XPS-Q8 Controller Motion Tutorial
The difference between the existing excitation signal function
(PositionerExcitationSignalSet) and the new one
(PositionerPreCorrectorExcitationSignalSet) is :
– PositionerExcitationSignalSet inserts the excitation signal into corrector output after
the (PID corrector) control loop calculation.
– PositionerPreCorrectorExcitationSignalSet inserts the excitation into corrector
inputs before the (PID corrector) control loop calculation.
17.3.2 Implementation
The PositionerPreCorrectorExcitationSignalSet function is implemented to inject the
excitation signal
The excitation signal function PositionerPreCorrectorExcitationSignalGet can be
executed only when the positioner is in the “READY” state. When the excitation signal
process is in progression, the positioner is in the “ExcitationSignal” state. At the end of
the process, the positioner returns to the “READY” state (see the group state diagram
below).
The function parameters are:
– Frequency (>= 0.1 and <= 0.5 / CorrectorISRPeriod (5000 Hz if
CorrectorISRPeriod = 0.1µs))
– Amplitude (> 0, amplitude of sine excitation signal , in unit of position)
– Time (> 0, seconds)
The verifications of position amplitude (SetpointPosition <= MaximumTargetPosition
and (SetpointPosition – 2*Amplitude) >= MinimumTargetPosition), velocity
amplitude (> 0 and <= MaximumVelocity) and acceleration amplitude (> 0 and <=
MaximumAcceleration) must be done in this function.
The PositionerPreCorrectorExcitationSignalGet() function is used to get the parameters
previously set with the PositionerPreCorrectorExcitationSignalSet() function.
195 XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
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