XPS Unified Programmer’s Manual
Output parameters
ClosedLoopStatus bool * Position servo 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.
KS double * PID integral saturation value (0 to 1).
IntegrationTime double * PID integration time (seconds).
DerivativeFilterCutOffFrequency double * PID derivative filter cut-off frequency
(Hz).
GKP double * Variable PID proportional gain multiplier.
GKI double * Variable PID integral gain multiplier.
GKD double * Variable PID derivative gain multiplier.
KForm double * Variable PID form coefficient.
FeedForwardGainVelocity double * Velocity feedforward gain (units).
FeedForwardGainAcceleration double * Acceleration feedforward gain (units).
Friction double * Friction compensation.
Return (In addition to the results of “Input Tests Common to all XPS
Functions”)
• 0: No error.
• -8: Wrong object type for this command.
EDH0373En1023 — 01/18 340
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