Compensator Objects

Introduction

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.

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 |

Methods

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
	mpiCompensatorInfo	Get Compensator information
	mpiCompensatorTableGet	Get Compensator table
	mpiCompensatorTableSet	Set Compensator table

Memory Methods
	mpiCompensatorMemory	Set address to be used to access Compensator memory
	mpiCompensatorMemoryGet	Get bytes of Compensator memory and place it into application memory
	mpiCompensatorMemorySet	Put (set) bytes of application memory into Compensator memory

Relational Methods
	mpiCompensatorControl	Return handle of Control object associated with Compensator
	mpiCompensatorNumber	Get number of Compensator

Data Types

	MPICompensatorConfig
	MPICompensatorDimension
	MPICompensatorInfo
	MPICompensatorInputAxis
	MPICompensatorRange

Constants

MPICompensatorDimensionsMAX