public bool MoveRelAsync(char axis, int position)
{
mutex.WaitOne();
double final_pos = GetPosition(axis) + (double)position;
if (final_pos > motors[axis].limit || final_pos < 0)
{
return(false);
}
int rot = MicronToRotation(axis, position);
if (!SelectChannel())
{
return(false);
}
if (!TMLLib.TS_SelectAxis(motors[axis].id))
{
return(false);
}
if (!TMLLib.TS_MoveRelative(rot, speed, acceleration, NO_ADDITIVE, TMLLib.UPDATE_IMMEDIATE, TMLLib.FROM_REFERENCE))
{
return(false);
}
mutex.ReleaseMutex();
return(true);
}
public bool MoveAbsAsync(char axis, int position)
{
if (position > motors[axis].limit || position < 0)
{
return(false);
}
int rot = MicronToRotation(axis, position);
mutex.WaitOne();
if (!SelectChannel())
{
return(false);
}
if (!TMLLib.TS_SelectAxis(motors[axis].id))
{
return(false);
}
if (!TMLLib.TS_MoveAbsolute(rot, speed, acceleration, TMLLib.UPDATE_IMMEDIATE, TMLLib.FROM_REFERENCE))
{
return(false);
}
return(true);
mutex.ReleaseMutex();
}
private int InitAxis(byte axis_id, string axis_file)
{
int idxSetup = TMLLib.TS_LoadSetup(axis_file);
if (idxSetup < 0)
{
return(-1);
}
if (!TMLLib.TS_SetupAxis(axis_id, idxSetup))
{
return(-1);
}
if (!TMLLib.TS_SelectAxis(axis_id))
{
return(-1);
}
if (!TMLLib.TS_DriveInitialisation())
{
return(-1);
}
return(idxSetup);
}
public bool InitAxes()
{
int idxSetup = -1;
foreach (var motor in motors.Values)
{
idxSetup = InitAxis(motor.id, motor.file);
if (idxSetup == -1)
{
return(false);
}
}
if (motors.Count > 1)
{
if (!TMLLib.TS_SetupBroadcast(idxSetup))
{
return(false);
}
if (!TMLLib.TS_SelectBroadcast())
{
return(false);
}
}
if (!TMLLib.TS_Power(TMLLib.POWER_ON))
{
return(false);
}
foreach (var motor in motors.Values)
{
UInt16 sAxiOn_flag = 0;
while (sAxiOn_flag == 0)
{
if (!TMLLib.TS_SelectAxis(motor.id))
{
return(false);
}
if (!TMLLib.TS_ReadStatus(TMLLib.REG_SRL, out sAxiOn_flag))
{
return(false);
}
sAxiOn_flag = (UInt16)((sAxiOn_flag & 1 << 15) != 0 ? 1 : 0);
}
}
return(true);
}
public bool StopMotion(char axis)
{
mutex.WaitOne();
if (!SelectChannel())
{
return(false);
}
if (!TMLLib.TS_SelectAxis(motors[axis].id))
{
return(false);
}
bool res = TMLLib.TS_Stop();
mutex.ReleaseMutex();
return(res);
}
public bool WaitForMotionComplete(char axis)
{
if (!SelectChannel())
{
return(false);
}
if (!TMLLib.TS_SelectAxis(motors[axis].id))
{
return(false);
}
if (!TMLLib.TS_SetEventOnMotionComplete(WAIT_EVENT, NO_STOP))
{
return(false);
}
return(true);
}
public double GetPosition(char axis)
{
mutex.WaitOne();
Int32 position = 0;
if (!SelectChannel())
{
return(-1);
}
if (!TMLLib.TS_SelectAxis(motors[axis].id))
{
return(-1);
}
if (!TMLLib.TS_GetLongVariable("APOS", out position))
{
return(-1);
}
mutex.ReleaseMutex();
return(RotationToMicron(axis, position));
}
private bool HomeAxis(byte axis_id)
{
Int32 position = -100000000;
Int32 home_position = 0;
Int32 back_step = 1000;
double high_speed = 20;
double low_speed = 1.0;
double acceleration = 0.6;
if (!TMLLib.TS_SelectAxis(axis_id))
{
return(false);
}
if (!TMLLib.TS_MoveRelative(position, high_speed, acceleration, NO_ADDITIVE, TMLLib.UPDATE_IMMEDIATE, TMLLib.FROM_REFERENCE))
{
return(false);
}
if (!TMLLib.TS_SetEventOnLimitSwitch(TMLLib.LSW_NEGATIVE, TMLLib.TRANSITION_LOW_TO_HIGH, WAIT_EVENT, NO_STOP))
{
return(false);
}
if (!TMLLib.TS_SetEventOnMotionComplete(WAIT_EVENT, NO_STOP))
{
return(false);
}
if (!TMLLib.TS_MoveRelative(back_step, low_speed, acceleration, NO_ADDITIVE, TMLLib.UPDATE_IMMEDIATE, TMLLib.FROM_REFERENCE))
{
return(false);
}
if (!TMLLib.TS_SetEventOnMotionComplete(WAIT_EVENT, NO_STOP))
{
return(false);
}
if (!TMLLib.TS_SetPosition(home_position))
{
return(false);
}
return(true);
}
private bool SelectChannel()
{
return(TMLLib.TS_SelectChannel(channel_id));
}
public bool InitCommunicationChannel()
{
channel_id = TMLLib.TS_OpenChannel(channel_name, CHANNEL_TYPE, host_id, BAUDRATE);
return((channel_id < 0) ? false : true);
}
