A Compensator object manages a single compensation table. Its primary function is to provide an interface to configure both the compensating axes and the compensated axis. It also provides an interface for loading the on-controller compensation tables. The Compensator object is a host-based object that has a corresponding compensator object embedded on the controller. The embedded compensator handles the real-time issues associated with axis position compensation.
Note: Custom controller firmware is required in order to use the Compensator object. For more information about firmware, see Contoller Firmware for MPI 03.04.
Before creating the MPI Compensator object, the corresponding embedded compensator object on the controller must be enabled. Also, before configuring the MPI Compensator object, the controller's compensation table must be allocated with a sufficient size to hold all required compensation values (or points). Both of these items can be configured using mpiControlConfigGet/Set(...) methods.
Note: Configuring the compensator table size using mpiControlConfigSet(...) will reallocate the controller's dynamic memory. Reallocating dynamic memory on the controller affects multiple objects and should only be done at the very beginning of your application.
For more information on determining compensation table size please see Determining Required Compensator Table Size.
| Error Messages |
|Create, Delete, Validate Methods|
|mpiCompensatorCreate||Create Compensator object|
|mpiCompensatorlDelete||Delete Compensator object|
|mpiCompensatorValidate||Validate Compensator object|
|Configuration and Information Methods|
|mpiCompensatorConfigGet||Get Compensator configuration|
|mpiCompensatorConfigSet||Set Compensator configuration|
|meiCompensatorInfo||Get Compensator information|
|meiCompensatorTableGet||Get Compensator table|
|meiCompensatorTableSet||Set Compensator table|
|meiCompensatorMemory||Set address to be used to access Compensator memory|
|meiCompensatorMemoryGet||Get bytes of Compensator memory and place it into application memory|
|meiCompensatorMemorySet||Put (set) bytes of application memory into Compensator memory|
|meiCompensatorControl||Return handle of Control object associated with Compensator|
|meiCompensatorNumber||Get number of Compensator|