Groupinitializewithencodercalibration - Newport XPS Programmer's Manual

XPS Unified
7.2.1.81

GroupInitializeWithEncoderCalibration

Name
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)
- Checks state of physical ends of run: (-113)
Description
If the selected group is not in "NOTINIT" state, error (-22) is returned
Initializes the motor, calibrates the encoder and activates the servo loop of each
positioner of the selected group. To get the calibration results for each positioner, use
the "PositionerEncoderCalibrationParametersGet" function.
This function checks 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 no positioner error detected , 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 has failed and the
group state becomes "NOTINIT".
After the group initialization the group status is "MOTOR_INIT", next the encoder
undergoes calibration and the group status becomes "ENCODER_CALIBRATING". If
a following error occurs during calibration, (-25) error is returned and the group state
becomes "NOTINIT".
If successful, the motor is initialized, the encoder is calibrated and the servo loop is
activated. 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" status.
To restart a master-slave relation the slave group(s) must be reinitialized before
the master group.
NOTE
133
Programmer's Manual
EDH0373En1023 — 01/18