XPS Unified Programmer’s Manual
7.2.1.219 PositionerCorrectorPIDDualFFVoltageSet
Name
PositionerCorrectorPIDDualFFVoltageSet – Sets PIDDualFFVoltage corrector
parameters.
Input tests
- Refer to section 7.1: “Input Tests Common to all XPS Functions”.
- Checks the positioner type and the corrector type: (-8)
- Checks parameter value: (-17)
• KP ≥0.
• KI ≥0.
• KD ≥0.
• 0 ≤KS ≤1.
• IntegrationTime ≥CorrectorISRPeriod.
• GKP >-1.
• GKI >-1.
• GKD >-1.
• KForm ≥0.
• KFeedForwardVelocity ≥0.
• KFeedForwardAcceleration ≥0.
• Friction ≥0.
• DerivativeFilterCutOffFrequency
NOTE
Refer to system.ref file to get CorrectorISRPeriod value.
Description
This function configures the “PIDDualFFVoltage” corrector parameters. The
“CorrectorType” must be “PIDDualFFVoltage” in the stages.ini file, else (-8) error is
returned.
NOTE
This servo loop type is used when the position servo loop drives the voltage applied
directly to the motor.
341 EDH0373En1023 — 01/18
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