XPS Unified Programmer’s Manual
7.2.1.357 TZPVTVerification
Name
TZPVTVerification – Checks a PVT 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 TZ group): (-8)
- Checks group name: (-19)
- Not available in this configuration (PrecisionPlatform firmware only): (-24)
- 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 (MinimumVelocity ≤ Velocity ≤ MaximumVelocity): (-68)
- Checks acceleration (MinimumAcc. ≤ acceleration ≤ MaximumAcc.): (-69)
- Checks end output velocity (must = 0): (-70)
- Checks delta time (DeltaTime must >0): (-75)
Description
This function verifies the execution of a PVT trajectory. The results of the verification
can be got with the “TZPVTVerificationResultGet” function. The trajectory file must be
stored in the folder “\ADMIN\Public\Trajectory” of the XPS controller. If the trajectory
cannot be initialized (task error) then the (-72) error 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, which are: the required travel per positioner, the
maximum possible trajectory velocity and the maximum possible trajectory
acceleration. This function helps define the parameters for the trajectory execution.
• The required travel values (MinimumPosition and MaximumPosition) are calculated
relative to the position zero, not to the current position. So before executing a PVT
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.
NOTES
The “TZPVTVerification” function is independent from the “TZPVTExecution”
function, but it is highly recommended to execute this function before executing a
PVT trajectory.
This function can be used only with the XPS-Q Precision Platform controller.
EDH0373En1023 — 01/18 520
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