XPS Unified Programmer’s Manual
7.2.1.221 PositionerCorrectorPIDFFAccelerationSet
Name
PositionerCorrectorPIDFFAccelerationSet – Sets PIDFFAcceleration 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.
• KFeedForwardAcceleration ≥0.
• KFeedForwardJerk ≥0.
• DerivativeFilterCutOffFrequency
NOTE
Refer to system.ref file to get CorrectorISRPeriod value.
Description
This function configures the “PIDFFAcceleration” corrector parameters.
NOTE
The “CorrectorType” parameter must be defined as “PIDFFAcceleration” in the
“stages.ini” file else (-8) error is returned. This servo loop type is used when a
constant value applied to the driver results in a constant acceleration of the stage.
EDH0373En1023 — 01/18 346
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