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XPS Unified Programmer’s Manual

7.2.1.280 PositionerPositionCompareSet

Name

PositionerPositionCompareSet – Sets the position compare parameters.

Input tests

- Refer to section 7.1: “Input Tests Common to all XPS Functions”.

- Checks the positioner type: (-8)

- Checks input parameter values: (-17)

• MinimumPosition <MaximumPosition.

• MinimumPosition ≥MinimumTargetPosition.

• MaximumPosition ≤MaximumTargetPosition.

• 0 ≤PositionStep ≤(MaximumPosition – MinimumPosition)

- Checks position compare state (must be disabled): (-22)

- Checks the position encoder (“AquadB” or “AnalogInterpolated”): (-24)

Description

This function sets the parameters for the position compare output trigger of the PCO

connector on the XPS controller cards.

These parameters are used only when the position compare mode is enabled. For a more

thorough description of the position compare output, please refer to the XPS Motion

Tutorial section Triggers/Position Compare Output.

NOTE

This function can be used only with a position encoder. If no position encoder then

(-24) error is returned.

In the PositionCompare mode (activated with PositionerPositionCompareEnable()

function), during the move (relative or absolute) and inside the zone set by

PositionerPositionCompareSet(), if the current following error exceeds the

Warning Following Error value, the

PositionCompareWarningFollowingErrorFlag is activated and the move returns

an error (-120: Warning following error during move with position compare

enabled). To reset the PositionCompareWarningFollowingErrorFlag, send the

PositionerPositionCompareDisable() function. The WarningFollowingError is set

to FatalFollowingError (defined in stages.ini file) by default, but it can be modified

by PositionerWarningErrorSet().

In the PositionCompare mode (activated with PositionerPositionCompareEnable()

function), during the move (relative or absolute) and inside the zone set by

PositionerPositionCompareSet(), the CorrectorOutput is limited to

MaximumAcceleration (defined in stages.ini).

EDH0373En1023 — 01/18 420

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