMaxPositionError = 0.00845
YMappingFileName = XYMapping_Y.txt
YMappingLineNumber = 7
YMappingColumnNumber = 7
YMappingMaxPositionError = 0.00739
Use of the functions:
• GroupInitialize(XY)
• GroupHomeSearch(XY)
• GroupMoveAbsolute(XY, 3, 2)
The mapping files must at least cover the minimum and the maximum travel of the XY
group (they must cover the MinimumTargetPosition and the MaximumTargetPosition
for the X and Y positioners, parameters defined in the stages.ini, see section Travels).
So in the above example, the travel of the X and Y positioners can not be larger than ±3
units, but they can be smaller than this. The units for the data are the same as defined by
the EncoderResolution in the stages.ini. The data reads as follows: at position X = 3.00
units, Y = 2.00 units the corrected X position is 2.99852 units (3.00 - 0.00148) and the
corrected Y position is 1.99862 units (2.00 - 0.00138). Between two data points, the
XPS controller performs a linear interpolation of the error. The two mapping files don't
need to contain the same X and Y positions.
Mapping is a function implemented within the XPS controller to correct
positioning errors. When mapping is activated, it is transparent to the user. At
position (X,Y) = (3.00, 2.00), the function GroupPositionCurrentGet(XY.X) doesn't
return 2.99852 (3.00 - 0.00148) but 3.
10.5
XYZ Mapping
XYZ mapping is available only with XYZ groups. It compensates for all errors of an
XYZ group at any position of that XYZ group. XYZ mapping can be used in
conjunction with other compensations, including positioner mapping. Care must be
taken to consider the effects when using XYZ mapping and other compensations at the
same time.
XYZ mapping is defined by 3 compensation files (compensation for errors in X, Y or
Z), in text format. Each of these files can be seen as the juxtaposition of successive
tables where the first column of the first table contains the X positions; the first row of
the first table contains the Y positions; and the first cell of each table contains one of the
Z positions. Each table represents a plane defined by the Z position of the first cell. The
separator between the different data in each row is a tab. For legibility, inserting an
empty line between successive tables is recommended, but not mandatory. The other
cells contain the corresponding error.
NOTE
NOTE
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Motion Tutorial
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