protected override bool CustomHomeProcess(Interfaces.IAxis Axis)
{
bool ret = false;
LuminosAxis _axis = Axis as LuminosAxis;
// lock the axis
if (_axis.Lock())
{
try
{
_axis.IsHomed = false;
DeviceMessage zaber_ret = _axis.ZaberConversation.Request(Command.Home);
if (zaber_ret.HasFault == false)
{
_axis.IsHomed = true;
ret = true;
}
else
{
_axis.LastError = string.Format("sdk reported error code {0}", zaber_ret.FlagText);
ret = false;
}
}
catch (Exception ex)
{
_axis.LastError = string.Format("{0}", ex.Message);
ret = false;
}
finally
{
// release the axis
_axis.Unlock();
}
}
else
{
_axis.LastError = "axis is busy";
ret = false;
}
return(ret);
}
protected override bool CustomMoveProcess(Interfaces.IAxis Axis, MoveMode Mode, int Speed, int Distance)
{
LuminosAxis axis = Axis as LuminosAxis;
bool ret = false;
int target_pos = 0;
if (axis.IsHomed == false)
{
axis.LastError = "the axis is not homed";
return(false);
}
// lock the axis
if (axis.Lock())
{
// Set the move speed
if (Mode == MoveMode.ABS)
{
target_pos = Math.Abs(Distance);
}
else
{
target_pos = axis.AbsPosition + Distance;
}
// Move the the target position
if (axis.CheckSoftLimitation(target_pos))
{
try
{
DeviceMessage zaber_msg = axis.ZaberConversation.Request(Command.MoveAbsolute, target_pos);
if (zaber_msg.HasFault == false)
{
ret = true;
}
else
{
axis.LastError = string.Format("sdk reported error code {0}", zaber_msg.Text);
ret = false;
}
}
catch (RequestReplacedException ex)
{
DeviceMessage actualResp = ex.ReplacementResponse;
if (actualResp.Command == Command.Stop)
{
// if STOP was send while moving
axis.AbsPosition = (int)actualResp.Data;
ret = true;
}
else
{
axis.LastError = ex.Message;
ret = false;
}
}
catch (Exception ex)
{
axis.LastError = ex.Message;
ret = false;
}
}
else
{
axis.LastError = "target position exceeds the limitation.";
ret = false;
}
axis.Unlock();
}
return(ret);
}
