Free Position Mode
In free position mode, pitch point positions are specified directly instead of as intervals from the pitch origin position.
To use free position mode, set the pitch error compensation parameters by calling the overloaded SetPitchErrorCompensation function with the PitchErrorCompensationFreePositionData argument.
To read the pitch error compensation parameters of an axis that is using pitch error compensation in free position mode, call the overloaded GetPitchErrorCompensation function with the PitchErrorCompensationFreePositionData argument.
To switch an axis to pitch interval mode, disable pitch error compensation for that axis by calling the DisablePitchErrorCompensation function, and then set the pitch error compensation parameters by calling the SetPitchErrorCompensation function with the PitchErrorCompensationData argument.
Pitch positions are specified as absolute positions. Pitch positions are specified in user units.
The following parameters are exclusive to pitch interval mode and are not used in free position mode.
The difference between the largest pitch position and the smallest pitch position must be less than or equal to maxPitchErrorCompFreePositionRangeMultiplier times the distance between the two closest pitch positions. For example, 1000, 1039, 1040, and 41000 is a valid sequence of pitch positions because the difference between the largest pitch position and the smallest pitch position (41000 - 1000 = 40000) is less than or equal to the maxPitchErrorCompFreePositionRangeMultiplier (40000) times the distance between the two closest pitch positions (1040 - 1039 = 1). If the difference between the largest pitch position and the smallest pitch position is too large, the PitchPositionRangeTooLarge error will be returned.
Pitch positions must be specified in ascending order. Every pitch position must be greater than the previous pitch position.
All options that can be used for pitch interval mode (excluding options that affect parameters exclusive to pitch interval mode, such as originPositionType) can be used with free position mode. This includes the preventCatchUpMotion option.