Newport XPS Programmer's Manual page 365

XPS Unified
Prototype
int PositionerCorrectorPIDFFVelocitySet(
int SocketID,
char * FullPositionerName,
bool ClosedLoopStatus,
double KP,
double KI,
double KD,
double KS,
double IntegrationTime,
double DerivativeFilterCutOffFrequency,
double GKP,
double GKI,
double GKD,
double KForm,
double FeedForwardGainVelocity
)
Input parameters
SocketID
FullPositionerName
ClosedLoopStatus
KP
KI
KD
KS
IntegrationTime
DerivativeFilterCutOffFrequency double PID derivative filter cut-off frequency (Hz).
GKP
GKI
GKD
KForm
FeedForwardGainVelocity
Output parameters
None.
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.
351
Programmer's Manual
int Socket identifier gets by the
"TCP_ConnectToServer" function.
char * Positioner name.
bool Position servo loop status (true = closed and
false = opened).
double PID servo loop proportional
double PID servo loop integral gain.
double PID servo loop derivative gain.
double PID integral saturation value (0 to 1).
double PID integration time (seconds).
double Variable PID proportional gain multiplier.
double Variable PID integral gain multiplier.
double Variable PID derivative gain multiplier.
double Variable PID form coefficient.
double Velocity feedforward gain (units).
gain.
EDH0373En1023 — 01/18