XPS Unified Programmer’s Manual
7.2.1.351 TZPVTExecution
Name
TZPVTExecution – Executes a PVT trajectory.
Input tests
- Refer to section 7.1: “Input Tests Common to all XPS Functions”.
- Checks trajectory file name length: (-3)
- Checks group type (must be a TZ group): (-8)
- Checks input value (number of executions must >0): (-17)
- Checks group name: (-19)
- Group state must be "READY”: (-22)
- Not available in this configuration (PrecisionPlatform firmware only): (-24)
- Checks backlash (must not be enabled): (-46)
- Checks BaseVelocity (stages.ini, must = 0): (-48)
- Checks trajectory file existence or file reading: (-61)
- Checks message queue: (-71)
Description
This function executes a PVT (Position Velocity Time) trajectory. The trajectory file
must be stored in the folder “\Admin\Public\Trajectory” of the XPS controller. If the
trajectory cannot be initialized (message queue or task error) then (-72) is returned.
Before a trajectory execution, it is recommended to check whether the trajectory is
within the positioner motion capabilities by using “TZPVTVerification” and
“TZPVTVerificationResultGet” functions.
During the trajectory execution, if a positioner reaches one of travel limits, the
trajectory execution will stop and the (-25) error is generated in the positioner errors.
NOTES
In case of (-33) error, (-25) error or (-44) error, the group state becomes
DISABLE. To help determine the error source, check the positioner errors, the
hardware status and the driver status.
Prototype
int TZPVTExecution(
int SocketID,
char GroupName[250],
char FileName[250],
int ExecutionNumber
)
EDH0373En1023 — 01/18 510
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