Multipleaxesptverification - Newport XPS Programmer's Manual

XPS Unified
EDH0373En1023 — 01/18
7.2.1.127

MultipleAxesPTVerification

Name
MultipleAxesPTVerification – Checks the PT trajectory data file.
Input tests
- Refer to section 7.1: "Input Tests Common to all XPS Functions".
- Checks trajectory file name length (must ≤250): (-3)
- Checks group type (must be a MultipleAxes group): (-8)
- Checks group name: (-19)
- Checks BaseVelocity value (must = 0): (-48)
- Checks trajectory file existence and the file format: (-61)
- Checks trajectory (number of elements must >0): (-66)
- Checks velocity (Minimum Velocity ≤Velocity ≤Maximum Velocity): (-68)
- Checks acceleration (Minimum acc. ≤acceleration ≤Maximum acc.): (-69)
- Checks end output velocity (must = 0): (-70)
- Checks delta time (DeltaTime must >0): (-75)
Description
This function verifies the execution of a PT trajectory. The results of the verification
can be obtained by "MultipleAxesPTVerificationResultGet" function. The trajectory
file must be stored in "\ADMIN\Public\Trajectory" folder of XPS controller. If the
trajectory cannot be initialized (task error), error (-72) is returned.
This function can be executed at any time and is independent of the trajectory
execution. It performs the following:
• Checks the trajectory file for data coherence.
• Calculates the trajectory limits,:1) the required travel per positioner, 2)the maximum
possible trajectory velocity and 3) the maximum possible trajectory acceleration.
This function helps to define the parameters for the trajectory execution.
• The required travel values (MinimumPosition and MaximumPosition) are calculated
relative to the position zero and not to the current position. So before executing a PT
trajectory, the user must pay attention to the current position of the positioners to
make sure that the trajectory will not exceed the positioner travel limits.
• If all is OK, it returns "SUCCESS" (0). Otherwise, it returns a corresponding error.
Because of the PT trajectory internal calculation of elements end velocity, a correct
PT trajectory file must have at least two lines with zero displacements at the
trajectory end. Otherwise, the "MultipleAxesPTVerification" function returns
error (-70).
The "MultipleAxesPTVerification" function is independent from the
"MultipleAxesPTExecution" function, but it is highly recommended to execute this
function before executing the PT trajectory.
NOTES
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Programmer's Manual