Table of Contents
Advertisement
XPS-Q8 Controller
Motion Tutorial
Configuration in the system.ini file:
Yaw mapping is enabled when an "XY" group is associated with the "Theta" group. It
is defined by this key word:
YawMappingXYGroupName
The XY motions induce errors along "Theta". These errors are defined in a mapping
file:
YawMappingToThetaFileName
When the Yaw is applied, corrections are generated on XY. These corrections are
defined in the two mapping files:
YawMappingToXFileName
YawMappingToYFileName
In building the mapping file YawMappingToThetaMappingFile, follow the same rules
used for positioner mapping. The following parameters are used to check the
correctness of the file:
YawMappingToThetaLineNumber
YawMappingToThetaColumnNumber
YawMappingToThetaMaxPositionError
In building the two mapping files YawMappingToXMappingFile and
YawMappingToYMappingFile, follow the same rules used for XY group mapping. The
following parameters are used to check for file correctness:
YawMappingToXFileName
YawMappingToXLineNumber
YawMappingToXColumnNumber
YawMappingToXMaxPositionError
YawMappingToYFileName
YawMappingToYLineNumber
YawMappingToYColumnNumber
YawMappingToYMaxPositionError
Format for each yaw mapping file (X, Y and Theta):
• First cell must be 0.
• First column represents the X Positions.
• First row represents the Y Positions.
• Each cell represents the corresponding yaw error
NOTE
The error of X = Y = 0 must be 0 (This XY position in the file correspond to the
HomePreset position of the XY group reference). X and Y positions must at least
cover the entire travel of the XY group. XY and Yaw corrections occur at the same
time.
Limitations of mapping table size:
• Maximum lines = 400
• Maximum columns = 400
125
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Advertisement
Table of Contents
