public void Jog(Motor motor, double velocity)
{
}
public void BreakToPoint(Motor motor, double point)
{
Break(motor);
point *= motor.Direction;
Ch.ToPoint(MotionFlags.ACSC_AMF_MAXIMUM, motor.Id, point);
}
public double GetJerk(Motor motor)
{
return(0);
}
public void Disable(Motor motor, int timeout = 2000)
{
Ch.Disable(motor.Id);
//Wait till enabled
Ch.WaitMotorEnabled(motor.Id, 0, timeout);
}
private void WriteVariable(Motor motor, string acsVariable, object value)
{
Ch.WriteVariable(value, acsVariable, ProgramBuffer.ACSC_NONE,
(int)motor.Id, (int)motor.Id, -1, -1);
}
public double GetDeceleration(Motor motor)
{
return(0);
}
public void SetJerk(Motor motor, double jerk)
{
}
public void Halt(Motor motor)
{
Ch.Halt(motor.Id);
}
public void SetAcceleration(Motor motor, double acceleration)
{
}
public void SetDeceleration(Motor motor, double deceleration)
{
}
public void SetVelocity(Motor motor, double velocity)
{
Ch.SetVelocity(motor.Id, velocity);
}
public void SetPosition(Motor motor, double position)
{
}
private string GetEcatActPosName(Motor motor)
{
return(EcatActPosName + motor.EcatPosActValAddr);
}
public void Break(Motor motor)
{
Ch.Break(motor.Id);
}
public double GetPosition(Motor motor)
{
return(Ch.GetFPosition(motor.Id) * motor.Direction);
}
/// <summary>
/// Catch exception and Send kill command to motor if needed.
/// </summary>
/// <param name="motor"></param>
/// <param name="point"></param>
/// <param name="timeout"></param>
public void ToPointWaitTillEnd(Motor motor, double point, int timeout = 60000)
{
point *= motor.Direction;
Ch.ToPoint(MotionFlags.ACSC_AMF_MAXIMUM, motor.Id, point);
Ch.WaitMotionEnd(motor.Id, timeout);
}
public double GetVelocity(Motor motor)
{
return(Ch.GetVelocity(motor.Id));
}
public void WaitTillEnd(Motor motor, int timeout = 60000)
{
Ch.WaitMotionEnd(motor.Id, timeout);
}
public void Setup()
{
#region Motor parameters setup
MotorZ = new Motor(Axis.ACSC_AXIS_0)
{
EcatPosActValAddr = 145,
EncCtsPerR = 131072,
BallScrewLead = 32,
HomeOffset = 365,
CriticalErrAcc = 100,
CriticalErrVel = 100,
CriticalErrIdle = 5,
SoftLimitNagtive = -10,
SoftLimitPositive = 730,
SpeedFactor = 0.9,
JerkFactor = 16
};
//For Sanyo, axisAddrOffset = 18
MotorX1 = new Motor(Axis.ACSC_AXIS_1)
{
EcatPosActValAddr = MotorZ.EcatPosActValAddr + 18,
EncCtsPerR = 131072,
BallScrewLead = 16,
HomeOffset = 793.5,
CriticalErrAcc = 100,
CriticalErrVel = 100,
CriticalErrIdle = 5,
SoftLimitNagtive = -5,
SoftLimitPositive = 590,
SpeedFactor = 0.9,
JerkFactor = 16
};
//For Sanyo, axisAddrOffset = 18
MotorX1.MaxTravel = MotorX1.SoftLimitPositive - 10;
MotorX2 = new Motor(Axis.ACSC_AXIS_2)
{
EcatPosActValAddr = MotorX1.EcatPosActValAddr + 18,
EncCtsPerR = 131072,
BallScrewLead = 16,
HomeOffset = 12.7,
CriticalErrAcc = 100,
CriticalErrVel = 100,
CriticalErrIdle = 5,
SoftLimitNagtive = -5,
SoftLimitPositive = 760,
SpeedFactor = 1.0,
JerkFactor = 20
};
//For Sanyo, axisAddrOffset = 18
MotorX2.MaxTravel = MotorX2.SoftLimitPositive - 10;
MotorY = new Motor(Axis.ACSC_AXIS_3)
{
EcatPosActValAddr = MotorX2.EcatPosActValAddr + 18,
EncCtsPerR = 131072,
BallScrewLead = 16,
HomeOffset = 12.4,
CriticalErrAcc = 100,
CriticalErrVel = 100,
CriticalErrIdle = 5,
SoftLimitNagtive = -330,
SoftLimitPositive = 4,
SpeedFactor = 0.8,
JerkFactor = 20,
Direction = -1
};
//For Sanyo, axisAddrOffset = 18
//Todo , is two gripper is 60, MotorR.EncCtsPerR error?
MotorR = new Motor(Axis.ACSC_AXIS_4)
{
EcatPosActValAddr = 113,
EncCtsPerR = 10000,
BallScrewLead = 360.0 * 1.0 / 100.0,
HomeOffset = -1.9,
CriticalErrAcc = 100,
CriticalErrVel = 100,
CriticalErrIdle = 5,
SoftLimitNagtive = -40,
SoftLimitPositive = 40,
SpeedFactor = 0.18,
JerkFactor = 3.6
};
//Warning: double calculation, need to add .0 to each number.
#endregion
Motors = new Motor[5] {
MotorZ, MotorX1, MotorX2, MotorY, MotorR
};
DeclareVariableInDBuffer();
DisableAll();
foreach (var mtr in Motors)
{
//Todo need disable motors?
SetFPosition(mtr);
SetSafety(mtr);
}
EnableAll();
//Todo script inside acs to stop all motor is any error occur.
HomePosition = LoadPosition(TeachPos.Home, Location.Home);
PickPosition = LoadPosition(TeachPos.Pick, Location.Pick);
BinPosition = LoadPosition(TeachPos.Bin, Location.Bin);
ConveyorLeftPosition = LoadPosition(TeachPos.ConveyorLeft, Location.NoWhere);
ConveyorRightPosition = LoadPosition(TeachPos.ConveyorRight, Location.NoWhere);
Holder1 = LoadPosition(TeachPos.Holder1, Location.Holder1);
Holder2 = LoadPosition(TeachPos.Holder2, Location.Holder2);
Holder3 = LoadPosition(TeachPos.Holder3, Location.Holder3);
Holder4 = LoadPosition(TeachPos.Holder4, Location.Holder4);
Holder5 = LoadPosition(TeachPos.Holder5, Location.Holder5);
Holder6 = LoadPosition(TeachPos.Holder6, Location.Holder6);
Gold1 = LoadPosition(TeachPos.Gold1, Location.Gold1);
Gold2 = LoadPosition(TeachPos.Gold2, Location.Gold2);
Gold3 = LoadPosition(TeachPos.Gold3, Location.Gold3);
Gold4 = LoadPosition(TeachPos.Gold4, Location.Gold4);
Gold5 = LoadPosition(TeachPos.Gold5, Location.Gold5);
Locations = new TargetPosition[14] {
Holder1, Holder2, Holder3, Holder4, Holder5, Holder6,
HomePosition, PickPosition, BinPosition, Gold1, Gold2, Gold3, Gold4, Gold5
};
}