Newport XPS-Q8 - Page 7

XPS-Q8 Universal High-Performance Motion Controller/Driver
9.0 Emergency Brake and Emergency Stop Cases ...................................... 108
10.0 Compensation.......................................................................................... 111
10.1 Backlash Compensation ..................................................................................................... 112
10.2 Linear Error Correction ..................................................................................................... 113
10.3 Positioner Mapping ............................................................................................................ 113
10.4 XY Mapping ...................................................................................................................... 116
10.5 XYZ Mapping .................................................................................................................... 118
10.6 “Yaw” Mapping (PP Firmware Version Only) .................................................................. 124
10.7 “Theta” Encoder and XY Correction ................................................................................. 127
11.0 Event Triggers......................................................................................... 128
11.1 Events ................................................................................................................................ 129
11.2 Actions ............................................................................................................................... 137
11.3 Functions ........................................................................................................................... 142
11.4 Examples ........................................................................................................................... 143
12.0 Data Gathering ....................................................................................... 147
12.1 Time-Based (Internal) Data Gathering .............................................................................. 148
12.2 Event-Based (Internal) Data Gathering .............................................................................. 150
12.3 Function-Based (Internal) Data Gathering ......................................................................... 153
12.4 Trigger-Based (External) Data Gathering .......................................................................... 153
13.0 Output Triggers ...................................................................................... 155
13.1 Triggers on Line-Arc Trajectories ..................................................................................... 155
13.2 Triggers on PVT Trajectories ............................................................................................ 157
13.3 Distance, Time Spaced Pulses or AquadB Position Compare ........................................... 158
13.3.1 Position compare settings and limits of use ................................................... 158
13.3.2 Even Distance Spaced Pulses Position Compare ........................................... 159
13.3.3 Compensated Position Compare .................................................................... 163
13.3.4 Time Spaced Pulses (Time Flasher) ............................................................... 166
13.3.5 AquadB Signals on PCO Connector .............................................................. 168
14.0 Control Loops ......................................................................................... 171
14.1 XPS Servo Loops ............................................................................................................... 171
14.1.1 Servo structure and Basics ............................................................................. 171
14.1.2 XPS PIDFF Architecture ............................................................................... 173
14.2 Filtering and Limitation ..................................................................................................... 177
14.3 Feed Forward Loops and Servo Tuning ............................................................................. 177
14.3.1 Corrector = PIDFFVelocity ........................................................................... 177
14.3.2 Corrector = PIDFFAcceleration ..................................................................... 179
14.3.3 Corrector = PIDDual FFVoltage .................................................................... 182
14.3.4 Corrector = PIPosition ................................................................................... 183
vii XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)