Groupmoverelative - Newport XPS Programmer's Manual

XPS Unified
7.2.1.97

GroupMoveRelative

Name
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)
• TargetPosition ≥MinimumTargetPosition.
• TargetPosition ≤MaximumTargetPosition.
- Valids positioner name: ERR_POSITIONER_NAME (-18)
- Valids group name: ERR_GROUP_NAME (-19)
- Group status must be "READY" or "MOVING": (-22)
Description
This function initiates a relative move defined by the target displacement 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 in "READY" state , then it turns intto
"MOVING".
The target displacement and the current position define the new target position to reach:
NewTargetPosition = CurrentTargetPosition + TargetDisplacement
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 errors (-25) or (-44) are
returned. In this case, the motion in progress is stopped and the group status becomes
"DISABLE".
If "MotionDoneMode" is defined as "VelocityAndPositionWindowMotionDone", error
(-33) is returned when the time out (defined by "MotionDoneTimeout" in the stages.ini
file) is reached before the motion is done. The group state becomes "DISABLE".
In case "GroupMoveAbort" is executed , error (-27) is returned. The motion in progress
is stopped and the group state becomes "READY".
During 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 ends normally (the group status becomes "READY"), but the
GroupMoveRelative function returns (-120) error instead of SUCCESS (0). To reset
WarningFollowingErrorFlag for the 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 a same group are possible through the use
of different sockets to send the functions.
NOTE
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Programmer's Manual
EDH0373En1023 — 01/18