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XPS-Q8 Controller Motion Tutorial

14.3.4.2 Basics & Tuning

In most cases, only Ki is needed to correct static errors.

The overall gain of the integral part of the servo loop at a given frequency Frq is:

This gain is equal to one at:

XPSDocumentation V1.4.x (EDH0301En1060 — 10/17) 184

Table of Contents

Default Chapter3
- Default Chapter3
- User's Manual13
1 Introduction13
- Scope of the Manual13
- Definitions and Symbols15
- Warnings and Cautions16
- General Warnings and Cautions16
2 System Overview18
- Specifications18
- Drive Options19
- Compatible Newport Positioners and Drive Power Consumption20
- XPS Hardware Overview21
- Front Panel Description21
- Rear Panel Description22
  - Axis Connectors (AXIS 1 - AXIS 8)22
- Ethernet Configuration23
  - Communication Protocols23
  - Addressing24
- Sockets, Multitasking and Multi-User Applications24
- Programming with TCL24
3 Getting Started26
- Unpacking and Handling26
- Inspection for Damage26
- Packing List26
- System Setup26
  - Installing Driver Cards27
  - Power on27
- Connecting to the XPS28
- Testing Your XPS-PC Connection and Communication38
- Connecting the Stages39
- Configuring the Controller40
- System Shut-Down47
  - Software Tools48
4 0 Software Tools48
- Software Tools Overview48
- CONTROLLER CONFIGURATION - Users Management49
- CONTROLLER CONFIGURATION - IP Management50
- CONTROLLER CONFIGURATION - General50
- SYSTEM - Error File Display51
- SYSTEM - Last Error File Display51
- SYSTEM - Auto Configuration52
- SYSTEM - Manual Configuration52
- SYSTEM - Manual Configuration - Gantries (Secondary Positioners)56
- STAGE - Add from Data Base61
Xps-Q861
- STAGE - Modify62
- FRONT PANEL - Move64
- FRONT PANEL - Jog65
- FRONT PANEL - Spindle65
- FRONT PANEL - I/O View66
- FRONT PANEL - I/O Set66
- FRONT PANEL - Positioner Errors67
- FRONT PANEL - Hardware Status67
- FRONT PANEL - Driver Status68
- Terminal68
- TUNING - Auto-Scaling71
- TUNING - Auto-Tuning72
- Functional Tests75
- FTP (File Transfer Protocol) Connection75
5 Maintenance and Service77
- Enclosure Cleaning77
- Obtaining Service77
- Troubleshooting77
- Updating the Firmware Version of Your XPS Controller78
  - Motion Tutorial79
6 XPS Architecture79
- Introduction79
- State Diagrams80
- Motion Groups82
- Native Units83
7 Motion85
- Motion Profiles85
- Home Search87
- Referencing State90
- Move93
- Motion Done95
- Jog97
- Master Slave98
- Analog Tracking99
  - Analog Position Tracking100
  - Analog Velocity Tracking100
8 Trajectories102
- Line-Arc Trajectories102
- Splines108
- PVT Trajectories113
9 Emergency Brake and Emergency Stop Cases120
10 Compensation123
- Backlash Compensation124
- Linear Error Correction125
- Positioner Mapping125
- XY Mapping128
- XYZ Mapping130
- Yaw" Mapping (PP Firmware Version Only)136
- Theta" Encoder and XY Correction139
11 Event Triggers140
- Events141
- Actions149
- Functions154
- Examples155
12 Data Gathering159
- Time-Based (Internal) Data Gathering160
- Event-Based (Internal) Data Gathering162
- Function-Based (Internal) Data Gathering165
- Trigger-Based (External) Data Gathering165
13 Output Triggers167
- Triggers on Line-Arc Trajectories167
- Triggers on PVT Trajectories169
- Distance, Time Spaced Pulses or Aquadb Position Compare170
14 Control Loops183
- XPS Servo Loops183
  - Servo Structure and Basics183
  - XPS PIDFF Architecture185
- Filtering and Limitation189
- Feed Forward Loops and Servo Tuning189
15 Analog Encoder Calibration197
16 Excitation Signal202
- Introduction202
- How to Use the Excitation-Signal Function202
- Group State Diagram203
- Function Description203
17 Pre-Corrector Excitation Signal204
- Description204
- Pre-Corrector Excitation Signal Wave Forms204
- Technical Implementation206
18 Introduction to XPS Programming209
- TCL Generator210
- Labview211
- DLL Drivers212
- Running Processes in Parallel213
19 Appendix A: Hardware216
- Controller216
- Rear Panel Connectors217
- Environmental Requirements217
- Appendix216
20 Appendix B: General I/O Description218
- Digital I/Os (All GPIO, Inhibit and Trigger In, and PCO Connectors)218
  - Digital Inputs218
  - Digital Outputs219
- Digital Encoder Inputs (Driver Boards & DRV00)219
- Digital Servitudes (Driver Boards, DRV00 & Analog Encoders Connectors)219
- Analog Encoder Inputs (Analog Encoder Connectors)219
- Analog I/O (GPIO2 Connector)220
  - Analog Inputs220
  - Analog Outputs220
21 Appendix C: Power Inhibit Connector221
22 Appendix D: GPIO Connectors222
- GPIO1 Connector222
- GPIO2 Connector222
- GPIO3 Connector223
- GPIO4 Connector223
23 Appendix E: PCO Connector224
24 Appendix F: Motor Driver Cards225
- DC and Stepper Motor Driver XPS-DRV01225
- Three Phase AC Brushless Driver XPS-DRV02226
- DC Motor Driver XPS-DRV03227
- Pass-Through Board Connector (25-Pin D-Sub) XPS-DRV00227
25 Appendix G: Analog Encoder Connector228
26 Appendix H: Trigger in Connector229
Service Form231

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