Page 1 XPS Unified Universal High-Performance Motion Controller/Driver Programmer’s Manual V1.0.x...
Page 2 Original instructions. No part of this document may be reproduced or copied without the prior written approval of Newport Corporation. This document is provided for information only, and product specifications are subject to change without notice. Any change will be reflected in future publishings.
Page 3: Table Of Contents
3.1.2 Installing the 64 bit (x64) Windows Platform ............4 Variables Equivalent for Programming Langages ............5 How to Use XPS .NET Assembly from Visual Studio C#? ..........6 3.3.1 Add Reference to Newport XPS .NET Assembly ..........6 3.3.2 C# Code Sources ....................
Page 4 6.5.6 ZYGO Axis Error Status List ................40 6.5.7 ZYGO Axis Status List ..................41 XPS Functions Description ..............42 Input Tests Common to all XPS Functions ..............42 XPS Functions Lists ....................... 43 7.2.1 Standard Functions ....................43 7.2.1.1 CleanCoreDumpFolder ................
Page 5 XPS Unified Programmer’s Manual 7.2.1.9 ControllerStatusRead ................51 7.2.1.10 ControllerStatusStringGet ................ 52 7.2.1.11 ControllerSynchronizeCorrectorISR ............53 7.2.1.12 DataCollectionBufferReset ..............54 7.2.1.13 DataCollectionBufferAndTimeReset ............55 7.2.1.14 DataCollectionRequest ................56 7.2.1.15 DataCollectionTimeStampGet ..............57 7.2.1.16 DataCollectionTimeStampReset .............. 58 7.2.1.17 DoubleGlobalArrayGet ................59 7.2.1.18...
Page 6 XPS Unified Programmer’s Manual 7.2.1.60 GPIOAnalogRangeConfigurationGet ............ 107 7.2.1.61 GPIOAnalogRangeConfigurationSet ............. 108 7.2.1.62 GPIOAnalogSet ..................109 7.2.1.63 GPIODigitalGet ..................110 7.2.1.64 GPIODigitalSet ..................111 7.2.1.65 GPIODigitalPulseWidthGet ..............112 7.2.1.66 GPIODigitalPulseWidthSet ..............113 7.2.1.67 GroupAccelerationCurrentGet ............... 114 7.2.1.68 GroupAccelerationSetpointGet .............. 115 7.2.1.69...
Page 7 XPS Unified Programmer’s Manual 7.2.1.111 GroupVelocitySetpointGet ..............174 7.2.1.112 HardwareDateAndTimeGet ..............175 7.2.1.113 HardwareDateAndTimeSet ..............176 7.2.1.114 HardwareDriverAndStageGet ..............177 7.2.1.115 InstallerVersionGet ................178 7.2.1.116 INTServitudesCommandGet ..............179 7.2.1.117 INTServitudesStatusGet ................. 180 7.2.1.118 KillAll ....................181 7.2.1.119 Login ...................... 182 7.2.1.120...
Page 8 XPS Unified Programmer’s Manual 7.2.1.162 PositionerCompensatedPCOMemoryReset ..........247 7.2.1.163 PositionerCompensatedPCOPrepare ............248 7.2.1.164 PositionerCompensatedPCOSet ............. 250 7.2.1.165 PositionerCompensationDisturbanceDisable ......... 252 7.2.1.166 PositionerCompensationDisturbanceEnable .......... 253 7.2.1.167 PositionerCompensationDisturbanceFileLoad ........254 7.2.1.168 PositionerCompensationDisturbanceStatusGet ........255 7.2.1.169 PositionerCompensationDualLoopNotchFilterGet ........ 256 7.2.1.170 PositionerCompensationDualLoopNotchFilterSet ......... 258 7.2.1.171...
Page 9 XPS Unified Programmer’s Manual 7.2.1.213 PositionerCorrectorNotchFiltersSet ............331 7.2.1.214 PositionerCorrectorPIDAccelerationFilterGet ........333 7.2.1.215 PositionerCorrectorPIDAccelerationFilterSet ........334 7.2.1.216 PositionerCorrectorPIDBaseGet ............335 7.2.1.217 PositionerCorrectorPIDBaseSet ............. 337 7.2.1.218 PositionerCorrectorPIDDualFFVoltageGet ........... 339 7.2.1.219 PositionerCorrectorPIDDualFFVoltageSet ..........341 7.2.1.220 PositionerCorrectorPIDFFAccelerationGet ........... 344 7.2.1.221 PositionerCorrectorPIDFFAccelerationSet ..........346 7.2.1.222...
Page 10 XPS Unified Programmer’s Manual 7.2.1.264 PositionerMotionDoneGet ..............402 7.2.1.265 PositionerMotionDoneSet ..............403 7.2.1.266 PositionerMotorDualSinForceBalanceGet ..........404 7.2.1.267 PositionerMotorDualSinForceBalanceSet ..........405 7.2.1.268 PositionerPositionCompareAquadBAlwaysEnable ....... 406 7.2.1.269 PositionerPositionCompareAquadBPrescalerGet ........407 7.2.1.270 PositionerPositionCompareAquadBPrescalerSet ........408 7.2.1.271 PositionerPositionCompareAquadBWindowedGet ....... 409 7.2.1.272 PositionerPositionCompareAquadBWindowedSet ........ 410 7.2.1.273...
Page 11 XPS Unified Programmer’s Manual 7.2.1.315 SpindleSlaveModeDisable ..............461 7.2.1.316 SpindleSlaveModeEnable ..............462 7.2.1.317 SpindleSlaveParametersGet ..............463 7.2.1.318 SpindleSlaveParametersSet ..............464 7.2.1.319 TCLScriptExecute .................. 466 7.2.1.320 TCLScriptExecuteAndWait ..............467 7.2.1.321 TCLScriptExecuteWithPriority .............. 469 7.2.1.322 TCLScriptKill ..................471 7.2.1.323 TCLScriptKillAll ................... 472 7.2.1.324...
Page 12 XPS Unified Programmer’s Manual 7.2.1.366 XYGroupPositionPCORawEncoderGet ..........532 7.2.1.367 XYLineArcExecution ................533 7.2.1.368 XYLineArcParametersGet ..............535 7.2.1.369 XYLineArcPulseOutputGet ..............536 7.2.1.370 XYLineArcPulseOutputSet ..............538 7.2.1.371 XYLineArcVerification ................. 540 7.2.1.372 XYLineArcVerificationResultGet ............542 7.2.1.373 XYMappingGet ..................543 7.2.1.374 XYMappingSet ..................545 7.2.1.375...
Page 13 XPS Unified Programmer’s Manual 7.2.2.18 InitializeAndHomeX ................607 7.2.2.19 InitializeAndHomeXY ................609 7.2.2.20 InitializeAndHomeY ................611 7.2.2.21 MoveAbsolute ..................613 7.2.2.22 MoveSlice ....................615 7.2.2.23 RequestType1 ..................617 7.2.2.24 RequestType2 ..................619 7.2.2.25 RequestType3 ..................620 7.2.2.26 SetAccParams ..................621 7.2.2.27...
Page 14 XPS Unified Programmer’s Manual Lists and Tables for XPS Functions ..........670 Event Triggers List ....................... 670 Actions List ........................672 Gathering Data Types ....................673 External Gathering Data Types ..................675 Positioner Error List ..................... 676 Positioner Hardware Status List ................... 677 Positioner Driver Status List ..................
Page 15: Note
Programmer’s Manual Universal High-Performance Motion Controller/Driver Note This XPS Programmer's Manual describes all the functions available for the XPS family of controllers. NOTE Not all below described functions are available for XPS standard controller. If you are interested in a function that is described but not available for your controller, please contact Newport.
Page 16: Tcp/Ip Communication
The function call is blocked until a reply is sent by the XPS, or until the timeout value is reached. Running several processes in parallel (for instance getting the position while a stage is moving), several sockets can be used in parallel.
Page 17: Xps .Net Software Drivers
When developing your application, refer to the programming environment documentation to make the installed .NET assembly visible. To communicate with the XPS controller you will need to: • Use the OpenInstrument method to connect to the controller • Communicate with the controller using any of its API e.g. FirmwareVersionGet •...
Page 18: Installing The 32 Bit (X86) Windows Platform
The .NET assembly is in the controller in “/Public/Drivers” folder, refer to the controller user’s manual for more details. Download the “Newport.XPS.CommandInterface_x86.exe” to your computer. Once downloaded, run it. The .NET assembly “Newport.XPS.CommandInterface.dll” is installed in the GAC for x86 platforms in “C:\Windows\Microsoft.NET\assembly\GAC_32\Newport.XPS.CommandInterface\” folder and is ready for use.
Page 19: Variables Equivalent For Programming Langages
XPS Unified Programmer’s Manual Variables Equivalent for Programming Langages The table below describes a simple of a prototype model for different languages: int FunctionName (double inputParam, double * outputParam) Prototype int FunctionName(int SocketID, double inputParam, double * outputParam) VBasic Long FunctionName(ByVal SocketID As Long, ByVal inputParam As...
Page 20: How To Use Xps .Net Assembly From Visual Studio C
XPS Unified Programmer’s Manual How to Use XPS .NET Assembly from Visual Studio C#? Refer to Microsoft for more information on how to load and use a .NET assembly depending on your Visual Studio version. 3.3.1 Add Reference to Newport XPS .NET Assembly In your project add Newport.XPS.CommandInterface.dll in References from Windows...
Page 21: How To Use Xps .Net Assembly From Labview
Select CommandInterfaceXPS and XPS constructor from a .Net Constructor Node (refer to Connectivity panel): 3.4.2 LabVIEW Code Sources The instance of “XPS” object is created after configuration of .Net Constructor Node: Open XPS connection (Use a .Net Invoke Node to select the XPS method “OpenInstrument”): EDH0373En1023 — 01/18...
Page 22: How To Use Xps .Net Assembly From Ironpython
XPS Unified Programmer’s Manual Call “XPS” functions (Use a .Net Invoke Node to select a XPS method): Close XPS connection (Use a .Net Invoke Node to select the XPS method “CloseInstrument”): Close .NET Reference: How to Use XPS .NET Assembly from IronPython?
Page 23 XPS Unified Programmer’s Manual Create an Instance # Create XPS interface myXPS = XPS() Open XPS Connection def XPS_Open (address, port): # Create XPS interface myXPS = XPS() # Open a socket timeout = 1000 result = myXPS.OpenInstrument(address, port, timeout) if result == 0: print 'Open ', address, ":", port, "...
Page 24: How To Use Xps .Net Assembly From Matlab
XPS Unified Programmer’s Manual How to Use XPS .NET Assembly from Matlab? Refer to Matlab for more information on how to load and use a .NET assembly depending on your Matlab version. 3.6.1 Add Reference to .NET Assembly % Make the assembly visible from Matlab asmInfo = NET.addAssembly('Newport.XPS.CommandInterface')
Page 25: Tcp/Ip Support Functions
XPS Unified Programmer’s Manual TCP/IP Support Functions To ease the use of the TCP/IP communication, few functions have been develop by Newport. These functions uses the Microsoft System.Net.Sockets. OpenInstrument Name OpenInstrument – Create and open a socket. Description This function is used to create and open a socket. Send Timeout is set to 1 second...
Page 26: Closeinstrument
XPS Unified Programmer’s Manual CloseInstrument Name CloseInstrument – Closes the current socket. Description This function is used to close the current socket. Prototype int CloseInstrument () Input parameters None. Output parameters None. Return • 0: No error. • -1: Error of socket close.
Page 27: Xps Standard Firmware Architecture (Base Version)
XPS Unified Programmer’s Manual XPS Standard Firmware Architecture (Base Version) Group Definition The “Group” objects are used to define one or several “positioners” in the same motion group. The available motion groups are defined in the section [GROUPS] in the system.ini file and the group types are:...
Page 28: Positioner Definition
The positioner includes a mapping correction: X = f (X) The positioner includes the SGamma profile. The maximum number of positioners is limited to ControllerAxesNumber (4, 8, 12 or 16, depending on type of the XPS controller hardware). 5.2.1 Object Structure To use a positioner, it must belong to a motion group.
Page 29: Definition Of The Positions Available For Each Positioner
XPS Unified Programmer’s Manual 5.2.2 Definition of the Positions Available for Each Positioner For each positioner, three different positions can be called: 1. The SetpointPosition is the profiler position. This is the position where the positioner should be according to the ideal theoretical motion profile.
Page 30: Singleaxis Group
The SingleAxis group is composed of one single positioner for the execution of motion commands. A SingleAxis group can be used in GANTRY mode (dual positioner). The XPS controller can handle several SingleAxis objects. There is no relation between SingleAxis objects and other objects handled by the controller.
Page 31: State Diagram
XPS Unified Programmer’s Manual 5.3.1 State Diagram Called functions: GroupInitialize GroupAnalogTrackingModeEnable GroupHomeSearch GroupAnalogTrackingModeDisable GroupMoveAbsolute GroupInitializeWithEncoderCalibration GroupMoveRelative GroupReferencingStart GroupSlaveModeEnable GroupReferencingStop GroupMotionDisable PositionerAccelerationAutoScaling GroupMotionEnable PositionerCorrectorAutoTuning GroupMoveAbort PositionerExcitationSignalSet / PositionerPreCorrectorExcitationSignalSet GroupKill or KillAll GroupSlaveModeDisable GroupJogModeEnable GroupInitializeNoEncoderReset GroupJogModeDisable EDH0373En1023 — 01/18...
Page 32: Spindle Group
XPS Unified Programmer’s Manual Spindle Group A Spindle group is very similar to the SingleAxis group. It is composed of only one positioner with one main difference, it does not handle software or hardware end of runs. Therefore, it is allowed to spin indefinitely in any direction. The SingleAxis group motion commands are still allowed (except jog, which is replaced by spin).
Page 33: State Diagram
XPS Unified Programmer’s Manual 5.4.1 State Diagram Called functions: GroupInitialize GroupAnalogTrackingModeEnable GroupHomeSearch GroupAnalogTrackingModeDisable GroupMoveAbsolute GroupInitializeWithEncoderCalibration GroupMoveRelative GroupReferencingStart GroupSlaveModeEnable GroupReferencingStop GroupMotionDisable PositionerAccelerationAutoScaling GroupInitialize PositionerCorrectorAutoTuning GroupHomeSearch PositionerExcitationSignalSet / PositionerPreCorrectorExcitationSignalSet GroupMoveAbsolute GroupSlaveModeDisable GroupMoveRelative GroupInitializeNoEncoderReset GroupSlaveModeEnable EDH0373En1023 — 01/18...
Page 34: Xy Group
XPS Unified Programmer’s Manual XY Group An XY group is composed of two positioners, typically in an orthogonal XY configuration. An XY group can be used in GANTRY mode (dual positioner for X or for Y). It includes an XY mapping feature: XY = f (XY) It includes a line-arc and a PVT (PositionVelocityTime) two-dimension trajectories.
Page 35: State Diagram
XPS Unified Programmer’s Manual 5.5.1 State Diagram Called functions: GroupInitialize GroupJogModeDisable GroupHomeSearch GroupAnalogTrackingModeEnable GroupMoveAbsolute GroupAnalogTrackingModeDisable GroupMoveRelative GroupInitializeWithEncoderCalibration XYLineArcExecution GroupReferencingStart GroupMotionDisable GroupReferencingStop GroupMotionEnable PositionerAccelerationAutoScaling GroupMoveAbort PositionerCorrectorAutoTuning GroupKill or KillAll PositionerExcitationSignalSet / PositionerPreCorrectorExcitationSignalSet GroupJogModeEnable GroupInitializeNoEncoderReset EDH0373En1023 — 01/18...
Page 36: Xyz Group
XPS Unified Programmer’s Manual XYZ Group An XYZ group is a three positioner object, typically in an orthogonal XYZ configuration. It includes an XYZ mapping feature: XYZ = f(XYZ) It also includes 3D spline trajectories. EDH0373En1023 — 01/18...
Page 37: State Diagram
XPS Unified Programmer’s Manual 5.6.1 State Diagram Called functions: GroupInitialize GroupJogModeDisable GroupHomeSearch GroupAnalogTrackingModeEnable GroupMoveAbsolute GroupAnalogTrackingModeDisable GroupMoveRelative GroupInitializeWithEncoderCalibration XYZSplineExecution GroupReferencingStart GroupMotionDisable GroupReferencingStop GroupMotionEnable PositionerAccelerationAutoScaling GroupMoveAbort PositionerCorrectorAutoTuning GroupKill or KillAll PositionerExcitationSignalSet GroupJogModeEnable GroupInitializeNoEncoderReset EDH0373En1023 — 01/18...
Page 38: Multipleaxes Group
XPS Unified Programmer’s Manual MultipleAxes Group A MultipleAxes group is an n-positioner object, where n can be any number from 1 to A MultipleAxes group can be used in GANTRY mode (dual positioner for one or several positioners). It includes the PVT (PositionVelocityTime) and PT (PositionTime) trajectories.
Page 39: State Diagram
XPS Unified Programmer’s Manual 5.7.1 State Diagram Called functions: GroupInitialize GroupJogModeDisable GroupHomeSearch GroupAnÒalogTrackingModeEnable GroupMoveAbsolute GroupAnalogTrackingModeDisable GroupMoveRelative GroupInitializeWithEncoderCalibration MultipleAxesPVTExecution GroupReferencingStart GroupMotionDisable GroupReferencingStop GroupMotionEnable PositionerAccelerationAutoScaling GroupMoveAbort PositionerCorrectorAutoTuning GroupKill or KillAll PositionerExcitationSignalSet GroupJogModeEnable GroupInitializeNoEncoderReset EDH0373En1023 — 01/18...
Page 40: Analog And Digital I/O
XPS Unified Programmer’s Manual Analog and Digital I/O 5.8.1 GPIO Name List 5.8.1.1 XPS-Q Hardware Digital inputs GPIO1.DI Digital Input of the I/O board connector #1 (8 bits) GPIO2.DI Digital Input of the I/O board connector #2 (6 bits) GPIO3.DI Digital Input of the I/O board connector #3 (6 bits) GPIO4.DI...
Page 41: Xps-Rl Or Xps-D Hardware
XPS Unified Programmer’s Manual 5.8.1.2 XPS-RL or XPS-D Hardware Digital inputs Basic GPIO board Extended GPIO board GPIO3.DI (8 bits) GPIO Board #1 GPIO1.DI (8 bits) GPIO5.DI (16 bits) GPIO6.DI (16 bits) GPIO32.DI (8 bits) GPIO12.DI (8 bits) GPIO52.DI (16 bits) GPIO Board #2 GPIO62.DI (16 bits)
Page 42: Xps Extended Firmware Architecture (Contact Newport)
XPS Unified Programmer’s Manual XPS Extended Firmware Architecture (Contact Newport) NOTE Contact Newport to obtain the extended firmware version that includes the following features. SingleAxisWithClamping Group The SingleAxisWithClamping Group is composed of one single positioner that allows execution of motion commands.
Page 43: State Diagram
XPS Unified Programmer’s Manual 6.1.1 State Diagram Called functions: GroupInitialize GroupJogModeDisable GroupHomeSearch GroupAnalogTrackingModeEnable GroupMoveAbsolute GroupAnalogTrackingModeDisable GroupMoveRelative GroupInitializeWithEncoderCalibration GroupMotionDisable GroupReferencingStart GroupMotionEnable GroupReferencingStop GroupMoveAbort PositionerAccelerationAutoScaling GroupKill or KillAll GroupInitializeNoEncoderReset GroupJogModeEnable EDH0373En1023 — 01/18...
Page 44: Group Clamping Sequence
XPS Unified Programmer’s Manual 6.1.2 Group Clamping Sequence 6.1.2.1 Clamping State Diagram NOTES In case of recoverable errors (go to DISABLE state or go to READY state), the clamp is unclamped. In case of fatal errors (go to NOT INIT state), the clamp stays in the current state (clamped).
Page 45: Singleaxistheta Group
XPS Unified Programmer’s Manual SingleAxisTheta Group The SingleAxisTheta is composed of one single positioner object with three encoders (Theta encoder) for the execution of motion commands. It includes a “Yaw” mapping and a “Theta” correction on an XY group. A SingleAxisTheta group CANNOT be used in GANTRY mode (secondary positioner is impossible).
Page 46: State Diagram
XPS Unified Programmer’s Manual 6.2.1 State Diagram Called functions: GroupInitialize GroupAnalogTrackingModeEnable GroupHomeSearch GroupAnalogTrackingModeDisable GroupMoveAbsolute GroupInitializeWithEncoderCalibration GroupMoveRelative GroupReferencingStart GroupSlaveModeEnable GroupReferencingStop GroupMotionDisable PositionerAccelerationAutoScaling GroupMotionEnable PositionerCorrectorAutoTuning GroupMoveAbort PositionerExcitationSignalSet / PositionerPreCorrectorExcitationSignalSet GroupKill or KillAll GroupSlaveModeDisable GroupJogModeEnable GroupInitializeNoEncoderReset GroupJogModeDisable EDH0373En1023 — 01/18...
Page 47: Group Clamping Sequence
XPS Unified Programmer’s Manual 6.2.2 Group Clamping Sequence 6.2.2.1 Clamping State Diagram NOTES In case of recoverable errors (go to DISABLE state or go to READY state), the clamp is unclamped. In case of fatal errors (go to NOT INIT state), the clamp stays in the current state (clamped).
Page 48: Tz Group
• It does not support 3D spline trajectories. • It supports TZDecoupling, XYtoZZZAccelerationFeedforward and TZTracking functionalities. • It supports Focus process via the XPS focus interface board and focus process module (focus.out). • It has a specific way of initialization (MotorDriverInterface = AnalogAccelerationTZ).
Page 49: State Diagram
XPS Unified Programmer’s Manual 6.3.1 State Diagram Called functions: GroupInitialize GroupAnalogTrackingModeEnable GroupHomeSearch GroupAnalogTrackingModeDisable GroupMoveAbsolute GroupInitializeWithEncoderCalibration GroupMoveRelative GroupReferencingStart MultipleAxesPVTExecution GroupReferencingStop GroupMotionDisable PositionerAccelerationAutoScaling GroupMotionEnable PositionerCorrectorAutoTuning GroupMoveAbort PositionerExcitationSignalSet GroupKill or KillAll TZFocusModeEnable GroupJogModeEnable GroupInitializeNoEncoderReset GroupJogModeDisable EDH0373En1023 — 01/18...
Page 50: User External Module Programming
Programmer’s Manual User External Module Programming The user external module programming manages the written by user program blocks (ExternalModules) in the XPS controller, with the following conditions: Every user external module is written in C language (GNU with QNX Momentics •...
Page 51: Zygo Interferometer
XPS Unified Programmer’s Manual ZYGO Interferometer 6.5.1 ZMI Measurement System Refer to ZMI 2400 series manual - OMP 0537_F 6.5.2 ZYGO P2 Interface Registers P2 Registers Read Write Axis status Position Axis #1 Read only Velocity Time Axis status Position...
Page 52: Status, Error, And High Nibble P2 Interface Register
Detection and Status Reporting” section for more information. The bits that correspond to fatal errors are indicated by “(F)”. Table 3-4 Status, Error, and High Nibble P2 Interface Register Bit Positions Description XPS group state after detection 1 (not used) 1 (not used) 1 (not used)
Page 53: Zygo Error Code Table
XPS Unified Programmer’s Manual 6.5.4 ZYGO Error Code Table Error Code Description -100001 Syntax error in command or unrecognized command -100002 Internal error occurred while parsing request -100003 Invalid character detected in command input -100004 Un-terminated string -100005 Invalid hex number...
Page 54: Peg Control Register
Not used 0x8000 IRQ Pending The axis error status register is read via Ethernet. A XPS controller error is generates when one or several bits of Error mask are ON. In this case, the group goes to NOTINIT state. EDH0373En1023 — 01/18...
Page 55: Zygo Axis Status List
XPS Unified Programmer’s Manual 6.5.7 ZYGO Axis Status List code Status description Success 0x0001 Reference signal present 0x0002 Reference PLL 0x0004 System OK 0x0008 Measure Signal present 0x0010 Position Reset Complete 0x0020 ADC Ready 0x0040 ADC Mux = 0 0x0100...
Page 56: Xps Functions Description
XPS Unified Programmer’s Manual XPS Functions Description Input Tests Common to all XPS Functions For all commands, general input tests are the following: General: Controller initialization failed. XPS initialization in progress. Check the command format: Wrong format in the command string.
Page 57: Xps Functions Lists
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -22: Not allowed action. • -100: Internal error.
Page 58: Cleantmpfolder
CleanTmpFolder(int SocketID) Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -100: Internal error. EDH0373En1023 — 01/18...
Page 59: Closeallothersockets
(on an user socket) process before the socket is really closed. Prototype int CloseAllOtherSockets() Input parameters None. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -107: This function requires Administrator rights. NOTE Call the “Login”...
Page 60: Controllermotionkerneltimeloadget
CPUProfilerLoadRatio double * Controller motion kernel profiler CPU time load. CPUServitudesLoadRatio double * Controller motion kernel servitudes CPU time load. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 61: Controllerrttimeget
This function gets the last exact value of the controller’s corrector period and the corrector calculation time. NOTE The default value of XPS controller corrector period is 0.125 ms (corresponding to an 8 kHz controller corrector frequency). Prototype int ControllerRTTimeGet(...
Page 62: Controllerslavestatusget
Input parameters SocketID Socket identifier used in each function. Output parameters SlaveControllerStatus int * Slave status of the controller. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 63: Controllerslavestatusstringget
Socket identifier used in each function. SlaveControllerStatus Slave controller status code. Output parameters SlaveControllerStatusString char * Slave controller status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 64: Controllerstatusget
Socket identifier used in each function. SlaveControllerStatus Slave controller status code. Output parameters SlaveControllerStatusString char * Slave controller status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 65: Controllerstatusread
ControllerStatusRead(int SocketID, int * ControllerStatus) Input parameters SocketID Socket identifier used in each. function. Output parameters ControllerStatus int * Status of the controller. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 66: Controllerstatusstringget
SocketID Socket identifier used in each function. ControllerStatusCode Controller status code. Output parameters ControllerStatus char * Controller status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 67: Controllersynchronizecorrectorisr
* ModeString Input parameters SocketID Socket identifier used in each function. ModeString char * Synchronization mode. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 68: Datacollectionbufferreset
This function clears any data in the data collection buffer. Prototype int DataCollectionBufferReset( int SocketID, Input parameters SocketID string Socket identifier used in each function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 69: Datacollectionbufferandtimereset
It allows to reset data and time stamp at once with a function call only. Prototype int DataCollectionBufferAndTimeReset( int SocketID, Input parameters SocketID string Socket identifier used in each function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 70: Datacollectionrequest
Number of data blocks to get. Output parameters NbReturnBlocks int * Number of actually returned blocks. Frame char * Blocks of collected data. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 71: Datacollectiontimestampget
SocketID string Socket identifier used in each function. Output parameters TimeStamp double * Data collection current time stamp (milliseconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 72: Datacollectiontimestampreset
This function resets internal millisecond counter used as time stamp for data collection. Prototype int DataCollectionTimeStampReset( int SocketID, Input parameters SocketID string Socket identifier used in each function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 73: Doubleglobalarrayget
“TCP_ConnectToServer” function. Number Index in the global array. Output parameters DoubleValue double * Variable value. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 74: Doubleglobalarrayset
Index in the global array. DoubleValue double Variable value. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 75: Elapsedtimeget
* ElapsedTime Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters ErrorString double * Elapsed time (seconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 76: Errorstringget
Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. ErrorCode Error code. Output parameters ErrorString char * Error description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 77: Eventextendedallget
Output parameters EventIdentifiersList char * List of “event and action” identifiers in scheduler. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -83: Event ID not defined. EDH0373En1023 — 01/18...
Page 78: Eventextendedconfigurationactionget
“Event and action” identifier from “ExtendedEventStart”. Output parameters ActionConfiguration char * Action combination configured in buffer. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -81: Action not configured. EDH0373En1023 — 01/18...
Page 79: Eventextendedconfigurationactionset
“EventExtendedStart” function to activate these defined actions. For each action, 4 parameters can be configured … see event specification to see which are necessary. The actions are defined in section “Events and Actions” in the XPS user’s manual. The number of actions in a combination is limited to 10 actions.
Page 80 ActionParameter4 char * optional action’s parameter #4 (maximum size = 250). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 81: Eventextendedconfigurationtriggerget
Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters EventTriggerConfiguration char * Event combination configured in buffer. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -80: Event not configured.
Page 82: Eventextendedconfigurationtriggerset
Name EventExtendedConfigurationTriggerSet - Defines a combination of one or several events in buffer. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Event actor: (-8) Event name: (-40) Description Defines one trigger (combination of one or several events). To activate the trigger, use the “EventExtendedStart”...
Page 83 * list of optional event’s parameter #4 (maximum size = 250). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 84: Eventextendedget
EventConfiguration char * Event combination defined in scheduler. ActionConfiguration char * Action combination defined in scheduler. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -83: Event ID not defined.
Page 85: Eventextendedremove
Socket identifier gets by the “TCP_ConnectToServer” function. EventID “Event and action” identifier. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 86: Eventextendedstart
Name EventExtendedStart – Activates the “event and action” defined in the buffer. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Event name to execute: (-8), (-40) Last event configuration in memory: (-80) Last action configuration in memory: (-81)
Page 87 Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters EventID int * “Event and action” identifier. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 88: Eventextendedwait
EventExtendedWait – Activates the last “event” configuration in memory and wait until it occurs. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Event actor: (-8) Last event configuration in memory: (-80) Number of compositions in execution: (-82)
Page 89 Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -40: Mnemonic event doesn't exist.
Page 90: Externalmodulefirmwareversionget
ModuleNumber External module number Output parameters Version char * External module firmware version. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 91: Externalmodulescanfunctimedurationsget
Current scan executing duration. MaximumDuration char * Maximum scan executing duration. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 92: Externalmodulesocketfree
Socket identifier gets by the “TCP_ConnectToServer” function. ModuleNumber External module number Output parameters None Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 93: Externalmodulesocketreserve
Socket identifier gets by the “TCP_ConnectToServer” function. ModuleNumber External module number Output parameters None Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 94: Filegatheringrename
Socket identifier gets by the “TCP_ConnectToServer” function. NewFileName char * New file name used to rename “Gathering.dat”. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 95: Filescripthistoryrename
Socket identifier gets by the “TCP_ConnectToServer” function. NewFileName char * New file name used to rename “history.tcl”. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 96: Firmwarebuildversionnumberget
* Version Input parameters SocketID Socket identifier gets by the TCP_ConnectToServer” function. Output parameters Version char * Controller firmware version. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 97: Firmwareversionget
* Version Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters Version char * Controller version. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 98: Gatheringconfigurationget
“TCP_ConnectToServer” function. Output parameters TypeList char * List of configured gathering types (separator is semicolon). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured. EDH0373En1023 — 01/18...
Page 99: Gatheringconfigurationset
Number of types. TypeArray char * Array of configured gathering types. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -29: Mnemonic gathering type doesn't exist. • -32: Gathering not configured.
Page 100: Gatheringcurrentnumberget
CurrentNumber int * Current number during acquisition. MaxSamplesNumber int * Maximum number of samples. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured. EDH0373En1023 — 01/18...
Page 101: Gatheringdataacquire
GatheringDataAcquire(int SocketID) Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured. • -43: Gathering running.
Page 102: Gatheringdataget
Output parameters DataBufferLine char * String contains values from the current buffer at the selected index. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured. EDH0373En1023 — 01/18...
Page 103: Gatheringdatamultiplelinesget
GatheringDataMultipleLinesGet – Reads several data lines from the current gathering buffer in memory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks index number: (-17) • IndexPoint ≥ 0 (Note: index #0 = line #1) •...
Page 104 DataBufferLine char * String contains values from the current buffer at the selected index. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 105: Gatheringexternalconfigurationget
“TCP_ConnectToServer” function. Output parameters TypeList char * List of configured gathering types (separator is semicolon). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured. EDH0373En1023 — 01/18...
Page 106: Gatheringexternalconfigurationset
Number of types. TypeArray char * Array of configured gathering types. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -29: Mnemonic gathering type doesn't exist. • -43: Gathering running.
Page 107: Gatheringexternalcurrentnumberget
CurrentNumber int * Current number during acquisition. MaxSamplesNumber int * Maximum number of samples. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured. EDH0373En1023 — 01/18...
Page 108: Gatheringexternaldataget
DataBufferLine char * String contains values from the current buffer at the selected index. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 109: Gatheringexternalstopandsave
Checks number of data (>0): (-30) Checks file opening: (-60) Description This function stops externally triggered data gathering and saves the data into the XPS controller. Gathered data is stored in the “GatheringExternal.dat” file under “..\Public” folder of XPS controller.
Page 110: Gatheringreset
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -43: Gathering running. EDH0373En1023 — 01/18...
Page 111: Gatheringrun
The number of data line to gather. Divisor The divisor of the servo frequency. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured.
Page 112: Gatheringrunappend
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -32: Gathering not configured. • -43: Gathering running.
Page 113: Gatheringstop
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -30: Gathering not started. • -60: Error during file writing or file doesn't exist.
Page 114: Gatheringstopandsave
Description This function stops internally triggered data gathering as well as saves the data to the XPS controller. Data is stored in GATHERING.DAT file under “..\Public” folder of the XPS controller. For more thorough description of internal data gathering capability, please refer to section Data Gathering/Internal Data Gathering of XPS Motion Tutorial.
Page 115: Getlibraryversion
XPS Unified Programmer’s Manual 7.2.1.54 GetLibraryVersion Name GetLibraryVersion – Gets the version of the DLL library. Input tests None. Description This function returns the version of DLL library. The library version represents the firmware version that was used to build the library.
Page 116: Globalarrayget
Number Index in the global array. Output parameters StringValue char * Variable value. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 117: Globalarrayset
Index in the global array. StringValue char * Variable value. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 118: Gpioanaloggainget
Analog I/O of the XPS Motion Tutorial for further information about ADC gain. The gain value must be 1, 2, 4 or 8. The maximum number of INT boards that can be plugged inside the XPS controller is 2, increasing the number of analog inputs (ADC) from 4 to 8.
Page 119: Gpioanaloggainset
If the conversion of the gain value to bits fails then (-22) error is returned. The maximum number of INT boards, that can be plugged inside the XPS controller, is 2, increasing the number of analog inputs from 4 to 8.
Page 120: Gpioanalogget
List of analog GPIO names – separator is comma. Output parameters AnalogGainValueArray double * Analog GPIO value array (DAC or ADC). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 121: Gpioanalograngeconfigurationget
GPIOName char * GPIO name. Output parameters DACRange double * DAC range value. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 122: Gpioanalograngeconfigurationset
* GPIO name. DACRange double DAC range value. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 123: Gpioanalogset
AnalogGainValueArray double * Analog GPIO value array (DAC or ADC). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 124: Gpiodigitalget
Digital GPIO name (maximum size = 250). Output parameters AnalogGainValueArray uint * Analog GPIO value array (DAC or ADC). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 125: Gpiodigitalset
Mask. DigitalOutputValue ushort Digital output value. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -22: Not allowed action.
Page 126: Gpiodigitalpulsewidthget
GPIOName GPIO digital I/O name. Output parameters PulseWidth double * Current GPIO pulse width (µsec). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 127: Gpiodigitalpulsewidthset
GPIO digital I/O name. PulseWidth double GPIO digital I/O pulse width (µsec). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 128: Groupaccelerationcurrentget
NbPositioners Number of positioners in the group. Output parameters CurrentAcceleration double * Current acceleration array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 129: Groupaccelerationsetpointget
Number of positioners in the selected group. Output parameters SetpointAcceleration double * Setpoint Acceleration array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 130: Groupanalogtrackingmodedisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -9: Wrong number of parameters in the command. • -19: GroupName doesn't exist or unknown command.
Page 131: Groupanalogtrackingmodeenable
GroupAnalogTrackingModeEnable Name GroupAnalogTrackingModeEnable - Enables the analog tracking mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids tracking type (“Position” or “Velocity”): (-8) Valids group name: (-19) Group status must be “READY”: (-22) Configured tracking: (-22) Description Enables the analog tracking mode.
Page 132 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -9: Wrong number of parameters in the command. • -19: GroupName doesn't exist or unknown command. • -22: Not allowed action.
Page 133: Groupbrakestateget
* Group name (XY). Output parameters BrakeCommand int * Brake command (0 or 1). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 134: Groupbrakeset
* Group name (XY). BrakeCommand Brake command (0 or 1). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 135: Groupcorrectoroutputget
NbPositioners Number of positioners in the selected group (1 if positioner). Output parameters CorrectorOutput double * Corrector output array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 136: Groupcurrentfollowingerrorget
(1 if positioner). Output parameters CurrentFollowingError double * Current following error array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: Positioner Name doesn't exist or unknown command.
Page 137: Groupgantrymodeget
* XY group name. Output parameters Option char * Option0, Option1 or Option2. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 138: Groupgantrymodeset
XY group name. Option char * Option0, Option1 or Option2. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -19: GroupName doesn't exist or unknown command.
Page 139: Grouphomesearch
GroupHomeSearch Name GroupHomeSearch - Initiates a home search. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. The actor must be a valid group name: (-19) Group status must be "Not referenced”: (-22) Description This function initiates a home search for each positioner of the selected group.
Page 140 Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -19: GroupName doesn't exist or unknown command. • -22: Not allowed action.
Page 141: Grouphomesearchandrelativemove
Name GroupHomeSearchAndRelativeMove - Initiates a home search followed by a relative move. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids group name: (-19) Group status must be "Not referenced”: (-22) Description This function initiates a home search followed by a relative move at the end of the home search.
Page 142 Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -19: GroupName doesn't exist or unknown command. • -22: Not allowed action.
Page 143: Groupinitialize
GroupInitialize - Initializes the motor and activates the servo loop of the selected group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Actor must be a group: (-8), (-18) Valids group name: (-19) Group status must be "NOTINIT”: (-22)
Page 144 “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -5: Not allowed due to a positioner error or hardware status.
Page 145: Groupinitializenoencoderreset
GroupInitializeNoEncoderReset - Initializes the motor without encoder reset and activates the servo loop of the selected group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Actor must be a group: (-8), (-18) Valids group name: (-19) Group status must be "NOTINIT”: (-22)
Page 146 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -5: Not allowed due to a positioner error or hardware status. • -8: Wrong object type for this command.
Page 147: Groupinitializewithencodercalibration
GroupInitializeWithEncoderCalibration - Initializes motor, calibrates encoder and activates servo loop. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Actor must be a group: (-8), (-18) Valids group name: (-19) Group status must be "NOTINIT”: (-22)
Page 148 “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -5: Not allowed due to a positioner error or hardware status.
Page 149: Groupinterlockdisable
G3 depends on G1 and G2 (G3 in action if an error occurs on G1 or G2) The interlocked groups are listed in the [GROUPS] section of system.ini file: InterlockedGroups = …; Names of groups involved in the GroupInterlock mode. The GroupInterlock mode is enabled by default at boot of the XPS controller. Prototype int GroupInterlockDisable(...
Page 150: Groupinterlockenable
• G3 depends on G1 and G2 (G3 in action if an error occurs on G1 or G2). The interlocked groups are listed in the [GROUPS] section of system.ini file: InterlockedGroups = …; Names of groups involved in the GroupInterlock mode. The GroupInterlock mode is enabled by default at boot of the XPS controller. Prototype int GroupInterlockEnable(...
Page 151: Groupjogcurrentget
CAUTION The jog mode cannot be used with a spindle group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Valids positioner name: (-18) Valids group name: (-19)
Page 152 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command. • -19: GroupName doesn't exist or unknown command.
Page 153: Groupjogmodedisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -8: Wrong object type for this command.
Page 154: Groupjogmodeenable
GroupJogModeEnable Name GroupJogModeEnable – Enables the jog mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group): (-8), (-18) Valids group name: (-19) Group status must be “READY”: (-22) Backlash must not be activated: (-46) Description Enables the Jog mode.
Page 155 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command. • -19: GroupName doesn't exist or unknown command.
Page 156: Groupjogparametersget
Name GroupJogParametersGet – Gets the velocity and acceleration set by “GroupJogParametersSet”. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Valids positioner name: (-18) Valids group name: (-19) Description This function returns the velocity and acceleration in jog mode set by the user for one positioner or for all positioners of the selected group.
Page 157 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command. • -19: GroupName doesn't exist or unknown command.
Page 158: Groupjogparametersset
GroupJogParametersSet – Changes the velocity and acceleration on the fly, in jog mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Valids positioner name: (-18) Valids group name: (-19) Group status must be “JOGGING”: (-22)
Page 159 User jog velocity array. Acceleration double User jog Acceleration array. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 160: Groupkill
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 161: Groupmotiondisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 162: Groupmotionenable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 163: Groupmotionstatusget
Number of positioners in the selected group. Output parameters Status int * Positioner status. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 164: Groupmoveabort
GroupMoveAbort – aborts the motion or the jog in progress for a group or a positioner. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Valids positioner name: (-18) Valids group name: (-19) Group status must be "MOVING”...
Page 165 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 166: Groupmoveabortfast
GroupMoveAbortFast – aborts with user-defined deceleration a motion or a jog in progress for a group or positioner. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Valids UserDecelerationMultiplier value (≥1 and ≤100): (-17)
Page 167 GroupName char * Group name. DecelerationMultiplier Braking deceleration multiplier. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 168: Groupmoveabsolute
GroupMoveAbsolute - Initiates an absolute move for a positioner or a group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Verifies target position in relation with the travel limits: (-17) •...
Page 169 Number of positioners in the selected group. TargetPosition double * Target position array. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 170: Groupmoveendwait
YPosition double in controller unit. Y position to check Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -211: Not expected position after motion.
Page 171: Groupmoverelative
GroupMoveRelative - Initiates a relative move for a positioner or a group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Verifies target displacment in relation with the travel limits: (-17) •...
Page 172 Number of positioners in the selected group. Displacement double * Relative displacement array. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 173: Grouppositioncurrentget
Number of positioners in the selected group. Output parameters CurrentPosition double * Current position array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 174: Grouppositionsetpointget
Number of positioners in the selected group. Output parameters SetpointPosition double * Setpoint position array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 175: Grouppositiontargetget
Number of positioners in the selected group. Output parameters TargetPosition double * Target position array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 176: Groupreferencingactionexecute
Initiates a referencing action for a positioner. A referencing action is defined by a given action name (see “Action list” below), with a given sensor name (see “Sensor list” below) and parameters. For more detail, see XPS User’s manual referencing section. Action list...
Page 177 Parameter double Referencing parameter (related to the referencing action). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 178: Groupreferencingstart
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -19: GroupName doesn't exist or unknown command. • -22: Not allowed action.
Page 179: Groupreferencingstop
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -19: GroupName doesn't exist or unknown command. • -22: Not allowed action.
Page 180: Groupspincurrentget
Spindle group name. Output parameters Velocity double * Velocity (units/s). Acceleration double * Acceleration (units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 181: Groupspinmodestop
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Spindle group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 182: Groupspinparametersget
Output parameters Velocity double * Setpoint Velocity (units/s). Acceleration double * Setpoint Acceleration (units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 183: Groupspinparametersset
GroupSpinParametersSet Name GroupSpinParametersSet – Sets the spin profiler parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the group type (must be a spindle group): (-8) Checks input parameter value: (-17) • Velocity ≤MaximumVelocity.
Page 184 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 185: Groupstatusget
* Group name. Output parameters GroupStatus int * Status of the group. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 186: Groupstatusstringget
Socket identifier gets by the “TCP_ConnectToServer” function. GroupStatusCode Group status code. Output parameters GroupStatusString char * Group status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 187: Groupvelocitycurrentget
Number of positioners in the selected group. Output parameters CurrentVelocity double * Current Velocity array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 188: Groupvelocitysetpointget
NbPositioners Number of positioners in the group. Output parameters SetpointVelocity double * Setpoint velocity array. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 189: Hardwaredateandtimeget
Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Description This function returns the current date and time of XPS controller with the format “WeekDay Month Day Hour:Minute:Second Year “, for example “Tue Jan 15 10:28:06 2008”.
Page 190: Hardwaredateandtimeset
Refer to section 7.1: “Input Tests Common to all XPS Functions”. Description This function sets the date and time of the XPS controller. The date format must be “WeekDay Month Day Hour:Minute:Second Year “, for example “Tue Jan 15 10:28:06 2008”.
Page 191: Hardwaredriverandstageget
Output parameters DriverName char * Driver reference. StageName char * Smart stage name. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -22: Not allowed action.
Page 192: Installerversionget
* Version Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters Version char * Installer pack version. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 193: Intservitudescommandget
Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters INTServitudesCommand short * INT servitudes command. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 194: Intservitudesstatusget
Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters INTServitudesStatus short * INT servitudes status. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 195: Killall
4) the group state is not initialized “NOTINIT” for all groups. Prototype int KillAll( int SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 196: Login
This function is not meant to be used from the “terminal” web page. NOTE To add a new user account, you must use the XPS web site with “Administrator” rights. In the main menu, select “Controller ” and go to the “Users management” page.
Page 197: Logins
This function is not meant to be used from the “terminal” web page. NOTE To add a new user account, you must use the XPS web site with “Administrator” rights. In the main menu, select “Controller ” and go to the “Users management”...
Page 198: Multipleaxesptexecution
Name MultipleAxesPTExecution – Executes a PT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks trajectory file name length: (-3) Checks group type (must be a MultipleAxes group): (-8) Checks input value (number of executions must >0): (-17) Checks group name: (-19) Group state must be "READY”: (-22)
Page 199 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 200: Multipleaxesptloadtomemory
Not available in this configuration (PrecisionPlatform firmware only): (-24) Description This function loads some lines of PT trajectory into XPS controller memory. Each trajectory element must be separated by a comma. The trajectory lines are separated between each other by “\n” (LF) character. To verify or to execute the PT trajectory loaded in memory, use “FromMemory”...
Page 201 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 202: Multipleaxesptparametersget
* Currently executing trajectory file name. CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 203: Multipleaxesptpulseoutputget
Name MultipleAxesPTPulseOutputGet – Gets the configuration of pulse generation for PT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a MultipleAxes group): (-8) Checks group name: (-19) Description This function returns the last configuration of pulse generation of a PT trajectory, that was previously set by MultipleAxesPTPulseOutputSet().
Page 204 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. EDH0373En1023 — 01/18...
Page 205: Multipleaxesptpulseoutputset
MultipleAxesPTPulseOutputSet – Sets the configuration of pulse generation for PT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a MultipleAxes group): (-8) Checks group name: (-19) Checks the pulse generation must not be in progress: (-22) Description This function configures and activates the pulse generation of a PT trajectory.
Page 206 End pulse element number. TimeInterval double Time interval between pulses (seconds). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 207: Multipleaxesptresetinmemory
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 208: Multipleaxesptverification
This function verifies the execution of a PT trajectory. The results of the verification can be obtained by “MultipleAxesPTVerificationResultGet” function. The trajectory file must be stored in “\ADMIN\Public\Trajectory” folder of XPS controller. If the trajectory cannot be initialized (task error), error (-72) is returned.
Page 209 * Group name. FileName char * Trajectory file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 210: Multipleaxesptverificationresultget
* Maximum position (units). MaximumVelocity double * Maximum velocity (units/s). MaximumAcceleration double * Maximum acceleration (units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long.
Page 211: Multipleaxespvtexecution
Description This function executes a PVT (Position Velocity Time) trajectory. The trajectory file must be stored in “\Admin\Public\Trajectory” folder of XPS controller. If the trajectory cannot be initialized (message queue or task error), error (-72) is returned. Before the trajectory execution, it is recommended to check whether the trajectory is within the positioner motion capabilities by using “MultipleAxesPVTVerification”...
Page 212 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3 String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 213: Multipleaxespvtloadtomemory
Not available in this configuration (PrecisionPlatform firmware only): (-24) Description This function loads some lines of PVT trajectory into XPS controller memory. Each trajectory element must be separated by a comma. The trajectory lines are separated between each other by “\n” (LF) character. To verify or to execute the PVT trajectory loaded in memory, use “FromMemory”...
Page 214 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 215: Multipleaxespvtparametersget
* Currently executing trajectory file name. CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 216: Multipleaxespvtpulseoutputget
Name MultipleAxesPVTPulseOutputGet – Gets the configuration of pulse generation for PVT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a MultipleAxes group): (-8) Checks group name: (-19) Description This function returns the last configuration of pulse generation for a PVT trajectory, that was previously set by MultipleAxesPVTPulseOutputSet().
Page 217 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. EDH0373En1023 — 01/18...
Page 218: Multipleaxespvtpulseoutputset
GPIO2, pin 12 GPIO1.DO7 GPIO5.DO15 To find the GPIO connector pin number from GPIOx.DOy, refer to XPS User’s Manual Example: MultipleAxesPVTPulseOutputSet(Group1, 3, 5, 0.01) One pulse will be generated every 10 ms between the start of the 3rd element and the end of the 5th element.
Page 219 End pulse element number. TimeInterval double Time interval between pulses (seconds). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 220: Multipleaxespvtresetinmemory
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 221: Multipleaxespvtverification
This function verifies the execution of the PVT trajectory. The results of the verification can be obtained by “MultipleAxesPVTVerificationResultGet” function. The trajectory file must be stored in “\ADMIN\Public\Trajectory” folder of the XPS controller. If the trajectory cannot be initialized (task error) , error (-72) is returned.
Page 222 * Group name. FileName char * Trajectory file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 223: Multipleaxespvtverificationresultget
* Maximum position (units). MaximumVelocity double * Maximum velocity (units/s). MaximumAcceleration double * Maximum acceleration (units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long.
Page 224: Openconnection
TimeOut Timeout in seconds used for each function execution. SocketID Socket identifier used in each function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 225: Positioneraccelerationautoscaling
Name PositionerAccelerationAutoScaling –Executes Auto-scaling process to determine the stage scaling acceleration. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Positioner must not be a “Secondary Positioner”: (-8) Checks group type: (-8) Checks positioner name: (-18) Group status must be not initialized: (-22) Control loop type must be “PIDFFAcceleration”: (-24)
Page 226 FrequecyTicks Number of frequency ticks. Output parameters Scaling double * Calculated scaling acceleration value. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -5: Not allowed due to a positioner error or hardware status.
Page 227: Positioneranalogtrackingpositionparametersget
* Scale (Units/Volts). Velocity double * Velocity (Units/s). Acceleration double * Acceleration (Units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 228: Positioneranalogtrackingpositionparametersset
PositionerAnalogTrackingPositionParametersSet – Sets the parameters of the current tracking position mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks Positioner and GPIO type (ADC): (-8) Checks velocity and acceleration: (-17) Checks input parameter: (-18)
Page 229 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 230: Positioneranalogtrackingvelocityparametersget
PositionerAnalogTrackingVelocityParametersGet – Gets the parameters of the current tracking velocity mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks input parameter: (-8), (-18) Description This function returns the analog input name, the offset, the scale, the deadband threshold and the order used by analog traking velocity mode.
Page 231 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command. EDH0373En1023 — 01/18...
Page 232: Positioneranalogtrackingvelocityparametersset
PositionerAnalogTrackingVelocityParametersSet Name PositionerAnalogTrackingVelocityParametersSet – Sets the parameters of tcurrent tracking velocity mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks GPIO type (ADC): (-8) Checks Positioner: (-8), (-18) Checks velocity and acceleration: (-17) Description This function allows modifying the GPIO name, offset, scale, deadband threshold and the order used by analog tracking velocity mode.
Page 233 Velocity (Units/s). Acceleration double Acceleration (Units/s²). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 234: Positionerbacklashdisable
Socket identifier gets by the “TCP_ConnectToServer” function. FullPositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 235: Positionerbacklashenable
PositionerBacklashEnable Name PositionerBacklashEnable – Enables the backlash compensation. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Group status must be “NOTINIT”: (-22) Checks the positioner type (must not be a secondary positioner): (-8) Description This function enables the backlash compensation defined in the “stages.ini” file or by “PositionerBacklashSet”...
Page 236 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -22: Not allowed action. EDH0373En1023 — 01/18...
Page 237: Positionerbacklashget
BacklashValue double * Backlash compensation value (units). Status char * Backlash status (“Enable” or “Disable”). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 238: Positionerbacklashset
* Positioner name. BacklashValue double Backlash compensation value (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 239: Positionercompensatedfastpcoabort
Socket identifier gets by the “TCP_ConnectToServer” function. FullPositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 240: Positionercompensatedfastpcocurrentstatusget
* Positioner name. Output parameters Status int * PCO pulses generation status. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 241: Positionercompensatedfastpcoenable
Socket identifier gets by the “TCP_ConnectToServer” function. FullPositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 242: Positionercompensatedfastpcofromfile
PositionerCompensatedFastPCOFromFile – Reads firing positions from a data file to controller’s memory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name: (-18) Checks if CIEFAST compensated PCO pulses generation is enabled: (-121) Description This function reads firing positions from a data file to the controller’s memory.
Page 243 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command. • -22: Not allowed action.
Page 244: Positionercompensatedfastpcoloadtomemory
* Positioner name. DataLine char * Some data lines. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 245: Positionercompensatedfastpcomemoryreset
Socket identifier gets by the “TCP_ConnectToServer” function. PositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 246: Positionercompensatedfastpcoprepare
PositionerCompensatedFastPCOPrepare – Prepares data for CIEFast compensated PCO pulses generation. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks direction value: (-17) Checks the positioner name: (-18) Checks if first and last PCO positions are within positions limits: (-35)
Page 247 StartPosition3 double Group 3 positioner start position (units). …. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 248: Positionercompensatedfastpcopulseparametersget
* Width of pulse enable signal (units). PulsePolarity int *. PulseToggle bool *. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 249: Positionercompensatedfastpcopulseparametersset
* Width of pulse enable signal (units). PulsePolarity int *. PulseToggle bool *. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 250: Positionercompensatedfastpcoset
PositionerCompensatedFastPCOSet – Calculates a set of evenly spaced firing positions to the controller memory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks Start <Stop, Step >0, and (Stop – Start) <Step: (-17) Checks the positioner name: (-18) Checks if CIEFAST compensated PCO pulses generation is enabled: (-121) Checks data number NData = floor(Stop - Start) / Step + 1, if NData >1000000:...
Page 251 Stop position (units). Step double Distance between two consecutive pulses (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 252: Positionercompensatedpcoabort
PositionerCompensatedPCOAbort – Aborts the CIE08 compensated PCO pulses generation. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type: (-8) Checks the positioner name: (-18) Checks the position encoder (“AquadB” or “AnalogInterpolated”): (-24) Checks the CIE board supports this function: (-115) Checks CIE08CompensatedPCOMode = Enabled (system.ini): (-121)
Page 253 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner name doesn't exist or unknown command. • -24: Incorrect file name, bad section name, or not available in this configuration (check hardware or configuration).
Page 254: Positionercompensatedpcocurrentstatusget
* Positioner name. Output parameters Status int * PCO pulses generation status. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner name doesn't exist or unknown command.
Page 255: Positionercompensatedpcoenable
PositionerCompensatedPCOEnable – Activates the CIE08 compensated PCO pulses generation. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name: (-18) Checks the position encoder (“AquadB” or “AnalogInterpolated”): (-24) Checks the CIE board supports this function: (-115) Checks CIE08CompensatedPCOMode = Enabled (system.ini): (-121)
Page 256 Socket identifier gets by the “TCP_ConnectToServer” function. FullPositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 257: Positionercompensatedpcofromfile
PositionerCompensatedPCOFromFile – Reads firing positions from a data file to controller memory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name: (-18) Checks the positioner type: (-8) Checks the position encoder (“AquadB” or “AnalogInterpolated”): (-24) Checks the CIE board supports this function: (-115) Checks CIE08CompensatedPCOMode = Enabled (system.ini): (-121)
Page 258 * Positioner name. DataFileName char * Data file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 259: Positionercompensatedpcoloadtomemory
Name PositionerCompensatedPCOLoadToMemory– Appends firing positions to controller memory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name: (-18) Checks the positioner type: (-8) Checks the position encoder (“AquadB” or “AnalogInterpolated”): (-24) Checks the CIE board supports this function: (-115) Checks CIE08CompensatedPCOMode = Enabled (system.ini): (-121)
Page 260 * Positioner name. DataLine char * Some data lines. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 261: Positionercompensatedpcomemoryreset
Socket identifier gets by the “TCP_ConnectToServer” function. PositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 262: Positionercompensatedpcoprepare
PositionerCompensatedPCOPrepare – Prepares data for CIE08 compensated PCO pulses generation. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name: (-18) Checks the positioner type: (-8) Checks the position encoder (“AquadB” or “AnalogInterpolated”): (-24) Checks the CIE board supports this function: (-115) Checks CIE08CompensatedPCOMode = Enabled (system.ini):...
Page 263 StartPosition3 double Group 3 positioner start position (units). …. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect •...
Page 264: Positionercompensatedpcoset
PositionerCompensatedPCOSet – Calculates a set of evenly spaced firing positions to the controller memory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks Start <Stop, Distance > 0, Width > 0, Width < Distance, Width < Stop-Start: (-17) Checks the positioner name: (-18) Checks the position encoder (“AquadB”...
Page 265 XPS Unified Programmer’s Manual Output parameter None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 266: Positionercompensationdisturbancedisable
* Positioner name. DisabledDirection char* “Both”, “Positive” or “Negative” Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 267: Positionercompensationdisturbanceenable
* Positioner name. EnabledDirection char* “Both”, “Positive” or “Negative” Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 268: Positionercompensationdisturbancefileload
“Positive” or “Negative”. FileName char * File name located in \Config folder. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 269: Positionercompensationdisturbancestatusget
Current “Enabled” status in the positive direction NegativeCompensationEnabledStatus char * Current “Enabled” status in the negative direction Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 270: Positionercompensationdualloopnotchfilterget
Name PositionerCompensationDualLoopNotchFilterGet – Gets the notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks the notch filter number: (-17) Checks the positioner name: (-18)
Page 271 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 272: Positionercompensationdualloopnotchfilterset
Name PositionerCompensationDualLoopNotchFilterSet – Sets the notch mode filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17) • NotchFrequency with CorrectorPeriod = 0.0001 s (10 kHz) = >...
Page 273 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 274: Positionercompensationdualloopphasecorrectionfilterget
PositionerCompensationDualLoopPhaseCorrectionFilterGet – Gets the phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks the notch filter number: (-17) Checks the positioner name: (-18)
Page 275 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 276: Positionercompensationdualloopphasecorrectionfilterset
PositionerCompensationDualLoopPhaseCorrectionFilterSet – Sets the notch mode filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17) • PhaseCorrectionFn with CorrectorPeriod = 0.0001 s (10 kHz) = >...
Page 277 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 278: Positionercompensationencodernotchfilterget
Name PositionerCompensationEncoderNotchFilterGet – Gets Encoder compensation notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks parameter values: (-17) Notch Frequency number Description This function returns parameters defined for the [Dual]EncoderFilter frequency notch filter from the encoder compensation (F4 compensation block) configured in encoder.
Page 279 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 280: Positionercompensationencodernotchfilterset
Programmer’s Manual 7.2.1.174 PositionerCompensationEncoderNotchFilterSet Name PositionerCompensationEncoderNotchFilterSet – Sets Encoder compensation notch filters parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks parameter values: (-17) Notch Frequency number • NotchFrequency with CorrectorPeriod = 0.0001 s •...
Page 281 Band width (Hertz) for Encoder Notch filter. NotchGain double Gain for Encoder Notch filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 282: Positionercompensationfrequencynotchsget
Name PositionerCompensationFrequencyNotchsGet – Gets pre-feedforward compensation notch filters parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks corrector type: (-8) Description This function returns the CompensationSystemPreFeedForward frequency notch filters parameters. These notch filters allow the user to reduce external perturbations such as base motion or floor vibrations.
Page 283 * Notch frequency for filter #3 (Hz). NotchBandwidth3 double * Notch bandwidth for filter #3 (Hz). NotchGain3 double * Notch gain for filter #3. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 284: Positionercompensationfrequencynotchsset
7.2.1.176 PositionerCompensationFrequencyNotchsSet Name PositionerCompensationFrequencyNotchsSet – Sets pre-feedforward compensation notch filters parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks correcor type: ERR_WRONG_OBJECT_TYPE (-8) Checks parameter values: ERR_PARAMETER_OUT_OF_RANGE (-17) • NotchFrequency • NotchBandwidth NOTE Refer to system.ref file to get CorrectorISRPeriod value.
Page 285 Notch bandwidth for filter #3 (Hz). NotchGain3 double Notch gain for filter #3. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 286: Positionercompensationlowpasstwofilterget
* Positioner name. Output parameters CutOffFrequency double * Second order filter cut-off frequency (Hertz). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 287: Positionercompensationlowpasstwofilterset
Positioner name. CutOffFrequency double Second order filter cut-off frequency (Hertz). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 288: Positionercompensationnotchfilterget
* Frequency (Hertz) for notch filter. NotchBandwith double * Band width (Hertz) for notch filter. NotchGain double * Gain for notch filter. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 289: Positionercompensationnotchfilterset
7.2.1.180 PositionerCompensationNotchFilterSet Name PositionerCompensationNotchFilterSet – Sets the notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17)  ...
Page 290 Band width (Hertz) for notch filter. NotchGain double Gain for notch filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • 0: No error. • -8: Wrong object type for this command.
Page 291: Positionercompensationnotchmodefiltersget
Name PositionerCompensationNotchModeFiltersGet – Gets the post-feedforward compensation notch mode filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks corrector type: (-8) Description This functions returns the system compensation parameters defined for two post- feedforward compensation notch mode filters.
Page 292 * Resonance damping factor for notch filter #2. NotchModeZa2 double * Anti-resonance damping factor for notch mode filter #2. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 293: Positionercompensationnotchmodefiltersset
7.2.1.182 PositionerCompensationNotchModeFiltersSet Name PositionerCompensationNotchModeFiltersSet – Sets the post-feedforward compensation notch mode filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks corrector type: (-8) Checks parameter values: (-17) • NotchModeFr • NotchModeFa NOTE Refer to system.ref file to get CorrectorISRPeriod value.
Page 294 NotchModeZa2 double Anti-resonance damping factor for notch mode filter #2. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 295: Positionercompensationphasecorrectionfilterget
PositionerCompensationPhaseCorrectionFilterGet – Gets the phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks phase correction number: (-17) Checks the positioner name: (-18)
Page 296 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -15: Wrong parameter type in the command string: int, short, int * or short * expected.
Page 297: Positionercompensationphasecorrectionfilterset
7.2.1.184 PositionerCompensationPhaseCorrectionFilterSet Name PositionerCompensationPhaseCorrectionFilterSet – Sets the notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17)  ...
Page 298 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 299: Positionercompensationphasecorrectionfiltersget
Name PositionerCompensationPhaseCorrectionFiltersGet – Gets the post-feedforward compensation phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks corrector type: (-8) Description This function returns the system compensation parameters defined for two post- feedforward compensation phase correction filters.
Page 300 PhaseCorrectionFd2 double * Denominator frequency (Hertz) for phase correction filter #2. PhaseCorrectionGain2 double * Gain for phase correction filter #2. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 301: Positionercompensationphasecorrectionfiltersset
Programmer’s Manual 7.2.1.186 PositionerCompensationPhaseCorrectionFiltersSet Name PositionerCompensationPhaseCorrectionFiltersSet – Sets the post-feedforward compensation phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks corrector type: (-8) Checks parameter values: (-17)   ∈ • PhaseCorrectionFn ...
Page 302 #2. PhaseCorrectionGain2 double Gain for phase correction filter #2. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 303: Positionercompensationpositionfilterget
* Frequency (Hertz) for notch filter. DampingFactor double * Damping factor for Position filter. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 304: Positionercompensationpositionfilterset
Frequency (Hertz) for notch filter. DampingFactor double Damping factor for Position filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 305: Positionercompensationpostexcitationfrequencynotchfilterget
* Frequency (Hertz) for notch filter. NotchBandwith double * Band width (Hertz) for notch filter. NotchGain double * Gain for notch filter. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. •...
Page 306: Positionercompensationpostexcitationfrequencynotchfilterset
Name PositionerCompensationPostExcitationFrequencyNotchFilterSet – Sets Notch filter parameters from F3 compensation block. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks Notch Frequency number (1 to 10): (-17) Checks parameter values: (-17) • NotchFrequency with CorrectorPeriod = 0.0001 s (10 kHz) = >...
Page 307 Band width (Hertz) for notch filter. NotchGain double Gain for notch filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 308: Positionercompensationpostexcitationlowpassfilterget
* Positioner name. Output parameters CutOffFrequency double * Second order filter cut-off frequency (Hertz). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 309: Positionercompensationpostexcitationlowpassfilterset
Positioner name. CutOffFrequency double Second order filter cut-off frequency (Hertz). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 310: Positionercompensationpostexcitationnotchmodefilterget
PositionerCompensationPostExcitationNotchModeFilterGet – Gets the notch mode filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks phase correction number: (-17) Checks the positioner name: (-18)
Page 311 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 312: Positionercompensationpostexcitationnotchmodefilterset
PositionerCompensationPostExcitationNotchModeFilterSet – Sets the notch mode filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17) • NotchModeFr with CorrectorPeriod = 0.0001 s (10 kHz) = >...
Page 313 NotchModeZa double Anti-resonance damping factor for notch mode filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 314: Positionercompensationpostexcitationphasecorrectionfilterget
PositionerCompensationPostExcitationPhaseCorrectionFilterGet – Gets the phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks the phase correction filter number: (-17) Checks the positioner name: (-18)
Page 315 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 316: Positionercompensationpostexcitationphasecorrectionfilterset
PositionerCompensationPostExcitationPhaseCorrectionFilterSet Name PositionerCompensationPostExcitationPhaseCorrectionFilterSet – Sets the phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17)  ...
Page 317 * Denominator frequency (Hertz) for phase correction filter. PhaseCorrectionGain double * Gain for phase correction filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 318: Positionercompensationprefeedforwardfrequencynotchfilterget
* Frequency (Hertz) for notch filter. NotchBandwith double * Band width (Hertz) for notch filter. NotchGain double * Gain for notch filter. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 319: Positionercompensationprefeedforwardfrequencynotchfilterset
PositionerCompensationPreFeedForwardFrequencyNotchFilterSet – Sets the notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17) • NotchFrequency with CorrectorPeriod = 0.0001 s (10 kHz) = >...
Page 320 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 321: Positionercompensationprefeedforwardphasecorrectionfilterget
PositionerCompensationPreFeedForwardPhaseCorrectionFilterGet – Gets the phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks phase correction number: (-17) Checks the positioner name: (-18)
Page 322 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 323: Positionercompensationprefeedforwardphasecorrectionfilterset
PositionerCompensationPreFeedForwardPhaseCorrectionFilterSet – Sets the phase correction filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters number: (-17) • PhaseCorrectionFn with CorrectorPeriod = 0.0001 s (10 kHz) = >...
Page 324 PhaseCorrectionGain double Gain for phase correction filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 325: Positionercompensationprefeedforwardspatialnotchfilterget
* Step for spatial notch filter. SpatialNotchBandwidth double * Band width (Hertz) for spatial notch filter. SpatialNotchGain double * Gain for spatial notch filter. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 326: Positionercompensationprefeedforwardspatialnotchfilterset
PositionerCompensationPreFeedForwardSpatialNotchFilterSet – Sets the notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17) • If (SpatialNotchStep > 1.0e-12) (CorrectorPeriod: see system.ref)
Page 327 Gain for spatial notch filter. SpatialNotchNumber Number of the selected Spatial Notch Frequency filter. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 328: Positionercompensationspatialperiodicnotchsget
Name PositionerCompensationSpatialPeriodicNotchsGet – Gets pre-feedforward compensation spatial periodic filters parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks corrector type: (-8) Description This functions returns the CompensationSystemPreFeedForward spatial periodic filters parameters. These filters reduce the spatial periodic perturbations coming from screw pitch or cogging.
Page 329 * Spatial periodic step for filter #3 (units). SpatialNotchBandwidth3 double * Spatial periodic bandwidth for filter #3 (Hz). SpatialNotchGain3 double * Spatial periodic gain for filter #3. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 330: Positionercompensationspatialperiodicnotchsset
7.2.1.204 PositionerCompensationSpatialPeriodicNotchsSet Name PositionerCompensationSpatialPeriodicNotchsSet – Sets pre-feedforward compensation spatial periodic filters parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks correcor type: (-8) Checks parameter values: (-17) • SpatialNotchStep • SpatialNotchBandwidth NOTE Refer to system.ref file to get CorrectorISRPeriod and stages.ini for MaximumVelocity values.
Page 331 Spatial periodic bandwidth for filter #3 (Hz). SpatialNotchGain3 double Spatial periodic gain for filter #3. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 332: Positionercorrectorautotuning
PositionerCorrectorAutoTuning – Executes auto-tuning process for determining position control loop PID values. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type: (-8) Positioner must not be a “Secondary Positioner”: (-8) Checks positioner name: (-18) Group status must be “READY”: (-22)
Page 333 1 = robust). Output parameters double * Calculated KP value. double * Calculated KI value. double * Calculated KD value. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -5: Not allowed due to a positioner error or hardware status.
Page 334: Positionercorrectordamperfilterget
* Damper filter cut-off frequency (Hz). DamperFactor double * Damper factor (1 by default). Gain double * Filter gain (0 or negative value). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 335: Positionercorrectordamperfilterset
– Sets Dual control loop parameters for a selected PositionerCorrectorDamperFilterSet positioner. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17) CutOffFrequency ≥0 and ≤(0.5 / ISRCorrectorPeriod) DamperFactor >0...
Page 336 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -205: Not enabled in your configuration.
Page 337: Positionercorrectordualget
Dual control loop parameters for a selected PositionerCorrectorDualGet – Gets positioner. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks the positioner name: (-18) Checks dual corrector is enabled: (-205) Description This function allows returning the dual control loop parameter values.
Page 338 KFeedForwardAcceleration double * Acceleration feedforward gain (units). KFeedForwardJerk double * Jerk feedforward gain (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 339: Positionercorrectordualset
PositionerCorrectorDualSet positioner. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the object type of this command is valid: (-8) Checks input parameters value: (-17) KP ≥0, KI ≥0, KD ≥0, KFeedForwardAcceleration ≥0, KFeedForwardJerk ≥0 IntegrationTime ≥CorrectorPeriod (0.0001 s)
Page 340 Acceleration feedforward gain (units). KFeedForwardJerk double Jerk feedforward gain (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 341: Positionercorrectorexcitationsignalgainget
* Positioner name. Output parameters ExcitationSignalGain double * Excitation signal gain. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: Positioner Name doesn't exist or unknown command. EDH0373En1023 — 01/18...
Page 342: Positionercorrectorexcitationsignalgainset
* Positioner name. ExcitationSignalGain double Excitation signal gain. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 343: Positionercorrectornotchfiltersget
PositionerCorrectorNotchFiltersGet Name PositionerCorrectorNotchFiltersGet – Gets the notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type: (-8) Description This function returns the parameters defined for two notch filters. First notch filter parameters: •...
Page 344 * Frequency (Hertz) for notch filter #2. NotchBandwith2 double * Band width (Hertz) for notch filter #2. NotchGain2 double * Gain for notch filter #2. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 345: Positionercorrectornotchfiltersset
Programmer’s Manual 7.2.1.213 PositionerCorrectorNotchFiltersSet Name PositionerCorrectorNotchFiltersSet – Sets the notch filter parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type: (-8) Checks parameter values: (-17) • NotchFrequency • NotchBandwidth • NotchGain NOTE Refer to system.ref file to get CorrectorISRPeriod value.
Page 346 Band width (Hertz) for notch filter #2. NotchGain2 double Gain for notch filter #2. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 347: Positionercorrectorpidaccelerationfilterget
* Current position of X axis. double * KD gain. DerivativeFilterCutOffFrequency double * Derivative Filter Cut-off Frequency (Hz). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 348: Positionercorrectorpidaccelerationfilterset
Current position of X axis. double KD gain. DerivativeFilterCutOffFrequency double Derivative Filter Cut-off Frequency (Hz). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 349: Positionercorrectorpidbaseget
Programmer’s Manual 7.2.1.216 PositionerCorrectorPIDBaseGet Name PositionerCorrectorPIDBaseGet – Gets PIDBase parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name: (-18) Description This function returns the PIDBase parameter values. PIDBase parameters: • MovingMass.
Page 350 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command. EDH0373En1023 — 01/18...
Page 351: Positionercorrectorpidbaseset
Name PositionerCorrectorPIDBaseSet – Sets PIDBase parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the parameter values: all values must ≥0, else return “Parameter out of range or incorrect” (-17) Checks the positioner name: (-18) Description This function configures the PIDBase parameters defined for the selected positioner.
Page 352 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 353: Positionercorrectorpiddualffvoltageget
PositionerCorrectorPIDDualFFVoltageGet – Gets PIDDualFFVoltage corrector parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type and the corrector type: (-8) Description This function returns the corrector parameter values used by a PID dual feed-forward with a motor voltage output.
Page 354 * Velocity feedforward gain (units). FeedForwardGainAcceleration double * Acceleration feedforward gain (units). Friction double * Friction compensation. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 355: Positionercorrectorpiddualffvoltageset
PositionerCorrectorPIDDualFFVoltageSet Name PositionerCorrectorPIDDualFFVoltageSet – Sets PIDDualFFVoltage corrector parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type and the corrector type: (-8) Checks parameter value: (-17) • KP ≥0. • KI ≥0.
Page 356 XPS Unified Programmer’s Manual Prototype int PositionerCorrectorPIDDualFFVoltageSet( int SocketID, char * FullPositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainVelocity, double FeedForwardGainAcceleration, double Friction...
Page 357 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 358: Positionercorrectorpidffaccelerationget
PositionerCorrectorPIDFFAccelerationGet – Gets PIDFFAcceleration corrector parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type and the corrector type: (-8) Description This function returns the corrector parameter values used by a PID feed-forward with an acceleration output.
Page 359 * Variable PID form coefficient. FeedForwardGainAcceleration double * Acceleration feedforward gain (units). FeedForwardGainJerk double * Jerk feedforward gain (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 360: Positionercorrectorpidffaccelerationset
PositionerCorrectorPIDFFAccelerationSet Name PositionerCorrectorPIDFFAccelerationSet – Sets PIDFFAcceleration corrector parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type and the corrector type: (-8) Checks parameter value: (-17) • KP ≥0. • KI ≥0.
Page 361 Acceleration feedforward gain (units). FeedForwardGainJerk double Jerk feedforward gain (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 362: Positionercorrectorpidffvelocityget
Name PositionerCorrectorPIDFFVelocityGet – Gets PIDFFVelocity corrector parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type and the corrector type: (-8) Description This function returns the corrector parameter values used by a PID with a velocity...
Page 363 * Variable PID derivative gain multiplier. KForm double * Variable PID form coefficient. FeedForwardGainVelocity double * Velocity feedforward gain (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 364: Positionercorrectorpidffvelocityset
PositionerCorrectorPIDFFVelocitySet Name PositionerCorrectorPIDFFVelocitySet – Sets PIDFFVelocity corrector parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type and the corrector type: (-8) Checks parameter value: (-17) • KP ≥0. • KI ≥0.
Page 365 Variable PID form coefficient. FeedForwardGainVelocity double Velocity feedforward gain (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 366: Positionercorrectorpipositionget
* PI servo loop proportional gain. double * PI servo loop integral gain. IntegrationTime double * PI integration time (seconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 367: Positionercorrectorpipositionset
7.2.1.225 PositionerCorrectorPIPositionSet Name PositionerCorrectorPIPositionSet – Sets PIPosition corrector parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type and the corrector type: (-8) Checks parameter value: (-17) KP ≥0. KI ≥0. IntegrationTime ≥CorrectorISRPeriod.
Page 368 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 369: Positionercorrectorplantfeedforwarddelayget
* Positioner name. Output parameters CorrectorISRPeriodNumber int * Number of ISR periods to delay plant Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 370: Positionercorrectorplantfeedforwarddelayset
CorrectorISRPeriodNumber int Number of ISR periods to delay plant (max = 100). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 371: Positionercorrectorpostffget
PostKFeedForwardAcceleration double * Post KFeedForward acceleration PostKFeedForwardJerk double * Post KFeedForward jerk PostKFeedForwardSlope double * Post KFeedForward slop Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: Positioner name doesn’t exist or incorrect.
Page 372: Positionercorrectorpostffset
PostKFeedForwardJerk double Post KFeedForward jerk PostKFeedForwardSlope double Post KFeedForward slop Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: Positioner name doesn’t exist or incorrect. • -121: Function is not allowed due to configuration disabled.
Page 373: Positionercorrectortypeget
* Positioner name. Output parameters CorrectorType char * Corrector type. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 374: Positionercurrentvelocityaccelerationfiltersget
Positioner name. Output parameters VelocityCutOffFrequency double * Velocity filter cut-off frequency (Hz). AccelerationCutOffFrequency double * Acceleration filter cut-off frequency (Hz). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 375: Positionercurrentvelocityaccelerationfiltersset
7.2.1.232 PositionerCurrentVelocityAccelerationFiltersSet Name PositionerCurrentVelocityAccelerationFiltersSet – Sets the velocity and acceleration filter cut-off frequencies. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type: (-8) Checks parameter value: (-17) • VelocityCutOffFrequency • AccelerationCutOffFrequency NOTE Refer to system.ref file to get CorrectorISRPeriod value.
Page 376 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 377: Positionerdriverfiltersget
* Driver notch bandwidth (Hz). NotchGain double * Driver notch gain. LowpassFrequency double * Driver low-pass frequency (Hz). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 378: Positionerdriverfiltersset
7.2.1.234 PositionerDriverFiltersSet Name PositionerDriverFiltersSet – Sets the piezo driver filters parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner type: (-8) Checks parameter value: (-17) • KI ≥0. • NotchFrequency • NotchBandwith •...
Page 379 Driver notch gain. LowpassFrequency double Driver low-pass frequency (Hz). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 380: Positionerdriverpositionoffsetsget
Output parameters StagePositionOffset double * Driver stage position offset (units). GagePositionOffset double * Driver gage position offset (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 381: Positionerdriverstatusget
FullPositionerName char * Positioner name. Output parameters PositionerDriverStatus unsigned long * Driver status code. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 382: Positionerdriverstatusstringget
Socket identifier gets by the “TCP_ConnectToServer” function. DriverStatusCode unsigned long Driver status code. Output parameters DriverStatusString char * Driver status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 383: Positionerencoderamplitudevaluesget
MaxCosinusAmplitude double * Encoder cosinus signal maximum amplitude value (Volts). CurrentCosinusAmplitude double * Encoder cosinus signal current amplitude value (Volts). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 384: Positionerencodercalibrationparametersget
Name PositionerEncoderCalibrationParametersGet – Gets the encoder calibration parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner (must be not a secondary positioner): (-8) Checks the encoder type (must be “AnalogInterpolated”): (-8) Description After a calibration of the analog encoder input (by the function “GroupInitializeWithEncoderCalibration”), this function returns the optimum...
Page 385 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 386: Positionersencoderindexdifferenceget
* Positioner name. Output parameters Distance double * Distance between the two index encoders (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 387: Positionererrorget
* Positioner name. Output parameters PositionerError int * Positioner error code. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: Positioner Name doesn't exist or unknown command. • -24: Not available in this configuration (check hardware or configuration).
Page 388: Positionererrorread
* Positioner name. Output parameters PositionerError int * Positioner error code. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: Positioner Name doesn't exist or unknown command. • -24: Not available in this configuration (check hardware or configuration).
Page 389: Positionererrorstringget
“TCP_ConnectToServer” function. FullPositionerName char * Positioner name. PositionerErrorCode Positioner error code. Output parameters PositionerErrorString int * Positioner error description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 390: Positionerexcitationsignalget
Amplitude double * Amplitude (acceleration, velocity or voltage unit). Time double * During time (seconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 391: Positionerexcitationsignalset
Name PositionerExcitationSignalSet – Sets and activate the signal of excitation. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type: (-8) Is secondary positioner or has a secondary positioner: (-8) Checks frequency (must ≥0.1 and ≤0.5/CorrectorISRPeriod): (-17) Checks excitation time (must ≥4 * CorrectorISRPeriod): (-17)
Page 392 XPS Unified Programmer’s Manual Signal is generated with a random value at with a period defined by the controller base time (CorrectorISRPeriod , default value 0.125 ms), then is filtered with a second order low-pass filter at the cut-off Frequency value.
Page 393 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 394: Positionerexcitationsignalcorrectoroutset
PositionerExcitationSignalCorrectorOutSet – Sets and activates the signal of excitation that is inserted at corrector output. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type: (-8) Is secondary positioner or has a secondary positioner: (-8) Checks frequency (must ≥0.1 and ≤0.5/CorrectorISRPeriod): (-17)
Page 395 XPS Unified Programmer’s Manual Signal is generated with a random value at with a period defined by the controller base time (CorrectorISRPeriod , default value 0.125 ms), then is filtered with a second order low-pass filter at the cut-off Frequency value.
Page 396 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 397: Positionerfeedforwardaccdisable
Socket identifier gets by the “TCP_ConnectToServer” function. PositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 398: Positionerfeedforwardaccenable
Socket identifier gets by the “TCP_ConnectToServer” function. PositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 399: Positionerfeedforwardaccget
Scale2 double * Signal 2 scale Offset2 double * Signal 2 offset Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 400: Positionerfeedforwardaccset
PositionerFeedforwardAccSet – Sets parameters of XY external feed forward acceleration signal. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Positioner must not be a “Secondary Positioner” and the group must be a XY group: (-8)
Page 401 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command. • -121: Not enable in your configuration.
Page 402: Positionerfeedforwardpositiondisable
Socket identifier gets by the “TCP_ConnectToServer” function. PositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 403: Positionerfeedforwardpositionenable
Socket identifier gets by the “TCP_ConnectToServer” function. PositionerName char * Positioner name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 404: Positionerfeedforwardpositionget
GPIO Analog Output name Scale double * Signal scale Offset double * Signal offset Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 405: Positionerfeedforwardpositionset
Signal scale Offset double Signal offset Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 406: Positionergantryendreferencingpositionget
Positioner name. Output parameters Position double * SecondaryPositioner Setpoint Position at the end of home (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 407: Positionerhardinterpolatorfactorget
* Positioner name. Output parameters. InterpolationFactor int * interpolation factor. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 408: Positionerhardinterpolatorfactorset
The group must be NOTINIT to use this function else (-22) error is returned. The encoder type must be “AnalogInterpolated” in the stages.ini file (“EncoderType” parameter) else the error is returned. This function applies to XPS-Q hardware. It is kept for XPS-D and XPS-RL backward compatibility but has no effect. Prototype...
Page 409 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 410: Positionerhardinterpolatorpositionget
FullPositionerName char * Positioner name. Output parameters Position double * Interpolated position. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 411: Positionerhardwarestatusget
FullPositionerName char * Positioner name. Output parameters PositionerHardwareStatus int * Hardware status code. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 412: Positionerhardwarestatusstringget
* Positioner name. PositionerHardwareStatusCode int Positioner hardware status code. Output parameters PositionerHardwareStatusString int * Positioner hardware status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 413: Positionerjogmaximumvelocityandaccelerationget
Positioner name. Output parameters JogMaximumVelocity double * Jog maximum velocity (units/s). JogMaximumAcceleration double * Jog maximum acceleration (units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 414: Positionermagnetictrackpositionathomeget
* Positioner name. Output parameters MagneticTrackPosition double * magnetic track position at home (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 415: Positionermaximumvelocityandaccelerationget
Output parameters MaximumVelocity double * Maximum velocity (units/seconds). MaximumAcceleration double * Maximum acceleration (units/seconds²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 416: Positionermotiondoneget
* Checking time (seconds). MeanPeriod double * Mean period (seconds). Timeout double * Motion done time out (seconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 417: Positionermotiondoneset
“VelocityAndPositionWindow” MotionDone mode. The “MotionDoneMode” parameter from the stages.ini file must be defined as “VelocityAndPositionWindow” else (-8) error is returned. For a more thorough description of the Motion Done mode, please refer to the XPS Motion Tutorial section Motion/Motion Done. Prototype...
Page 418: Positionermotordualsinforcebalanceget
Full positioner name (for example XY.X). Output parameters FirstMotorForceBalance double * First force balance ratio. SecondMotorForceBalance double * Second force balance ratio. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -205: Not enable in your configuration.
Page 419: Positionermotordualsinforcebalanceset
First force balance ratio (value between 0 and 1). SecondMotorForceBalance double Second force balance ratio (between 0 and 1). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -205: Not enable in your configuration.
Page 420: Positionerpositioncompareaquadbalwaysenable
Description This function enables the generation of AquadB output signals on the PCO connector (the 2&3 or 4&5 pins) of the XPS controller cards. The “always” mode means that the AquadB signal is generated all the time (not position windowed).
Page 421: Positionerpositioncompareaquadbprescalerget
TCP_ConnectToServer” function. PositionerName Positioner name. Output parameters PCOInterpolationFactor double * Current PCO interpolation factor. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 422: Positionerpositioncompareaquadbprescalerset
Positioner name. PCOInterpolationFactor double Predefined PCO interpolation factor value. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 423: Positionerpositioncompareaquadbwindowedget
* Maximum position (units). EnableState bool * Windowed AquadB state (true=enabled or false=disabled) Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 424: Positionerpositioncompareaquadbwindowedset
This function sets the parameters for the position windowed AquadB output signal on the PCO connector (the 2&3 or 4&5 pins) of the XPS controller cards. These parameters are in effect only when the position compare mode is enabled by the PositionerPositionCompareEnable() function.
Page 425 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -22: Not allowed action.
Page 426: Positionerpositioncomparedisable
Checks the positioner (must not be a secondary positioner): (-8) Checks the encoder (“AquadB” or “AnalogInterpolated”): (-8) Description This function disables the position compare mode. For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output. Prototype int PositionerPositionCompareDisable(...
Page 427: Positionerpositioncompareenable
(-22) error is returned. If the position compare parameters are not configured (by the “PositionerPositionCompareSet” function) then (-22) error is returned. For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output. Prototype...
Page 428: Positionerpositioncompareget
This function returns the real value (without correction) of parameters of the position compare output trigger and returns current state (enabled or disabled). For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output.
Page 429: Positionerpositioncomparepulseparametersget
Checks the positioner (must not be a secondary positioner): (-8) Description This function returns the configured parameters of the position compare PCO pulse parameters. For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output. Prototype int PositionerPositionComparePulseParametersGet(...
Page 430: Positionerpositioncomparepulseparametersset
This function sets two additional parameters for the position compare output trigger of the PCO connector on the XPS controller cards. The first additional parameter is the pulse width. The second parameter is the encoder settling time value, which is the time the encoder inputs have to stabilize after a change of state is detected.
Page 431 Width of PCO pulses (μs). EncoderSettlingTime double Encoder signal settling time (μs). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 432: Positionerpositioncomparescanaccelerationlimitget
This function can be used only with a PIDFFAcceleration corrector else (-24) error is returned. For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output. Prototype int PositionerPositionCompareScanAccelerationLimitGet(...
Page 433: Positionerpositioncomparescanaccelerationlimitset
This function can be used only with a PIDFFAcceleration corrector otherwise the (-24) error is returned. For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output. Prototype...
Page 434: Positionerpositioncompareset
XPS controller cards. These parameters are used only when the position compare mode is enabled. For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output. NOTE This function can be used only with a position encoder.
Page 435 Position compare state (true = enabled or false = disabled). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 436: Positionerprecorrectorexcitationsignalget
* Frequency (Hz). Amplitude double * Amplitude (position units). Time double * During time (seconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 437: Positionerprecorrectorexcitationsignalset
PositionerPreCorrectorExcitationSignalSet – Configures and activate the signal of pre-corrector excitation. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type: (-8) Is secondary positioner or has a secondary positioner: (-8) Checks frequency (must ≥0.1 and ≤0.5/CorrectorISRPeriod): (-17) Checks amplitude (must >0): (-17)
Page 438 Amplitude (position units). Time double During time (seconds). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 439: Positionerrawencoderpositionget
User corrected encoder position. Output parameters RawEncoderPosition double * Raw encoder position. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 440: Positionersgammaexactvelocityajusteddisplacementget
DesiredDisplacement double Desired displacement (units). Output parameters AdjustedDisplacement double * Ajusted displacement (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 441: Positionersgammaparametersget
* motion acceleration (units/seconds²). MinimumJerkTime double * Minimum jerk time (seconds). MaximumJerkTime double * Maximum jerk time (seconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 442: Positionersgammaparametersset
PositionerSGammaParametersSet – Sets new motion values for the SGamma profiler. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the profiler type (must be “SGamma”): (-8) Checks the positioner type (must not be a secondary positioner): (-8) Checks input parameter values: (-17) •...
Page 443 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. EDH0373En1023 — 01/18...
Page 444: Positionersgammapreviousmotiontimesget
Output parameters SettingTime double * Setting time (seconds). SettlingTime double * Settling time (seconds). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 445: Positionersgammavelocityandaccelerationset
(units / seconds). Acceleration double motion accelation (units / seconds²). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 446: Positionerstageparameterget
* Parameter name. Output parameters ParameterValue char * Parameter value. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -13: Wrong parameter type in the command string: char * expected.
Page 447: Positionerstageparameterset
* Parameter name. Output parameters ParameterValue char * Parameter value. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -24: Not available in this configuration (check hardware or configuration).
Page 448: Positionertimeflasherdisable
This function disables the time flasher mode. The time flasher mode is a trigger output per axis that can be either configured to output distance spaced pulses or time spaced pulses. The output pulses are accessible from the PCO connector at the back of the XPS controller.
Page 449: Positionertimeflasherenable
This function enables the time flasher mode. The time flasher mode is a trigger output per axis that can be either configured to output distance spaced pulses or time spaced pulses. The output pulses are accessible from the PCO connector at the back of the XPS controller.
Page 450: Positionertimeflasherget
For a more thorough description of the position compare output, please refer to the XPS Motion Tutorial section Triggers/Position Compare Output.
Page 451: Positionertimeflasherset
This function configures the time flasher parameters. The time flasher output trigger uses the PCO connector on the XPS controller cards. The time flasher mode is defined • a position window defined by a minimum position and a maximum position.
Page 452 Enable time flasher state (true = enabled and false = disabled). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 453: Positionerusertravellimitsget
Output parameters UserMinimumTarget double * User minimum travel limit (units). UserMaximumTarget double * User maximum travel limit (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 454: Positionerusertravellimitsset
User minimum travel limit (units). UserMaximumTarget double User maximum travel limit (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 455: Positionerwarningfollowingerrorget
FullPositionerName char * Positioner name. Output parameters WarningFollowingError double * Warning following error (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 456: Positionerwarningfollowingerrorset
* Positioner name. WarningFollowingError double Warning following error (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 457: Reboot
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -22: Not allowed action. EDH0373En1023 — 01/18...
Page 458: Restartapplication
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -22: Not allowed action. EDH0373En1023 — 01/18...
Page 459: Singleaxisslavemodedisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * SingleAxis group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 460: Singleaxisslavemodeenable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * SingleAxis group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 461: Singleaxisslaveparametersget
* Master positioner name from any group. Ratio double * Gear ratio between the master and the slave. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 462: Singleaxisslaveparametersset
SingleAxisSlaveParametersSet Name SingleAxisSlaveParametersSet – Sets the slave parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the master group type: (-8) Checks the ratio value (Ratio >0): (-17) Checks the master positioner name: (-18)
Page 463 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 464: Singleaxisthetaclampdisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * SingleAxis group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 465: Singleaxisthetaclampenable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * SingleAxis group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 466: Singleaxisthetafeedforwardjerkparametersget
* X axis feedforward Jerk gain. KFeedforwardJerkY double * Y axis feedforward Jerk gain. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -7: Wrong format in the command string.
Page 467: Singleaxisthetafeedforwardjerkparametersset
X axis feedforward Jerk gain. KFeedforwardJerkY double Y axis feedforward Jerk gain. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -7: Wrong format in the command string.
Page 468: Singleaxisthetafeedforwardparametersget
Output parameters KFeedforwardX double * X axis feedforward gain. KFeedforwardY double * Y axis feedforward gain. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 469: Singleaxisthetafeedforwardparametersset
X axis feedforward gain. KFeedforwardY double Y axis feedforward gain. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 470: Singleaxisthetaslavemodedisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * SingleAxisTheta group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 471: Singleaxisthetaslavemodeenable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * SingleAxisTheta group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 472: Singleaxisthetaslaveparametersget
* Master positioner name from any group. Ratio double * Gear ratio between the master and the slave. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 473: Singleaxisthetaslaveparametersset
SingleAxisThetaSlaveParametersSet Name SingleAxisThetaSlaveParametersSet – Sets the slave parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the master group type: (-8) Checks the ratio value (Ratio >0): (-17) Checks the master positioner name: (-18)
Page 474 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 475: Spindleslavemodedisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Spindle group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 476: Spindleslavemodeenable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Spindle group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 477: Spindleslaveparametersget
* Master positioner name from any group. Ratio double * Gear ratio between the master and the slave. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 478: Spindleslaveparametersset
Name SpindleSlaveParametersSet – Sets the spindle slave parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the master group type: (-8) Checks the ratio value (Ratio >0): (-17) Checks the master positioner name: (-18)
Page 479 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect. • -18: Positioner Name doesn't exist or unknown command.
Page 480: Tclscriptexecute
Task name. InputArguments char * Input argument string (separator is a comma). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -36: Unknown TCL file. • -37: TCL interpretor does not run.
Page 481: Tclscriptexecuteandwait
TCLScriptExecuteAndWait – Executes a TCL script and waits until the end of execution. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks TCL file name: (-36) Checks TCL interpretor (task loading): (-37) Checks task name: (-47) Description This function executes a TCL program.
Page 482 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -36: Unknown TCL file. • -37: TCL interpretor doesn't run. • -47: Wrong TCL task name: each TCL task name must be different.
Page 483: Tclscriptexecutewithpriority
This function executes a TCL script with a TCL task and a user-defined priority level. The TCL script file must be saved in the folder “..\Public\Scripts” of the XPS controller. TaskName is a user designation for the TCL script in execution. If two TCL scripts are executed at the same time with the same task name, The (-47) error is returned because having the same TaskName is not allowed.
Page 484 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -36: Unknown TCL file. • -37: TCL interpretor doesn't run.
Page 485: Tclscriptkill
Socket identifier gets by the “TCP_ConnectToServer” function. TaskName char * Task name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -37: TCL interpretor doesn't run. • -38: TCL script can not be killed: Wrong task name or task does not run.
Page 486: Tclscriptkillall
SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -38: TCL script can not be killed: Wrong task name or task does not run.
Page 487: Tclscriptrunninglistget
SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters TCLScriptsList char * List of TCL scripts in progression. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 488: Tcp_Closesocket
Prototype void TCP_CloseSocket( int SocketID Input parameters SocketID Socket identifier used in each function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) None. EDH0373En1023 — 01/18...
Page 489: Tcp_Connecttoserver
TCP IP port: 5001 for XPS controller. TimeOut double Timeout in seconds used for each. function execution. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) SocketID Socket identifier used in each function. EDH0373En1023 — 01/18...
Page 490: Tcp_Geterror
SocketID, char * ErrorString Input parameters SocketID Socket identifier used in each function. Output parameters ErrorString char * Last error description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) None. EDH0373En1023 — 01/18...
Page 491: Tcp_Settimeout
Input parameters SocketID Socket identifier used in each function. Timeout double Timeout in seconds used for each function execution. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) None. EDH0373En1023 — 01/18...
Page 492: Timerget
Socket identifier gets by the “TCP_ConnectToServer” function. TimerName char * Name of timer. Output parameters FrequecyTicks int * Number of frequency ticks. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 493: Timerset
Socket identifier gets by the “TCP_ConnectToServer” function. TimerName char * Name of timer. FrequecyTicks Number of frequency ticks. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 494: Tzencodercouplingmatrixget
Name TZEncoderCouplingMatrixGet – Gets TZ encoder coupling matrix parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the group name: (-19) Description This function gets the parameters of encoder coupling matrix for the TZ group.
Page 495 * Encoder coupling matrix coefficient. Param8 double * Encoder coupling matrix coefficient. Param9 double * Encoder coupling matrix coefficient. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -19: GroupName doesn't exist or unknown command.
Page 496: Tzencodercouplingmatrixset
Name TZEncoderCouplingMatrixSet – Sets TZ encoder coupling matrix parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the group name: (-19) Description This function configures the parameters of encoder coupling matrix for the TZ group.
Page 497 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 498: Tzencodercouplingmodeget
* Group name. Output parameters Mode int * Encoder coupling mode. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 499: Tzencodercouplingmodeset
GroupName char * Group name. Mode Encoder coupling mode. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 500: Tzfocusmodedisable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * TZ group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 501: Tzfocusmodeenable
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * TZ group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 502: Tzmappingmodeget
* TZ group name. Output parameters Mode int * TZ mapping mode state. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 503: Tzmappingmodeset
* TZ group name. Mode TZ mapping mode. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 504: Tzmotordecouplingmatrixget
Name TZMotorDecouplingMatrixGet – Gets TZ motor decoupling matrix parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the group name: (-19) Description This function gets the parameters of motor decoupling matrix for the TZ group.
Page 505 * Motor decoupling matrix coefficient. Param8 double * Motor decoupling matrix coefficient. Param9 double * Motor decoupling matrix coefficient. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -19: GroupName doesn't exist or unknown command.
Page 506: Tzmotordecouplingmatrixset
Name TZMotorDecouplingMatrixSet – Sets TZ motor decoupling matrix parameters. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the group name: (-19) Description This function configures the parameters of motor decoupling matrix for the TZ group.
Page 507 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 508: Tzmotordecouplingmodeget
* Group name. Output parameters Mode int * Motor decoupling mode. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 509: Tzmotordecouplingmodeset
GroupName char * Group name. Mode Motor decoupling mode. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: GroupName doesn't exist or unknown command.
Page 510: Tzptexecution
Description This function executes a PT (Position Time) trajectory. The trajectory file must be stored in the folder “\Admin\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (message queue or task error) then (-72) is returned. Before a trajectory execution, it is recommended to check whether the trajectory is within the positioner motion capabilities by using “TZPTVerification”...
Page 511 FileName char * Trajectory file name. ExecutionNumber Number of trajectory executions. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 512: Tzptloadtomemory
Not available in this configuration (PrecisionPlatform firmware only): (-24) Description This function loads some lines of PT trajectory into XPS controller memory. Each trajectory element must be separated by a comma. The trajectory lines are separated between them by a “\n” (LF) character. To verify or to execute the PT trajectory loaded in memory, use the string “FromMemory”...
Page 513 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 514: Tzptparametersget
* Currently executing trajectory file name. CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 515: Tzptpulseoutputget
Name TZPTPulseOutputGet – Gets the configuration of pulse generation of a PT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a TZ group): (-8) Checks group name: (-19) Not available in this configuration (PrecisionPlatform firmware only): (-24)
Page 516 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. • -24: Not available in this configuration.
Page 517: Tzptpulseoutputset
Name TZPTPulseOutputSet – Sets the configuration of pulse generation of a PT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a TZ group): (-8) Checks group name: (-19) Checks the pulse generation must not be in progress: (-22)
Page 518 End pulse element number. TimeInterval double Time interval between pulses (seconds). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 519: Tzptresetinmemory
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 520: Tzptverification
This function verifies the execution of a PT trajectory. The results of the verification can be got with the “TZPTVerificationResultGet” function. The trajectory file must be stored in the folder “\ADMIN\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (task error) then the (-72) error is returned.
Page 521 * Group name. FileName char * Trajectory file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 522: Tzptverificationresultget
Name TZPTVerificationResultGet – Gets the results of the “TZPTVerification” function. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks positioner name length (must ≤250): (-3) Checks positioner name: (-18) Checks the last TZ PTVerification (must be done): (-22)
Page 523 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -18: Positioner name doesn't exist or unknown command. • -22: Not allowed action.
Page 524: Tzpvtexecution
Description This function executes a PVT (Position Velocity Time) trajectory. The trajectory file must be stored in the folder “\Admin\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (message queue or task error) then (-72) is returned. Before a trajectory execution, it is recommended to check whether the trajectory is within the positioner motion capabilities by using “TZPVTVerification”...
Page 525 FileName char * Trajectory file name. ExecutionNumber Number of trajectory executions. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 526: Tzpvtloadtomemory
Not available in this configuration (PrecisionPlatform firmware only): (-24) Description This function loads some lines of PVT trajectory into XPS controller memory. Each trajectory element must be separated by a comma. The trajectory lines are separated between them by a “\n” (LF) character. To verify or to execute the PVT trajectory loaded in memory, use the string “FromMemory”...
Page 527 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 528: Tzpvtparametersget
* Currently executing trajectory file name. CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 529: Tzpvtpulseoutputget
TZPVTPulseOutputGet – Gets the configuration of pulse generation of a PVT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a TZ group): (-8) Checks group name: (-19) Not available in this configuration (PrecisionPlatform firmware only): (-24)
Page 530 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. • -24: Not available in this configuration.
Page 531: Tzpvtpulseoutputset
Pulses GPIO2, pin 12 GPIO1.DO7 GPIO5.DO15 To find the GPIO connector pin number from GPIOx.DOy, refer to XPS User’s Manual, Appendix / General I/O Description. Example: TZPVTPulseOutputSet(Group1, 3, 5, 0.01) One pulse will be generated every 10 ms between the start of the 3rd element and the end of the 5th element.
Page 532 End pulse element number. TimeInterval double Time interval between pulses (seconds). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 533: Tzpvtresetinmemory
* Trajectory file name. TrajectoryData char * Trajectory data lines. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 534: Tzpvtverification
This function verifies the execution of a PVT trajectory. The results of the verification can be got with the “TZPVTVerificationResultGet” function. The trajectory file must be stored in the folder “\ADMIN\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (task error) then the (-72) error is returned.
Page 535 * Group name. FileName char * Trajectory file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 536: Tzpvtverificationresultget
Name TZPVTVerificationResultGet – Gets the results of the “TZPVTVerification” function. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks positioner name length (must ≤250): (-3) Checks positioner name: (-18) Checks the last TZ PVTVerification (must be done): (-22)
Page 537 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -18: Positioner name doesn't exist or unknown command. • -22: Not allowed action.
Page 538: Tztrackingcutofffrequencyget
* Positioner 1 cut-off frequency (Hz) CutOffFrequency2 double * Positioner 2 cut-off frequency (Hz) CutOffFrequency3 double * Positioner 3 cut-off frequency (Hz) Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 539: Tztrackingcutofffrequencyset
Positioner 2 cut-off frequency (Hz) CutOffFrequency3 double Positioner 3 cut-off frequency (Hz) Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 540: Tztrackingusermaximumzzztargetdifferenceget
* TZ group name. Output parameters UserMaximumZZZTargetDifference double * User maximum ZZZ target difference (units). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 541: Tztrackingusermaximumzzztargetdifferenceset
TZ group name. UserMaximumZZZTargetDifference double User maximum ZZZ target difference (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 542: Xycrosstalkcompensationmotordecouplingget
X2ToYFFAccRatio double * Current X2 to Y feed forward acceleration ratio Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -121: Function is not allowed due to configuration disabled...
Page 543: Xycrosstalkcompensationmotordecouplingset
X2ToYFFAccRatio double Current X2 to Y feed forward acceleration ratio Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -121: Function is not allowed due to configuration disabled •...
Page 544: Xygrouppositioncorrectedprofilerget
XYGroupPositionCorrectedProfilerGet – Gets the corrected profiler position for all positioners of an XY group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type: (-8) Valids group type (must be an XY group): (-18)
Page 545 Output parameters CorrectedPositionX double * Corrected theoretical position X. CorrectedPositionY double * Corrected theoretical position Y. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 546: Xygrouppositionpcorawencoderget
Output parameters PCORawPositionX double * PCO Raw position X. PCORawPositionY double * PCO Raw position Y. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 547: Xylinearcexecution
Name XYLineArcExecution – Executes a LineArc trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks trajectory file name length: (-3) Checks group type (must be a XY group): (-8) Checks input value (number of executions must >0): (-17) Checks input value (Velocity and Acceleration >0): (-17)
Page 548 Acceleration double Trajectory acceleration (units/s²). ExecutionNumber Number of trajectory executions. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 549: Xylinearcparametersget
* Trajectory velocity (units/s). Acceleration double * Trajectory acceleration (units/s²). CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 550: Xylinearcpulseoutputget
XYLineArcPulseOutputGet Name XYLineArcPulseOutputGet – Gets the configuration of pulse generation of a LineArc. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a XY group): (-8) Checks group name: (-19) Description This function returns the last configuration of pulse generation of a LineArc trajectory, that was previously set by XYLineArcPulseOutputSet().
Page 551 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. EDH0373En1023 — 01/18...
Page 552: Xylinearcpulseoutputset
Pulses GPIO2, pin 12 GPIO1.DO7 GPIO5.DO15 To find the GPIO connector pin number from GPIOx.DOy, refer to XPS User’s Manual, Appendix / General I/O Description. Example: XYLineArcPulseOutputSet(Group1, 10, 30, 0.01) One pulse will be generated every 10 μm on the LineArc trajectory between 10 mm and 30 mm trajectory curved lengths.
Page 553 Pulse end length (units). PathLengthInterval double Pulse length interval (units. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command.
Page 554: Xylinearcverification
This function verifies the execution of a LineArc trajectory. The results of the verification can be got with the “XYLineArcVerificationResultGet” function. The trajectory file must be stored in the folder “\ADMIN\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (task error) then the (-72) error is returned.
Page 555 * Group name. FileName char * Trajectory file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 556: Xylinearcverificationresultget
* Maximum position (units). MaximumVelocity double * Maximum velocity (units/s). MaximumAcceleration double * Maximum acceleration (units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long.
Page 557: Xymappingget
XYMappingGet – Read data of a line of an XY mapping matrix in the controller. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name (must be a XY positioner): (-18) Checks the secondary positioner (must not be a secondary positioner): (-24) Checks MappingNumber (must be >...
Page 558 * Data of column #2 of line #LinerNumber of the mapping file #MappingNumber. … double * One data per column of of line #LinerNumber of the mapping file #MappingNumber. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -9: Wrong number of parameters in the command.
Page 559: Xymappingset
XYMappingSet – Change data of a line of an XY mapping matrix in the controller. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the positioner name (must be a XY positioner): (-18) Checks the secondary positioner (must not be a secondary positioner): (-24) Checks MappingNumber (must be >...
Page 560 One data per column of of line #LinerNumber of the mapping file #MappingNumber Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -9: Wrong number of parameters in the command.
Page 561: Xyptexecution
Description This function executes a PT (Position Time) trajectory. The trajectory file must be stored in the folder “\Admin\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (message queue or task error) then (-72) is returned. Before a trajectory execution, it is recommended to check whether the trajectory is within the positioner motion capabilities by using “XYPTVerification”...
Page 562 FileName char * Trajectory file name. ExecutionNumber Number of trajectory executions. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 563: Xyptloadtomemory
Not available in this configuration (PrecisionPlatform firmware only): (-24) Description This function loads some lines of PT trajectory into XPS controller memory. Each trajectory element must be separated by a comma. The trajectory lines are separated between them by a “\n” (LF) character. To verify or to execute the PT trajectory loaded in memory, use the string “FromMemory”...
Page 564 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 565: Xyptparametersget
* Currently executing trajectory file name. CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 566: Xyptpulseoutputget
Name XYPTPulseOutputGet – Gets the configuration of pulse generation of a PT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a XY group): (-8) Checks group name: (-19) Not available in this configuration (PrecisionPlatform firmware only): (-24)
Page 567 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. • -24: Not available in this configuration.
Page 568: Xyptpulseoutputset
Pulses GPIO2, pin 12 GPIO1.DO7 GPIO5.DO15 To find the GPIO connector pin number from GPIOx.DOy, refer to XPS User’s Manual, Appendix / General I/O Description. Example: XYPTPulseOutputSet(Group1, 3, 5, 0.01) One pulse will be generated every 10 ms between the start of the 3rd element and the end of the 5th element.
Page 569 End pulse element number. TimeInterval double Time interval between pulses (seconds). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 570: Xyptresetinmemory
Socket identifier gets by the “TCP_ConnectToServer” function. GroupName char * Group name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 571: Xyptverification
This function verifies the execution of a PT trajectory. The results of the verification can be got with the “XYPTVerificationResultGet” function. The trajectory file must be stored in the folder “\ADMIN\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (task error) then the (-72) error is returned.
Page 572 * Group name. FileName char * Trajectory file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 573: Xyptverificationresultget
Name XYPTVerificationResultGet – Gets the results of the “XYPTVerification” function. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks positioner name length (must ≤250): (-3) Checks positioner name: (-18) Checks the last XY PTVerification (must be done): (-22)
Page 574 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -18: Positioner name doesn't exist or unknown command. • -22: Not allowed action.
Page 575: Xypvtexecution
Description This function executes a PVT (Position Velocity Time) trajectory. The trajectory file must be stored in the folder “\Admin\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (message queue or task error) then (-72) is returned. Before a trajectory execution, it is recommended to check whether the trajectory is within the positioner motion capabilities by using “XYPVTVerification”...
Page 576 FileName char * Trajectory file name. ExecutionNumber Number of trajectory executions. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 577: Xypvtloadtomemory
Not available in this configuration (PrecisionPlatform firmware only): (-24) Description This function loads some lines of PVT trajectory into XPS controller memory. Each trajectory element must be separated by a comma. The trajectory lines are separated between them by a “\n” (LF) character. To verify or to execute the PVT trajectory loaded in memory, use the string “FromMemory”...
Page 578 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -17: Parameter out of range or incorrect.
Page 579: Xypvtparametersget
* Currently executing trajectory file name. CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 580: Xypvtpulseoutputget
XYPVTPulseOutputGet – Gets the configuration of pulse generation of a PVT trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a XY group): (-8) Checks group name: (-19) Not available in this configuration (PrecisionPlatform firmware only): (-24)
Page 581 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. • -24: Not available in this configuration.
Page 582: Xypvtpulseoutputset
Pulses GPIO2, pin 12 GPIO1.DO7 GPIO5.DO15 To find the GPIO connector pin number from GPIOx.DOy, refer to XPS User’s Manual, Appendix / General I/O Description. Example: XYPVTPulseOutputSet(Group1, 3, 5, 0.01) One pulse will be generated every 10 ms between the start of the 3rd element and the end of the 5th element.
Page 583 End pulse element number. TimeInterval double Time interval between pulses (seconds). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 584: Xypvtresetinmemory
* Trajectory file name. TrajectoryData char * Trajectory data lines. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 585: Xypvtverification
This function verifies the execution of a PVT trajectory. The results of the verification can be got with the “XYPVTVerificationResultGet” function. The trajectory file must be stored in the folder “\ADMIN\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (task error) then the (-72) error is returned.
Page 586 * Group name. FileName char * Trajectory file name. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 587: Xypvtverificationresultget
XYPVTVerificationResultGet – Gets the results of the “XYPVTVerification” function. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks positioner name length (must ≤250): (-3) Checks positioner name: (-18) Checks the last XY PVTVerification (must be done): (-22)
Page 588 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -18: Positioner name doesn't exist or unknown command. • -22: Not allowed action.
Page 589: Xyzgrouppositioncorrectedprofilerget
XYZGroupPositionCorrectedProfilerGet – Gets the corrected profiler position for all positioners of an XYZ group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type: (-8) Valids group type (must be an XYZ group): (-18)
Page 590 * Corrected theoretical position. CorrectedPositionY double * Corrected theoretical position Y. CorrectedPositionZ double * Corrected theoretical position Z. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long.
Page 591: Xyzgrouppositionpcorawencoderget
XYZGroupPositionPCORawEncoderGet – Gets the PCO raw encoder positions of an XYZ group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type: (-8) Valids group type (must be a XYZ group): (-18) Valids group name: (-19)
Page 592 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -18: Positioner Name doesn't exist or unknown command.
Page 593: Xyzsplineexecution
Name XYZSplineExecution – Executes a Spline trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks trajectory file name length: (-3) Checks group type (must be a XYZ group): (-8) Checks input value (Velocity and Acceleration must >0): (-17) Checks group name: (-19) Group state must be "READY”: (-22)
Page 594 Trajectory velocity (units/s). Acceleration double Trajectory acceleration (units/s²). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command.
Page 595: Xyzsplineparametersget
* Trajectory velocity (units/s). Acceleration double * Trajectory acceleration (units/s²). CurrentElementNumber int * Currently executing element number. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 596: Xyzsplinepulseoutputget
Name XYZSplinePulseOutputGet – Gets the configuration of pulse generation of a Spline trajectory. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks group type (must be a XYZ group): (-8) Checks group name: (-19) Description This function returns the last configuration of pulse generation of a Spline trajectory, that was previously set by XYZSplinePulseOutputSet().
Page 597 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command. EDH0373En1023 — 01/18...
Page 598: Xyzsplinepulseoutputset
Pulses GPIO2, pin 12 GPIO1.DO7 GPIO5.DO15 To find the GPIO connector pin number from GPIOx.DOy, refer to XPS User’s Manual, Appendix / General I/O Description. Example: XYZSplinePulseOutputSet(Group1, 10, 30, 0.01) One pulse will be generated every 10 μm on the Spline trajectory between 10 mm and 30 mm trajectory curved lengths.
Page 599 Pulse end length (units). PathLengthInterval double Pulse length interval (units). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command.
Page 600: Xyzsplineverification
This function verifies the execution of a Spline trajectory. The results of the verification can be got with the “XYZSplineVerificationResultGet” function. The trajectory file must be stored in the folder “\ADMIN\Public\Trajectory” of the XPS controller. If the trajectory cannot be initialized (task error) then the (-72) error is returned.
Page 601 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long. • -8: Wrong object type for this command. • -19: Group name doesn't exist or unknown command.
Page 602: Xyzsplineverificationresultget
* Maximum position (units). MaximumVelocity double * Maximum velocity (units/s). MaximumAcceleration double * Maximum acceleration (units/s²). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -3: String too long.
Page 603: Extended Functions
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -27: Move Aborted. EDH0373En1023 — 01/18...
Page 604: Endjog
Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Not allowed due to a positioner error or hardware status.
Page 605: Getaccparams
X Smooth factor in msec (jerk time). YaccTime_ms int * Y acceleration time in msec. YsmoothFactor_ms int * Y Smooth factor in msec (jerk time). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 606: Getbrakestate
BrakeStatus Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters BrakeStatus int * The brake status. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 607: Getcurrentposition
* Y laser position in counts. x_laser_position_cnts int * X laser position in counts. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: PositionerName doesn't exist or unknown command.
Page 608: Getgantrymode
Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters Option char * Option selection(Option0, Option1 or Option2). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 609: Getjogacceleration
YsmoothFactor_ms int * User jog Smooth factor for Y in ms. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 610: Getjogvelocity
Yvelocity double * user jog velocity for Y in µm/s. joystickAckTimeout_ms int * user jog velocity acknowledge timeout in ms. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 611: Getpistonstate
GetPistonState Name GetPistonState – Gets current status of Piston and Lift Pin. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Description Read the current status of Piston and Lift Pin: Piston command status. Piston limit UP (Engaged).
Page 612 Status of the Piston Released (0 or 1). LiftPinUPInterlock int * Status of the Lift Pin UP (0 or 1). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -7: Wrong format in the command string.
Page 613: Getvarx
* Stages.ini parameter name. Output parameters ParameterValue double * The value to be set for the “ParameterName”. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 614: Getvarxsecondary
* Stages.ini parameter name. Output parameters ParameterValue double * The value to be set for the “ParameterName”. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 615: Getvary
* Stages.ini parameter name. Output parameters ParameterValue double * The value to be set for the “ParameterName”. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 616: Getvelparams
Output parameters Xvelocity double * X velocity in µm/s. Yvelocity double * Y velocity in µm/s. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 617: Getvercommand
* Version Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters Version char * The firmware version. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 618: Getxvelparams
Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters Xvelocity double * X velocity in µm/s. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 619: Getyvelparams
Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters Yvelocity double * Y velocity in µm/s. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 620: Getzone
* Y center in µm. radius_um double * Radius in µs. hysteresis_um double * Hysteresis in µm. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: PositionerName doesn't exist or unknown command.
Page 621: Initializeandhomex
Name InitializeAndHomeX – Do home search on X axis. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the set option: (-17) Verifies this command is allowed: (-22) Checks state of physical ends of run: (-113)
Page 622 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -22: Not allowed action. • -25: Following Error. • -28: Home search timeout.
Page 623: Initializeandhomexy
Name InitializeAndHomeXY – Do home search on X then Y axis. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the set option: (-17) Verifies this command is allowed: (-22) Checks state of physical ends of run: (-113)
Page 624 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -22: Not allowed action. • -25: Following Error. • -26:...
Page 625: Initializeandhomey
Name InitializeAndHomeY – Do home search on Y axis. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Verifies this command is allowed: (-22) Checks state of physical ends of run: (-113) Checks the opened socked is valid: (-200)
Page 626 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -22: Not allowed action. • -25: Following Error. • -28: Home search timeout. • -33: Motion done timeout.
Page 627: Moveabsolute
MoveAbsolute – Moves the stage to the end position. The positions are defined in um. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Valids object type (group or positioner): (-8) Verifies target position in relation with the travel limits: (-17) •...
Page 628 Target position in µm for X axis. PositonAbsoluteY_um double Target position in µm for Y axis. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 629: Moveslice
MoveSlice – Executes a slice move on an XY group. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Verifies target position in relation with the travel limits: (-17) Checks the group status, it must be “READY” state: (-22) Description This API moves the stage to perform a “U-turn”.
Page 630 XPS Unified Programmer’s Manual Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -5: Not allowed due to a positioner error or hardware status. • -17: Parameter out of range or incorrect.
Page 631: Requesttype1
Programmer’s Manual 7.2.2.23 RequestType1 Name RequestType1– Gets data collection Type 1. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Description This function returns the data collection of type1. Prototype int RequestType1( int SocketID, char * Header,...
Page 632 * Y motor current in 1/10000 full scale. XSinCos charhex32 * X Sin Cos in Volts. YSinCos charhex32 * Y Sin Cos in Volts. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -100: Internal error (memory allocation error, …).
Page 633: Requesttype2
Type1, Type2 or Type3. TimeStamp charhex32 * Internal counter in milliseconds. ZygoLaserPower charhex32 * Zygo Laser Power (ON = 1, OFF = 0). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 634: Requesttype3
* Internal counter in milliseconds. ZygoSignalStrength1 charhex32 * Zygo Signal Strength 1. ZygoSignalStrength2 charhex32 * Zygo Signal Strength 2. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 635: Setaccparams
X Smooth factor in msec (jerk time). YaccTime_ms Y acceleration time in msec. YsmoothFactor_ms Y Smooth factor in msec (jerk time). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 636: Setbrake
Socket identifier gets by the “TCP_ConnectToServer” function. Command Brake command (0 or 1). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 637: Setgantrymode
Name SetGantryMode – Sets Gantry mode (Option0, Option1 or Option2). Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks the set option: (-17) Checks the group name is valid: (-19) Checks if XY gantry mode is enabled: (-205) Description Set the gantry option to use.
Page 638 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -19: GroupName doesn't exist or unknown command. • -205: Not enable in your configuration.
Page 639: Setjogacceleration
SetJogAcceleration Name SetJogAcceleration – Changes the acceleration parameters in the jog mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Group must be “XY”: (-8) Checks the positioner name: (-18) Checks the group name: (-19) Group status must be “JOGGING”: (-22)
Page 640 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Not allowed due to a positioner error or hardware status.
Page 641: Setjogvelocity
Name SetJogVelocity – Changes “on the fly” the velocity in the jog mode. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Group must be “XY”: (-8) Checks the positioner name: (-18) Checks the group name: (-19) Group status must be “JOGGING”: (-22)
Page 642 XPS Unified Programmer’s Manual Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Not allowed due to a positioner error or hardware status.
Page 643: Setpiston
Socket identifier gets by the “TCP_ConnectToServer” function. Command Piston command (0 or 1). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 644: Setvarx
Stages.ini parameter name. ParameterValue double The value to be set for the “ParameterName”. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 645: Setvarxsecondary
Stages.ini parameter name. ParameterValue double The value to be set for the “ParameterName”. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 646: Setvary
Stages.ini parameter name. ParameterValue double The value to be set for the “ParameterName”. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 647: Setvelparams
X velocity in µm/s. Yvelocity double Y velocity in µm/s. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 648: Setxvelparams
“TCP_ConnectToServer” function. Xvelocity double X velocity in µm/s. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 649: Setyvelparams
“TCP_ConnectToServer” function. Yvelocity double Y velocity in µm/s. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. EDH0373En1023 — 01/18...
Page 650: Setzone
Radius in µs. hysteresis_um double Hysteresis in µm. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -18: PositionerName doesn't exist or unknown command. • -121: Not allowed due to configuration disabled.
Page 651: Startjog
Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -18: Not allowed due to a positioner error or hardware status.
Page 652: Waitmotionend
Y position to check in microns XPosition double X position to check Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect. • -22: Not allowed action.
Page 653: Zygoadcdiagnosticstatusget
ADC Mux (refer to table 4-12 from ZMI2402 manual). Output parameters ADCDiagStatus char * Raw value from Diag ADC Register. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 654: Zygoamplitudeget
* Measure 1 Signal Strength (refer to ZMI 2402 Diagnostic ADC). Meas2Signal int * Measure 2 Signal Strength (refer to ZMI 2402 Diagnostic ADC). Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -1001: The controller is not connected to Zygo TCP server.
Page 655: Zygoconnecttoserver
Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command. • -205: Not enable in your configuration.
Page 656: Zygodisconnectfromserver
Close the TCP/IP communication opened with the ZYGO ZMI box. Prototype int ZygoDisconnectFromServer( int SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 657: Zygoerrorstatusget
ZMI Axis number (1 = Y axis and 2 = X axis). Output parameters ErrorStatus char * ZMI Axis Error Status. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 658: Zygoerrorstatusstringget
ZMI Axis number (1 = Y axis and 2 = X axis). Output parameters ErrorStatusDescription char * ZMI Axis Error Status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 659: Zygoethernetcommunicationstatusget
Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters EthernetCommunicationStatus int * 1 = Connected, 0 = Not connected. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. EDH0373En1023 — 01/18...
Page 660: Zygogetpeglastcommunicationtime
Socket identifier gets by the TCP_ConnectToServer” function. ParamName double * Last communication time to configure PEG (s). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -4: Unknown command.
Page 661: Zygogetverinterfero
SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters Version char * ZMI system version. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout. • -205: Not enable in your configuration.
Page 662: Zygointerferometerstatusget
* 1 = Reference signal present, 0 = No Signal. ZygoP2BoardStatus int * 1 = P2 board ready, 0 = P2 board not ready or not present. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error.
Page 663: Zygopositionget
PositionY long long int * Current position of Y axis. PositionX long long int * Current position of X axis. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 664: Zygoreadlong
* Register value in hexadecimal. Output parameters Response char * Response returned by the ZMI Measuring board. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 665: Zygoreadword
* Register value in hexadecimal. Output parameters Response char * Response returned by the ZMI Measuring board. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 666: Zygoregisterget
Register value in hexadecimal. Output parameters Value int * Response returned by the ZMI Measuring board. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 667: Zygoregisterset
Register value in hexadecimal. Value Response returned by the ZMI Measuring board. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -8: Wrong object type for this command.
Page 668: Zygoreset
Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -205: Not enable in your configuration. • -1001: The controller is not connected to Zygo TCP server.
Page 669: Zygoresetx
SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout. • -205: Not enable in your configuration.
Page 670: Zygoresety
ZygoResetY Name ZygoResetY – Reset Y axis via Ethernet. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks Zygo is enabled: (-205) Description This function resets Y axis (defined as Zygo axis #1). The Axis Reset resets only the measurement function and error conditions, and does not affect axis configuration.
Page 671 SocketID Input parameters SocketID Socket identifier gets by the “TCP_ConnectToServer” function. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout. • -205: Not enable in your configuration.
Page 672: Zygosendandreceive
* Command to send to ZYGO box. Output parameters Response char * Response read from ZYGO box. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 673: Zygosetoffsetx
Socket identifier gets by the “TCP_ConnectToServer” function. Xoffset long Offset value for X. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout. • -127: Wrong parameter type in the command string: long or long * expected.
Page 674: Zygosetoffsety
Socket identifier gets by the “TCP_ConnectToServer” function. Yoffset long Offset value for Y. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout. • -127: Wrong parameter type in the command string: long or long * expected.
Page 675: Zygosetpegparams
ZygoSetPEGParams Name ZygoSetPEGParams – Sets PEG parameters (ZYGO System) via Ethernet. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks input parameter type: (-127) Checks Zygo is enabled: (-205) Description This function sets PEG (Position Event Generator) parameters.
Page 676 Number of PEG events. ControlWord PEG control (refer to PEG Control register). Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout. • -127: Wrong parameter type in the command string: long or long * expected.
Page 677: Zygostartboardp2
ZygoStartBoardP2 Name ZygoStartBoardP2– Starts ZYGO P2 board. Input tests Refer to section 7.1: “Input Tests Common to all XPS Functions”. Checks input parameters value: (-17) Description This function allows initializing and starting the ZYGO P2 board. Required settings to get the board up and running after power up:...
Page 678 = reversed direction, false = normal direction. DataAgeAdjust Data Age Adjust Register. Output parameters None. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 679: Zygostartinterferometer
ADC Mux (refer to table 4-12 from ZMI2402 manual). Output parameters ADCDiagStatus char * Raw value from Diag ADC Register. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 680: Zygostatusget
ZMI Axis number (1 = Y axis and 2 = X axis). Output parameters Status char * ZMI Axis Status. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 681: Zygostatusstringget
ZMI Axis number (1 = Y axis and 2 = X axis). Output parameters StatusDescription char * ZMI Axis Status description. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -17: Parameter out of range or incorrect.
Page 682: Zygowritelong
Data value in hexadecimal in max-32bits. Output parameters Response char * Response returned by the ZMI Measuring board. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 683: Zygowriteword
Data value in hexadecimal in max-16bits. Output parameters Response char * Response returned by the ZMI Measuring board. Return (In addition to the results of “Input Tests Common to all XPS Functions”) • 0: No error. • -2: TCP timeout.
Page 684: Lists And Tables For Xps Functions
XPS Unified Programmer’s Manual Lists and Tables for XPS Functions Event Triggers List [Actor.] [Category.] Event Name Parameters Immediate Always Timer  MotionStart    MotionEnd    MotionState    MotionDone   MotionDoneTimeout  ...
Page 685 XPS Unified Programmer’s Manual DoubleGlobalArrayInferior Global variable number value DoubleGlobalArraySuperior Global variable number value DoubleGlobalArrayInWindow Global variable number DoubleGlobalArrayOutWindow Global variable number EDH0373En1023 — 01/18...
Page 686: Actions List
XPS Unified Programmer’s Manual Actions List [Actor.] Action Name Parameters DACSet.CurrentPosition Positioner name Gain Offset  DACSet. CurrentVelocity Positioner name Gain Offset  DACSet. SetpointPosition Positioner name Gain Offset  DACSet. SetpointVelocity Positioner name Gain Offset  DACSet. SetpointAcceleration Positioner name...
Page 687: Gathering Data Types
XPS Unified Programmer’s Manual Gathering Data Types PositionerName.CurrentAcceleration PositionerName.CurrentPosition PositionerName.CurrentVelocity PositionerName.SetpointAcceleration PositionerName.SetpointPosition PositionerName.SetpointVelocity PositionerName.FollowingError PositionerName.FollowingErrorCompensation (for precision platform only) PositionerName.InnerFollowingError (for precision platform only) PositionerName.ExcitationSignalInput PositionerName.CorrectedEncoderPosition PositionerName.CorrectedSetpointPosition PositionerName.CorrectorOutput PositionerName.EstimatedVelocity PositionerName. CorrectorOutput BeforeCompensation (for precision platform only) PositionerName. CorrectorOutput BeforeCompensationFiltered (precision platform) PositionerName.
Page 688 XPS Unified Programmer’s Manual XPS-RL or XPS-D Hardware: Basic GPIO board: • GPIO1.DI • GPIO1.DO • GPIO2.ADC1 • GPIO2.ADC2 • GPIO2.DAC1 • GPIO2.DAC2 Extended GPIO board: • GPIO3.DI • GPIO3.DO • GPIO5.DI • GPIO5.DO • GPIO6.DI • GPIO6.DO • GPIO4.ADC1 •...
Page 689: External Gathering Data Types
XPS-Q Hardware: • GPIO2.ADC1 • GPIO2.ADC2 • GPIO2.ADC3 • GPIO2.ADC4 • GPIO2.DAC1 • GPIO2.DAC2 • GPIO2.DAC3 • GPIO2.DAC4 XPS-RL or XPS-D Hardware: Basic GPIO board: • GPIO2.ADC1 • GPIO2.ADC2 • GPIO2.DAC1 • GPIO2.DAC2 Extended GPIO board: • GPIO4.ADC1 • GPIO4.ADC2 •...
Page 690: Positioner Error List
XPS Unified Programmer’s Manual Positioner Error List Error description Bit # Mask General inhibition detected Fatal following error detected Home search time out Motion done time out Requested position exceed travel limits in trajectory or slave mode Requested velocity exceed maximum value in trajectory or...
Page 691: Positioner Hardware Status List
General inhibition detected: This refers to the General Inhibition connector at the rear panel or the Stop All button at the front panel of the XPS controller. The General Inhibiton connector is a safety feature and can be used for a custom STOP ALL emergency switch.
Page 692 XPS Unified Programmer’s Manual Minus end of run glitch: Undesirable, momentary instability of the hardware minus end of run signal, for instance can be generated by ripple or noise. Plus end of run glitch: Undesirable, momentary instability of the hardware positive end of run signal, for instance can be generated by ripple or noise.
Page 693: Positioner Driver Status List
XPS Unified Programmer’s Manual Positioner Driver Status List code DRV00x DRV01 DRV02x DRV03 DRVP1 Short- Short- Short- circuit circuit circuit Voltage out Broken fuse Broken fuse Broken fuse of range Thermistor Thermistor Over fault fault temperature Initializatio Initializatio Initializatio Initialization...
Page 694: Group Status List
XPS Unified Programmer’s Manual Group Status List Code Description NOTINIT state NOTINIT state due to an emergency brake: see positioner status NOTINIT state due to an emergency stop: see positioner status NOTINIT state due to a following error during homing...
Page 695 XPS Unified Programmer’s Manual Trajectory state Slave state due to a SlaveEnable command Jogging state due to a JogEnable command Analog tracking state due to a TrackingEnable command Analog interpolated encoder calibrating state NOTINIT state due to a mechanical zero inconsistency during homing...
Page 696 XPS Unified Programmer’s Manual Disabled state due to a motion done timeout during slave mode Disabled state due to a ZYGO error during motion Disabled state due to a master/slave error during trajectory Disable state due to a ZYGO error on jogging state...
Page 697: Error List
XPS Unified Programmer’s Manual Error List code Error description Error to ignore TCL interpretor error: wrong syntax Successful command Busy socket: previous command not yet finished TCP timeout String command too long Unknown command Not allowed due to a positioner error...
Page 698 XPS Unified Programmer’s Manual Gathering running Slave error disabling master End of run activated Not allowed action due to backlash Wrong TCL task name: each TCL task name must be different BaseVelocity must be null Inconsistent mechanical zero during home search...
Page 699 XPS Unified Programmer’s Manual Execution not allowed for Gantry configuration -110 -111 Gathering buffer is full -112 Error of excitation signal generation initialization -113 Both ends of run activated -114 Clamping timeout -115 Function is not supported by current hardware Error during external driver initialization, read error.log file for more...
Page 700 The controller is not connected to Zygo TCP server. Run -1001 ZygoStartInterferometer API. -1002 Connection to Zygo TCP server failed -1003 The XPS controller is already connected to Zygo TCP server -1004 Zygo signal is not present -1005 Zygo PEG configuration failed -1006 Zygo error detected EDH0373En1023 —...
Page 701: Controller Status List
XPS Unified Programmer’s Manual 8.10 Controller Status List Controller status Controller status code code description CONTROLLER_STATUS_OK 0x00000000 Controller status OK CONTROLLER_STATUS_INITIALIZATION_ Controller initialization 0x00000001 FAILED failed Number of currently CONTROLLER_STATUS_NB_OPENED_SOC opened sockets reached 0x00000002 KETS_REACHED_MAXIMUM_ALLOWED maximum allowed number Controller CPU is...
Page 702: Process Examples
XPS Unified Programmer’s Manual Process Examples This section provides examples of programming sequences. The next diagrams show the order of use of the different Functions. To see programming code examples, please refer to the TCL Manual for TCL scripts. Management of Errors Example When an error occurs, it is desirable to analyze and fix the error.
Page 703: Firmware Version Example
Firmware Version Example Open TCP connection TCPOpen Display TCP connection failed error? Get firmware version FirmwareVersionGet Display error and close procedure error? Display XPS controller version Close TCP socket TCPClose Display TCP close failed error? Display TCP socket closed EDH0373En1023 — 01/18...
Page 704: Gathering With Motion Example
XPS Unified Programmer’s Manual Gathering with Motion Example Open TCP connection TCPOpen Display TCP connection failed error? Kill group GroupKill Display error and close procedure error? Initialize group GroupInitialize Display error and close procedure error? Home group GroupHomeSearch Display error and close procedure...
Page 705 XPS Unified Programmer’s Manual Stop gathering and save GatheringStopAndSav Display error and close procedure error? Close TCP socket TCPClose Display TCP close failed Display TCP socket closed error? EDH0373En1023 — 01/18...
Page 706: External Gathering Example
XPS Unified Programmer’s Manual External Gathering Example Open TCP connection 8TCPOpe Display TCP connection failed n error? Kill group GroupKill Display error and close procedure error? Initialize group GroupInitialize Display error and close procedure error? Home group GroupHomeSearch Display error and close procedure...
Page 707 XPS Unified Programmer’s Manual GatheringExternalCurrentNumberG Display error and close eterror? Stop external gathering and save GatheringExternalStopAndSave Display error and close error? Close TCP TCPClose Display TCP close failed Display TCP socket closed error? EDH0373En1023 — 01/18...
Page 708: Position Output Compare Example
XPS Unified Programmer’s Manual Position Output Compare Example Open TCP connection TCPOpen Display TCP connection failed error? Kill group GroupKill Display error and close procedure error? Initialize group GroupInitialize Display error and close procedure error? Home group GroupHomeSearch Display error and close procedure...
Page 709 XPS Unified Programmer’s Manual Move GroupMoveRelative Display error and close error? Disable position compare PositionerPositionCompareDisabl Display error and close error? Close TCP TCPClose Display TCP close failed Display TCP socket error? EDH0373En1023 — 01/18...
Page 710: Slave-Master Mode Example
XPS Unified Programmer’s Manual Slave-Master Mode Example Open TCP connection TCPOpen Display TCP connection failed error? Kill group GroupKill Display error and close procedure error? Initialize group GroupInitialize Display error and close procedure error? Home group GroupHomeSearch Display error and close procedure...
Page 711 XPS Unified Programmer’s Manual GroupMoveRelative Display error and close error? Disable slave-master 8SingleAxisSlaveModeDisable Display error and close error? Close TCP TCPClose Display TCP close failed Display TCP socket closed error? EDH0373En1023 — 01/18...
Page 712: Jogging Example
XPS Unified Programmer’s Manual Jogging Example Open TCP connection TCPOpen Display TCP connection failed error? Kill group GroupKill Display error and close procedure error? Initialize group GroupInitialize Display error and close procedure error? Home group GroupHomeSearch Display error and close procedure...
Page 713 XPS Unified Programmer’s Manual GroupJogParametersSet Display error and close error? Disable jog mode GroupJogModeDisable Display error and close error? Close TCP TCPClose Display TCP close failed Display TCP socket closed error? EDH0373En1023 — 01/18...
Page 714: Tracking Example
XPS Unified Programmer’s Manual Tracking Example Open TCP TCPOpe Display TCP connection n error? Kill GroupKill Display error and close error? Initialize GroupInitialize Display error and close error? Home GroupHomeSearch Display error and close error? Set tracking PositionerAnalogTrackingPositionParameters Display error and close...
Page 715: Backlash
XPS Unified Programmer’s Manual Backlash Open TCP connection TCPOpen Display TCP connection failed error? Kill group GroupKill Display error and close procedure error? Enable Backlash PositionerBacklashEnable Display error and close procedure error? Initialize group GroupInitialize Display error and close procedure...
Page 716 XPS Unified Programmer’s Manual GroupMoveRelative Display error and close procedure error? Move in negative direction GroupMoveRelative Display error and close procedure error? Disable Backlash PositionerBacklashDisable Display error and close procedure error? Close TCP socket TCPClose Display TCP close failed Display TCP socket closed error? EDH0373En1023 —...
Page 717: Timer Event And Global Variables
XPS Unified Programmer’s Manual 9.10 Timer Event and Global Variables Open TCP connection 1 TCPOpen Display TCP connection failed error? Calculate divisor Configure timer TimerSet Display error and close procedure error? Add event Timer with action ExecuteTCLScript EventAdd Display error and close procedure...
Page 718 XPS Unified Programmer’s Manual Event occured Open TCP connection TCPOpe Display TCP connection n error? Read global GlobalArrayGet Display error and close error? Value<END error? Increment global Delete timer Set global EventRemove error? GlobalArraySet Display error Display error and close...
Page 719: Running Several Motion Processes Simultaneously
XPS Unified Programmer’s Manual 9.11 Running Several Motion Processes Simultaneously The groups must be initialized and homed Open TCP before executing these processes. TCPOpe Display TCP n error? connection Set Sgamma parameters of PositionerSGammaParameters Display error and close procedure error?
Page 720 XPS Unified Programmer’s Manual While TRUE Add event MotionEnd with action Get digital GPIO EventAdd Display error and error? close procedure GPIODigitalGet Display error error? Move positioner to and close Get value of global GroupMoveAbsol Display error and close procedure...
Page 721: Service Form
XPS Unified Programmer’s Manual Service Form Your Local Representative Tel.: __________________ Fax: ___________________ Name: _________________________________________________ Return authorization #: ____________________________________ (Please obtain prior to return of item) Company:_______________________________________________ Address: ________________________________________________ Date: __________________________________________________ Country: ________________________________________________ Phone Number: __________________________________________ P.O. Number: ____________________________________________ Fax Number: ____________________________________________...
Page 722 Visit Newport Online at: www.newport.com North America & Asia Europe Newport Corporation MICRO-CONTROLE Spectra-Physics S.A.S 1791 Deere Ave. 9, rue du Bois Sauvage Irvine, CA 92606, USA 91055 Évry CEDEX Sales France Tel.: (800) 222-6440 Sales e-mail: sales@newport.com Tel.: +33 (0)1.60.91.68.68 Technical Support e-mail: france@newport.com...

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Newport XPS Programmer's Manual

1 Note

2 TCP/IP Communication

3 XPS .NET Software Drivers

4 TCP/IP Support Functions

5 XPS Standard Firmware Architecture (Base Version)

6 XPS Extended Firmware Architecture (Contact Newport)

7 XPS Functions Description

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