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XPS Unified Programmer’s Manual

7.2.1.371 XYLineArcVerification

Name

XYLineArcVerification – Checks a LineArc 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 XY group): (-8)

- Checks group name: (-19)

- Checks trajectory file existence and the file format: (-61)

- Checks trajectory element (Radius ≥1e-14): (-63)

- Checks trajectory element (SweepAngle ≥1e-14): (-64)

- Checks trajectory element (|XElementDistance | ≥1e-14, | YElementDistance | ≥1e-

14, TangentOut ≠ 1.797e308): (-65)

- Checks trajectory (number of elements must >0): (-66)

- Checks keys (“FirstTangent” and “DiscontinuityAngle”) in trajectory file: (-74)

Description

This function verifies the execution of a LineArc trajectory. The results of the

verification can be got with the “XYLineArcVerificationResultGet” 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

LineArc 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.

NOTE

The “XYLineArcVerification” function is independent from the

“XYLineArcExecution” function, but it is highly recommended to execute this

function before executing a LineArc trajectory.

EDH0373En1023 — 01/18 540

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