public void SetServoFriction(ETcServoAxis axis, int dir, float kf, float kv)
{
string sPid = string.Format(".gv.Axis[{0}].friction[{1}].", (int)axis, dir);
TcComm.WriteReal(sPid + "Kf", (float)kf, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Kv", (float)kv, ETcRunTime.RT1);
}
// Stop servo command //
public void StopServo(ETcServoAxis axis)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.StopServo;
cmd.CData.Iarg1 = (int)axis;
SendBlocking(1000);
}
}
// Reset servo encoder command //
public void ResetServoEncoder(ETcServoAxis axis)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.ResetServoEncoder;
cmd.CData.Iarg1 = (int)axis;
SendBlocking(1000);
}
}
// Set servo speed command //
public void StartServoSpeed(ETcServoAxis axis, double value)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.StartServoSpeed;
cmd.CData.Iarg1 = (int)axis;
cmd.CData.Farg1 = value;
SendBlocking(1000);
}
}
// Search home command //
public void SearchHome(ETcServoAxis axis, double offset)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.SearchHome;
cmd.CData.Iarg1 = (int)axis;
cmd.CData.Farg1 = offset;
SendBlocking(30000);
}
}
// Set servo active command //
public void SetServoActive(ETcServoAxis axis, bool active)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.SetServoActive;
cmd.CData.Iarg1 = (int)axis;
cmd.CData.Iarg2 = (active == false) ? 0 : 1;
SendBlocking(1000);
}
}
// Get servo state command //
public ETcServoState GetServoState(ETcServoAxis axis)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.GetServoState;
cmd.CData.Iarg1 = (int)axis;
SendBlocking(1000);
}
return((ETcServoState)cmd.RData.Iarg2);
}
// Set servo position profile command //
public void StartServoPositionProfile(ETcServoAxis axis, PointF[] point)
{
SetServoProfile(axis, point);
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.StartServoPositionProfile;
cmd.CData.Iarg1 = (int)axis;
SendBlocking(1000);
}
}
// Set servo position command //
public void StartServoPosition(ETcServoAxis axis, double value, double maxSpeed, double accel)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.StartServoPosition;
cmd.CData.Iarg1 = (int)axis;
cmd.CData.Farg1 = value;
cmd.CData.Farg2 = maxSpeed;
cmd.CData.Farg3 = accel;
SendBlocking(1000);
}
}
// Set servo running profile //
public void SetServoProfile(ETcServoAxis axis, PointF[] point)
{
for (int i = 0; i < point.Length; i++)
{
string sPointX = string.Format(".gv.Axis[{0}].profile.point[{1}].X", (int)axis, i);
string sPointY = string.Format(".gv.Axis[{0}].profile.point[{1}].Y", (int)axis, i);
TcComm.WriteReal(sPointX, point[i].X, ETcRunTime.RT1);
TcComm.WriteReal(sPointY, point[i].Y, ETcRunTime.RT1);
}
string sLength = string.Format(".gv.Axis[{0}].profile.length", (int)axis);
TcComm.WriteInt(sLength, (short)point.Length, ETcRunTime.RT1);
}
// Set PID parameter
// axis : Servo axis number
// mode : Servo PID control mode 0-Torque 1-Speed 2-Position
// kp : Propotional factor(%)
// ki : Integral factor(msec)
// kd : Differencial factor(msec)
// tv : Velocity compensation
// tf : Friction
// ti : Rotor inertia
// min : Minimum output value
// max : Maximum output value
public void SetParamServoPID(ETcServoAxis axis, ETcServoMode mode, bool closeLoop, double kp, double ki,
double kd, double ka, double tv, double tf, double ti, double min, double max)
{
string sPid = string.Format(".gv.Axis[{0}].pidParam[{1}].", (int)axis, (int)mode);
TcComm.WriteBool(sPid + "closeLoop", closeLoop, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Kp", (float)kp, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Ki", (float)ki, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Kd", (float)kd, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Ka", (float)ka, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Tv", (float)tv, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Tf", (float)tf, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Ti", (float)ti, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "value.minValue", (float)min, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "value.maxValue", (float)max, ETcRunTime.RT1);
}
public ETcServoState GetServoState(ETcServoAxis axis)
{
return((ETcServoState)GetFloatValue((ETcRealTags)((int)ETcRealTags.AX_10_InputState + (int)axis)));
}
