Positionerpositioncompareset - Newport XPS Programmer's Manual

XPS Unified
EDH0373En1023 — 01/18
7.2.1.280

PositionerPositionCompareSet

Name
PositionerPositionCompareSet – Sets the position compare parameters.
Input tests
- Refer to section 7.1: "Input Tests Common to all XPS Functions".
- Checks the positioner type: (-8)
- Checks input parameter values: (-17)
• MinimumPosition <MaximumPosition.
• MinimumPosition ≥MinimumTargetPosition.
• MaximumPosition ≤MaximumTargetPosition.
• 0 ≤PositionStep ≤(MaximumPosition – MinimumPosition)
- Checks position compare state (must be disabled): (-22)
- Checks the position encoder ("AquadB" or "AnalogInterpolated"): (-24)
Description
This function sets the parameters for the position compare output trigger of the PCO
connector on the XPS controller cards.
These parameters are used only when the position compare mode is enabled. For a more
thorough description of the position compare output, please refer to the XPS Motion
Tutorial section Triggers/Position Compare Output.
This function can be used only with a position encoder. If no position encoder then
(-24) error is returned.
In the PositionCompare mode (activated with PositionerPositionCompareEnable()
function), during the move (relative or absolute) and inside the zone set by
PositionerPositionCompareSet(), if the current following error exceeds the
Warning Following Error value, the
PositionCompareWarningFollowingErrorFlag is activated and the move returns
an error (-120: Warning following error during move with position compare
enabled). To reset the PositionCompareWarningFollowingErrorFlag, send the
PositionerPositionCompareDisable() function. The WarningFollowingError is set
to FatalFollowingError (defined in stages.ini file) by default, but it can be modified
by PositionerWarningErrorSet().
In the PositionCompare mode (activated with PositionerPositionCompareEnable()
function), during the move (relative or absolute) and inside the zone set by
PositionerPositionCompareSet(), the CorrectorOutput is limited to
MaximumAcceleration (defined in stages.ini).
NOTE
420
Programmer's Manual