Groupinitialize - Newport XPS Programmer's Manual

XPS Unified
7.2.1.79

GroupInitialize

Name
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)
- Checks state of physical ends of run: (-113)
Description
The selected group must be in not initialized "NOTINIT" state, otherwise (-22) error is
returned.
This function begins to check the positioner error. If an error is detected, the hardware
status register is reset (motor on) and the positioner error is cleared before checking it
again. If a positioner error is always present, the motor is turned off, (-5) error is
returned and the group state becomes "NOTINIT".
If there is no positioner error, then the group status becomes "MOTOR_INIT". The
master-slave error is cleared, the encoder is reset (update encoder position) and the user
travel limits are checked.
If a travel limit error is detected then the motor is turned off, the error (-35) is returned
and the group state becomes "NOTINIT".
Moreover, the function checks the state of the physical ends of run. If both physical
ends of run are activated, then the motor is turned off, the error (-113) is returned and
the group state becomes "NOTINIT".
If no error detected , the motor is initialized in case of "AnalogSinAcc" or
"AnalogDualSinAcc". The error (-50) is returned, if the initialization failed and the
group state becomes "NOTINIT".
If successful, the positions are reset, the servo loop is activated and the motor is on. The
group is now in "NOT REFERENCED" state.
In Master-Slave mode, after an emergency stop, the master group and the slave
group are in "NOTINIT" state.
To restart a master-slave relation the slave group(s) must be reinitialized before
the master group.
NOTES
129
Programmer's Manual
EDH0373En1023 — 01/18