XPS Unified Programmer’s Manual
Prototype
int PositionerCorrectorAutoTuning(
int SocketID,
char * PositionerName,
int Mode,
double * KP,
double * KI,
double * KD
)
Input parameters
SocketID int Socket identifier gets by the
“TCP_ConnectToServer” function.
PositionerName char * Positioner name.
Mode int Loop control mode (0 = short settle, or
1 = robust).
Output parameters
KP double * Calculated KP value.
KI double * Calculated KI value.
KD double * Calculated KD value.
Return (In addition to the results of “Input Tests Common to all XPS
Functions”)
• 0: No error.
• -5: Not allowed due to a positioner error or hardware status.
• -8: Wrong object type for this command.
• -17: Parameter out of range or incorrect.
• -18: Positioner Name doesn't exist or unknown command.
• -24: Not available in this configuration (check hardware or configuration).
• -101: Relay Feedback Test failed: No oscillation.
• -102: Relay Feedback Test failed: Signal too noisy.
• -103: Relay Feedback Test failed: Signal data not enough for analyse.
• -104: Error of tuning process initialization.
319 EDH0373En1023 — 01/18
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