/// <summary>
/// Same as Clear Alarm
/// </summary>
/// <param name="mc"></param>
private void OnReset(SMMethodCall mc)
{
string ret = "";
SendCommand("STOP");
ret = WaitForCommand();
CheckOKReplied("STOP", ret);
SendCommand("MANUAL");
ret = WaitForCommand();
CheckOKReplied("MANUAL", ret);
SendCommand("EMGRST");
ret = WaitForCommand();
CheckOKReplied("EMGRST", ret);
SendCommand("AUTO");
ret = WaitForCommand();
CheckOKReplied("AUTO", ret);
SendCommand("RESET");
ret = WaitForCommand();
CheckOKReplied("RESET", ret);
SendCommand("RUN");
ret = WaitForCommand();
CheckOKReplied("RUN", ret);
mc.End();
}
private void OnSetDecel(SMMethodCall mc, Axis.AxisBase axis, double decel)
{
int axisNumber = axis.Id + 1;
double percent = GetPercentage(axis, "Default Decel", decel);
SendCommand(string.Format("DECEL({0})={1:F2}", axisNumber, percent));
string ret = WaitForCommand();
CheckOKReplied("SetDec", ret);
mc.End();
}
private void OnHome(SMMethodCall mc, Axis.AxisBase axis)
{
// If Incremental
//SendCommand(string.Format("ORGORD({0})", axisNumber));
SendCommand(string.Format("ABSRST"));
string ret = WaitForCommand();
CheckOKReplied("WaitHomeDone", ret);
mc.End();
}
/// <summary>
/// Make Contoured move
/// </summary>
/// <param name="mc"></param>
/// <param name="axes"></param>
/// <param name="positions"></param>
/// <param name="speed"></param>
private void OnMoveContoured(SMMethodCall mc, Axis.Axes axes, double[] positions, double speed)
{
double percent = GetPercentage(this, "Default Vector Speed", speed);
double pos1 = U.ConvertFromInternal(Enums.UnitTypes.mm, positions[0]);
double pos2 = U.ConvertFromInternal(Enums.UnitTypes.mm, positions[1]);
SendCommand(string.Format("DRIVE({0},{1:F2}),({2},{3:F2}),S={4:F2}", 1, pos1, 2, pos2, percent));
string ret = WaitForCommand();
CheckOKReplied("WaitVectorMoveDone", ret);
mc.End();
}
// Single Axis move commands
/// <summary>
/// Move single axis in Relative
/// </summary>
/// <param name="mc"></param>
/// <param name="axis"></param>
/// <param name="dPos"></param>
/// <param name="dSpeed"></param>
private void OnMoveSingleAxisRel(SMMethodCall mc, Axis.AxisBase axis, double dPos, double dSpeed)
{
int axisNumber = axis.Id + 1;
double percent = GetPercentage(axis, "Default Speed", dSpeed);
dPos = U.ConvertFromInternal(Enums.UnitTypes.mm, dPos);
SendCommand(string.Format("DRIVEI({0},{1:F2}),S={2:F2}", axisNumber, dPos, percent));
string ret = WaitForCommand();
CheckOKReplied("WaitMoveDone", ret);
mc.End();
}
private void OnEnableAxis(SMMethodCall mc, Axis.AxisBase axis, bool bEnable)
{
string ret = string.Empty;
int axisNumber = axis.Id + 1;
if (bEnable)
{
SendCommand(string.Format("SERVO ON({0})", axisNumber));
ret = WaitForCommand();
CheckOKReplied("Enable", ret);
}
else
{
SendCommand(string.Format("SERVO FREE({0})", axisNumber));
ret = WaitForCommand();
CheckOKReplied("Enable", ret);
}
axis.Enabled = bEnable;
mc.End();
}
private void OnSendCommand(SMMethodCall mc, string strCmd)
{
SendCommand(strCmd);
dsResponse.Val = WaitForCommand();
mc.End();
}
