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XPS-Q8 Controller
Define the plug number for the secondary positioner and the name from the stage data
base. The secondary positioner must have common values with the primary positioner
for the following parameters:
• MaximumVelocity
• MaximumAcceleration
• HomeSearchMaximumVelocity
• HomeSearchMaximumAcceleration
• MinimumTargetPosition
• MaximumTargetPositioner
The parameters "End referencing position" and "End referencing tolerance" refer to the
homing process of the gantry, see chapter 4.9.1 for details.
The parameter "Offset after initialization" is relevant only for gantries with linear
motors. See chapter 4.9.2 for details. For all other gantries, enter 0 for this parameter.
Furthermore, for certain XY gantries, it is also possible to apply a variable force ratio
for the two X positioners. This variable force ratio accounts for the different forces
required by the primary and the secondary X-axes positioners depending on the position
of the Y axis to ensure a torque-free motion. For details, see chapter 4.9.3.
When using the gantry configuration, the secondary positioner is almost invisible
in the application. All functions are sent directly to the motion group or to the
(primary) positioner of that group. However, it is possible to get information about
the secondary positioner by data gathering and using "SecondaryPositioner" as
the positioner name. Example:
MySingleGantry.S1.SecondaryPositioner.FollowingError
For further details about data gathering, see chapter 12.0.
4.9.1
Home search of gantries
During the home search of a gantry, first, the secondary positioner is homed and the
primary positioner follows the motion. Then, the primary positioner is homed and the
secondary positioner follows the motion. At the end, the primary positioner is at its
home position, but the secondary positioner will be off its home position due to the
tolerances in the assembly of the gantry. This "ideal" position can be defined to be the
position of best orthogonality between the X and Y axis of the gantry. The parameter
"End referencing position" defines the "ideal" position of the secondary positioner
when the primary positioner is at its home position. The parameter "End referencing
tolerance" defines the maximum allowed distance from the secondary positioner's ideal
position, when the primary positioner is at its home position.
When the actual distance is greater than the value of the "End referencing tolerance",
homing is aborted. When the actual distance is less than the value for the "End
referencing tolerance", then the secondary positioner moves to the "End referencing
position" while the primary positioner stays at its home position. Hence, this parameter
corrects the angle between the gantry's X and Y axes.
NOTE
45
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
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