XPS Unified Programmer’s Manual
7.2.1.121 MultipleAxesPTExecution
Name
MultipleAxesPTExecution – Executes a PT 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 MultipleAxes group): (-8)
- Checks input value (number of executions must >0): (-17)
- Checks group name: (-19)
- Group state must be "READY”: (-22)
- 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 PT (Position Time) trajectory. The trajectory file must be
stored in “\Admin\Public\Trajectory” folder of the XPS controller. If the trajectory
cannot be initialized (message queue or task error) , error (-72) is returned.
Before a trajectory execution, it is recommended to check whether the trajectory is
within the positioner motion capabilities by using “MultipleAxesPTVerification” and
“MultipleAxesPTVerificationResultGet” functions.
During the trajectory execution, if a positioner reaches one of travel limits, the
trajectory execution will stop and error (-25) is generated under positioner errors.
NOTE
In case of errors (-33), (-25) and (-44) , , the group state changes to DISABLE. To help
determine the error source, check the positioner errors, the hardware status and the
driver status.
Prototype
int MultipleAxesPTExecution(
int SocketID,
char GroupName[250],
char FileName[250],
int ExecutionNumber
)
Input parameters
SocketID int Socket identifier gets by the
“TCP_ConnectToServer” function.
GroupName char * Group name.
FileName char * Trajectory file name.
ExecutionNumber int Number of trajectory executions.
EDH0373En1023 — 01/18 184
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