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XPS Unified Programmer’s Manual

7.2.1.222 PositionerCorrectorPIDFFVelocityGet

Name

PositionerCorrectorPIDFFVelocityGet – Gets PIDFFVelocity 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)

Description

This function returns the corrector parameter values used by a PID with a velocity

output:

ClosedLoopStatus, KP, KI, KD, KS, IntegrationTime,

DerivativeFilterCutOffFrequency, GKP, GKI, GKD, Kform and

FeedForwardGainVelocity.

NOTE

The “CorrectorType” must be “PIDFFVelocity” in the stages.ini file. This servo

loop type is used when a constant value applied to the driver results in a constant

velocity of the stage.

Prototype

int PositionerCorrectorPIDFFVelocityGet(

int SocketID,

char * FullPositionerName,

bool * ClosedLoopStatus,

double * KP,

double * KI,

double * KD,

double * KS,

double * IntegrationTime,

double * DerivativeFilterCutOffFrequency,

double * GKP,

double * GKI,

double * GKD,

double * KForm,

double * FeedForwardGainVelocity

)

Input parameters

SocketID int Socket identifier gets by the

“TCP_ConnectToServer”function.

FullPositionerName char * Positioner name.

EDH0373En1023 — 01/18 348

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