Groupmoveabsolute - Newport XPS Programmer's Manual

XPS Unified
EDH0373En1023 — 01/18
7.2.1.95

GroupMoveAbsolute

Name
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)
• TargetPosition ≥MinimumTargetPosition.
• TargetPosition ≤MaximumTargetPosition.
- Valids positioner name: (-18)
- Valids group name: (-19)
- Group status must be "READY" or "MOVING": (-22)
Description
This function initiates an absolute move to one or all positioners of the selected group.
The group state must be "READY" or "MOVING", otherwise error (-22) is returned. If
the group is "READY" then the group state becomes "MOVING".
An absolute motion is defined by the distance between the zero position and the target
position. If the current position is the same as the target position then no move will be
done.
Each "positioner" move refers to the acceleration, velocity, minimum jerkTime and
maximum jerkTime as defined in the "Stages.ini" file or as redefined by the
"PositionerSGammaParametersSet" function.
If a slave or following error is detected during the move then (-25) or (-44) errors are
returned. In this case, the motion in progress is stopped and the group state becomes
"DISABLE".
If the "MotionDoneMode" is defined as "VelocityAndPositionWindowMotionDone"
error (-33) will be returned when the time out (defined by "MotionDoneTimeout" in the
stages.ini file) is reached before the motion is done. The group state will change to
"DISABLE".
In case of "GroupMoveAbort", error (-27) is returned., The motion in progress is
stopped and the group state becomes "READY".
During a move with PositionCompare (or TimeFlasher) scan enabled, if the current
following error exceeds WarningFollowingError value inside the PositionCompare (or
TimeFlasher) scan zone, a WarningFollowingErrorFlag is latched. In this case the
motion continues and finishes normally (the group status becomes "READY"), but the
GroupMoveAbsolute function returns (-120) error instead of SUCCESS (0). To reset
WarningFollowingErrorFlag for next moves, execute
PositionerPositionCompareDisable(or PositionerTimeFlasherDisable) function.
If in "GroupKill" command an emergency brake or an emergency stop has occurred,
error (-26) is returned. In this case, the motion in progress is stopped and the group state
becomes "NOTINIT".
Asynchronous moves for positioners of the same group are possible through the
use of different sockets to send functions.
NOTE
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Programmer's Manual