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XPS Unified
EDH0373En1023 — 01/18
Output parameters
ClosedLoopStatus
KP
KI
KD
IntegrationTime
DerivativeFilterCutOffFrequency
KFeedForwardAcceleration
KFeedForwardJerk
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.
• -205:
Not enabled in your configuration.
324
Programmer's Manual
bool *
Dual control loop status
(true = closed and false = opened).
double * PID servo loop proportional gain.
double * PID servo loop integral gain.
double * PID servo loop derivative gain.
double * PID integration time (seconds).
double * PID derivative filter cut-off
frequency (Hz).
double * Acceleration feedforward gain
(units).
double * Jerk feedforward gain (units).
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