public void StartServoProfile(ETcServoMode inputMode, ETcServoMode outputMode)
{
lock (cmdLock)
{
cmd.CData.Command = (int)ETcMainCmd.StartServoProfile;
cmd.CData.Iarg1 = (int)inputMode;
cmd.CData.Iarg2 = (int)outputMode;
SendBlocking(1000);
}
}
// 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);
}