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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
The following is an example of a trajectory file that represents a rectangle with rounded
corners and with the end point equal to the starting point:
Figure 30: Graphical display of the second Line-arc trajectory data file example.
8.1.9
Trajectory Verification and Execution
There are four functions to verify or execute a Line-arc trajectory:
• XYLineArcVerification(): Verifies a Line-arc trajectory data file.
• XYLineArcVerificationResultGet(): Returns the last trajectory verification results,
actuator by actuator. This function works only after an XYLineArcVerification().
• XYLineArcExecution(): Executes a trajectory.
• XYLineArcParametersGet(): Returns the trajectory's current execution
parameters. This function works only while executing the trajectory.
The function XYLineArcVerification() can be executed at any time and is
independent from trajectory execution. This function performs the following:
• Checks the trajectory file for data and syntax coherence.
• Calculates the trajectory limits, which are: the required travel per positioner, the
maximum possible trajectory velocity and the maximum possible trajectory
acceleration. This function defines the parameters for trajectory execution.
• If all is OK, it returns an "OK" (0). Otherwise, it returns a corresponding error.
The function XYLineArcVerificationResultGet() can be executed only after an
XYLineArcVerification() and returns the following:
• Travel requirement in positive and negative direction for each positioner.
• The maximum possible trajectory velocity (speed) that is compatible with all
positioner's velocity parameters. It returns a value for the trajectory velocity, that
when applied, at least one of the positioners will reach its maximum allowed speed
at least once along the trajectory. So the returned value varies between Min
{V
} and
max_actuator
does not take into account the positioners's acceleration, which can also limit the
trajectory velocity. For example, the case of a Line-arc trajectory containing arc
segments with a small radius.
• The maximum possible trajectory acceleration that is compatible with all
positioners' parameters. This means that one of the positioners will reach its
maximum allowed acceleration during the trajectory execution.
The XYLineArcVerificationResultGet() function returns the trajectory execution limits
that have previously been calculated by the XYLineArcVerification function. Note
about this function's result: Only the returned travel requirements are specific for each
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Motion Tutorial
. However, this value
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