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XPS-Q8 Controller
8.2.9
Examples
XYZSplineVerification (XYZGroup, Spline1.trj)
This function returns a 0 if the trajectory is executable.
XYZSplineVerificationResultGet (XYZGroup.XPositioner, *Name,
*NegTravel, *PosTravel, *MaxSpeed, *MaxAcceleration)
This function returns the name of the trajectory checked with the last sent
function XYZSplineVerification to that motion group (Spline1.trj), the
negative travel required for the XYZGroup.XPositioner, the positive travel
required for the XYZGroup.XPositioner, the maximum trajectory velocity and
the maximum trajectory acceleration.
XYZSplineExecution (XYZGroup, Spline1.trj, 10, 100)
Executes the trajectory Spline1.trj with a trajectory velocity of 10 units/s and
a trajectory acceleration of 100 units/s
XYZSplineParametersGet (XYZGroup, *FileName,
*TrajectoryVelocity, *TrajectoryAcceleration, *ElementNumber)
Returns the name of the trajectory being executed (Spline1.trj), the trajectory
velocity (10), the trajectory acceleration (100) and the number of the
currently executed trajectory element.
8.3
PVT Trajectories
8.3.1
Trajectory Terminology
Trajectory: continuous multidimensional motion path. PVT stands for Position,
Velocity, and Time. PVT trajectories are defined in an n-dimensional space (n = 1 to 8).
These are available with MultipleAxes groups. A PVT trajectory is generated with
continuous movements of the MultipleAxes group's positioners over several time
periods. For each period, each positioner must complete a defined displacement from its
current position and a defined output velocity at the end of the period. By definition,
there is no constant vector velocity and no definition for a vector acceleration in
contrast to Line-arc trajectories or splines.
Trajectory element (segment): An element of a PVT trajectory is defined by a set of all
positioner displacements and output velocities and the duration for the segment. In the
PVT data file, each element is represented by a line of values:
DT, DP1, VO1, DP2, VO2, ...
DT:
DP1, DP2,..., DPn:
VO1, VO2,..., VOn:
8.3.2
Trajectory Conventions
When defining or executing a PVT trajectory, a number of rules must be followed:
• The motion group must be a MultipleAxes group.
• All trajectories must be stored in the controller's memory in ..\Public\Trajectories.
Once a trajectory is started, it executes in the background allowing other groups to
work independently and simultaneously.
• Each trajectory must have a beginning and an end. Endless (infinite) trajectories are
not allowed. Although, N-times (N defined by user) non-stop execution of a
trajectory is allowed. Since the trajectory is stored in a file, the trajectory's
maximum size (maximum elements number) is practically not limited.
• PVT trajectory elements (segments) are 3
positioner that hit the positions P
DPn, VOn
The segment duration in seconds.
Positioners' (#1, #2,..., #n) displacements during DT.
Positioners' output velocities at the end of DT.
rd
order polynomial pieces for each
(at time t
i-1
101
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
2
.
with a velocity v
) and positions P
i-1
i-1
i
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