XPS Unified Programmer’s Manual
Output parameters
ClosedLoopStatus bool * Dual control loop status
(true = closed and false = opened).
KP double * PID servo loop proportional gain.
KI double * PID servo loop integral gain.
KD double * PID servo loop derivative gain.
IntegrationTime double * PID integration time (seconds).
DerivativeFilterCutOffFrequency double * PID derivative filter cut-off
frequency (Hz).
KFeedForwardAcceleration double * Acceleration feedforward gain
(units).
KFeedForwardJerk double * Jerk feedforward gain (units).
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.
EDH0373En1023 — 01/18 324
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