private void TestBoard2_click(object sender, EventArgs e)
{
KM_Controller KM2;
KM2 = new KMotion_dotNet.KM_Controller(530);
if (KM2.WriteLineReadLine("ReadBit47") == "0")
{
KM2.WriteLine("SetBit47");
}
else
{
KM2.WriteLine("ClearBit47");
}
}
/// <summary>
/// Test Arcs, Lines and Traverse
/// </summary>
static void RunCoordinatedMotionExample()
{
_Controller.CoordMotion.Abort();
_Controller.CoordMotion.ClearAbort();
_Controller.WriteLine(String.Format("DefineCS = {0} {1} {2} {3} {4} {5}", 0, 1, 2, -1, -1, -1));
_Controller.WriteLine(String.Format("EnableAxis{0}", 0));
_Controller.WriteLine(String.Format("EnableAxis{0}", 1));
_Controller.WriteLine(String.Format("EnableAxis{0}", 2));
_Controller.CoordMotion.MotionParams.BreakAngle = 30;
_Controller.CoordMotion.MotionParams.RadiusA = 5;
_Controller.CoordMotion.MotionParams.RadiusB = 5;
_Controller.CoordMotion.MotionParams.RadiusC = 5;
_Controller.CoordMotion.MotionParams.MaxAccelX = 30000;
_Controller.CoordMotion.MotionParams.MaxAccelY = 3000;
_Controller.CoordMotion.MotionParams.MaxAccelZ = 3000;
_Controller.CoordMotion.MotionParams.MaxAccelA = 30;
_Controller.CoordMotion.MotionParams.MaxAccelB = 30;
_Controller.CoordMotion.MotionParams.MaxAccelC = 30;
_Controller.CoordMotion.MotionParams.MaxVelX = 3000;
_Controller.CoordMotion.MotionParams.MaxVelY = 30;
_Controller.CoordMotion.MotionParams.MaxVelA = 30;
_Controller.CoordMotion.MotionParams.MaxVelB = 30;
_Controller.CoordMotion.MotionParams.MaxVelC = 30;
_Controller.CoordMotion.MotionParams.CountsPerInchX = 300;
_Controller.CoordMotion.MotionParams.CountsPerInchY = 300;
_Controller.CoordMotion.MotionParams.CountsPerInchZ = 300;
_Controller.CoordMotion.MotionParams.CountsPerInchA = 30;
_Controller.CoordMotion.MotionParams.CountsPerInchB = 30;
_Controller.CoordMotion.MotionParams.CountsPerInchC = 30;
_Controller.CoordMotion.MotionParams.DegreesA = false;
_Controller.CoordMotion.MotionParams.DegreesB = false;
_Controller.CoordMotion.MotionParams.DegreesC = false;
double speed = 15;
// Sync Coordinated Motion Library with Current Position of Machine
double x = 0, y = 0, z = 0, a = 0, b = 0, c = 0;
_Controller.CoordMotion.ReadAndSyncCurPositions(ref x, ref y, ref z, ref a, ref b, ref c);
_Controller.CoordMotion.StraightTraverse(6.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, false);
int isCCW = 1;
_Controller.CoordMotion.StraightFeed(speed, 5.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0, 0);
_Controller.CoordMotion.ArcFeed(speed, 1, 0.0000, 5.000, 5.0000, 0.2500, isCCW, 0.0000, 0.0000, 0.0000, 0.0000, 0, 0);
_Controller.CoordMotion.ArcFeed(speed, 1, 0.0000, 0.0000, 0.0000, 0.2500, isCCW, 0.0000, 0.0000, 0.0000, 0.0000, 0, 0);
_Controller.CoordMotion.Dwell(2, 0);
_Controller.CoordMotion.FlushSegments();
// _Controller.Feedhold(); //test feedhold
// Thread.Sleep(2000);
// _Controller.ResumeFeedhold();
// _Controller.ClearFeedhold();
}
/// <summary>
/// Sets the value if the IOType is Digital output
/// Otherwise will throw an exception
/// </summary>
/// <param name="value">new value for IO point</param>
public void SetDigitalValue(bool value)
{
if (_IOType != IO_TYPE.DIGITAL_OUT)
{
throw new DMException(this, new Exception("Cannot set digital value on a non digital output point of IO"), "Problem setting IO");
}
else
{
if (value)
{
_Controller.WriteLine(String.Format("SetBit{0}", _ID));
}
else
{
_Controller.WriteLine(String.Format("ClearBit{0}", _ID));
}
}
}
/// <summary>
/// Test Arcs, Lines and Traverse
/// </summary>
static void RunCoordinatedMotionExample()
{
_Controller.CoordMotion.Abort();
_Controller.CoordMotion.ClearAbort();
_Controller.WriteLine(String.Format("DefineCS = {0} {1} {2} {3} {4} {5}", 0, 1, 2, -1, -1, -1));
_Controller.WriteLine(String.Format("EnableAxis{0}", 0));
_Controller.WriteLine(String.Format("EnableAxis{0}", 1));
_Controller.WriteLine(String.Format("EnableAxis{0}", 2));
_Controller.CoordMotion.MotionParams.BreakAngle = 30;
_Controller.CoordMotion.MotionParams.RadiusA = 5;
_Controller.CoordMotion.MotionParams.RadiusB = 5;
_Controller.CoordMotion.MotionParams.RadiusC = 5;
_Controller.CoordMotion.MotionParams.MaxAccelX = 30000;
_Controller.CoordMotion.MotionParams.MaxAccelY = 3000;
_Controller.CoordMotion.MotionParams.MaxAccelZ = 3000;
_Controller.CoordMotion.MotionParams.MaxAccelA = 30;
_Controller.CoordMotion.MotionParams.MaxAccelB = 30;
_Controller.CoordMotion.MotionParams.MaxAccelC = 30;
_Controller.CoordMotion.MotionParams.MaxVelX = 3000;
_Controller.CoordMotion.MotionParams.MaxVelY = 30;
_Controller.CoordMotion.MotionParams.MaxVelA = 30;
_Controller.CoordMotion.MotionParams.MaxVelB = 30;
_Controller.CoordMotion.MotionParams.MaxVelC = 30;
_Controller.CoordMotion.MotionParams.CountsPerInchX = 300;
_Controller.CoordMotion.MotionParams.CountsPerInchY = 300;
_Controller.CoordMotion.MotionParams.CountsPerInchZ = 300;
_Controller.CoordMotion.MotionParams.CountsPerInchA = 30;
_Controller.CoordMotion.MotionParams.CountsPerInchB = 30;
_Controller.CoordMotion.MotionParams.CountsPerInchC = 30;
_Controller.CoordMotion.MotionParams.DegreesA = false;
_Controller.CoordMotion.MotionParams.DegreesB = false;
_Controller.CoordMotion.MotionParams.DegreesC = false;
double speed = 85;
_Controller.CoordMotion.StraightTraverse(6.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, false);
int isCCW = 1;
_Controller.CoordMotion.StraightFeed(speed, 5.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0, 0);
_Controller.CoordMotion.ArcFeed(speed, 1, 0.0000, 5.000, 5.0000, 0.2500, isCCW, 0.0000, 0.0000, 0.0000, 0.0000, 0, 0);
_Controller.CoordMotion.ArcFeed(speed, 1, 0.0000, 0.0000, 0.0000, 0.2500, isCCW, 0.0000, 0.0000, 0.0000, 0.0000, 0, 0);
_Controller.CoordMotion.Dwell(2, 0);
_Controller.CoordMotion.FlushSegments();
}
/// <summary>
/// Define, configure, and enable an axis group
/// </summary>
public void EnableGroup()
{
_Controller.CoordMotion.ClearAbort();
if (AxisList.Count < 2)
{
throw new DMException(this,
new Exception("More than one Axis Required!"),
"Cannot create an axis group with less than two axis!");
}
else
{
var axismap = new List <int> {
-1, -1, -1, -1, -1, -1, -1, -1
};
_Controller.WriteLine(String.Format("DefineCS = {0} {1} {2} {3} {4} {5}",
axismap[0], axismap[1], axismap[2], axismap[3], axismap[4], axismap[5]));
for (int i = 0; i < _AxisList.Count; i++)
{
if (_AxisList[i].ID > -1)
{
switch (i)
{
case 0:
_Controller.CoordMotion.MotionParams.MaxAccelX = _AxisList[i].Acceleration;
_Controller.CoordMotion.MotionParams.MaxVelX = _AxisList[i].Velocity;
_Controller.CoordMotion.MotionParams.CountsPerInchX = _AxisList[i].CPU;
break;
case 1:
_Controller.CoordMotion.MotionParams.MaxAccelY = _AxisList[i].Acceleration;
_Controller.CoordMotion.MotionParams.MaxVelY = _AxisList[i].Velocity;
_Controller.CoordMotion.MotionParams.CountsPerInchY = _AxisList[i].CPU;
break;
case 2:
_Controller.CoordMotion.MotionParams.MaxAccelZ = _AxisList[i].Acceleration;
_Controller.CoordMotion.MotionParams.MaxVelZ = _AxisList[i].Velocity;
_Controller.CoordMotion.MotionParams.CountsPerInchZ = _AxisList[i].CPU;
break;
case 3:
_Controller.CoordMotion.MotionParams.MaxAccelA = _AxisList[i].Acceleration;
_Controller.CoordMotion.MotionParams.MaxVelA = _AxisList[i].Velocity;
_Controller.CoordMotion.MotionParams.CountsPerInchA = _AxisList[i].CPU;
break;
case 4:
_Controller.CoordMotion.MotionParams.MaxAccelB = _AxisList[i].Acceleration;
_Controller.CoordMotion.MotionParams.MaxVelB = _AxisList[i].Velocity;
_Controller.CoordMotion.MotionParams.CountsPerInchB = _AxisList[i].CPU;
break;
case 5:
_Controller.CoordMotion.MotionParams.MaxAccelC = _AxisList[i].Acceleration;
_Controller.CoordMotion.MotionParams.MaxVelC = _AxisList[i].Velocity;
_Controller.CoordMotion.MotionParams.CountsPerInchC = _AxisList[i].CPU;
break;
default:
break;
}
}
}
_Controller.CoordMotion.MotionParams.BreakAngle = _BreakAngle;
_Controller.CoordMotion.MotionParams.CollinearTolerance = _CollinearTolerance;
_Controller.CoordMotion.MotionParams.CornerTolerance = _CornerTolerance;
_Controller.CoordMotion.MotionParams.FacetAngle = _FacetAngle;
_Controller.CoordMotion.MotionParams.MaxLinearLength = _MaxLength;
_Controller.CoordMotion.MotionParams.TPLookahead = _LookAhead;
_Controller.CoordMotion.MotionParams.UseOnlyLinearSegments = _UseOnlyLinearSegments;
_Controller.CoordMotion.MotionParams.ArcsToSegs = _ArcsToSegs;
_Controller.CoordMotion.MotionParams.DegreesA = _DegreesA;
_Controller.CoordMotion.MotionParams.DegreesB = _DegreesB;
_Controller.CoordMotion.MotionParams.DegreesC = _DegreesC;
}
}
/// <summary>
/// Set or get IIR Z domain servo filter #0
/// </summary>
public void SetIIR0(double p1, double p2, double p3, double p4, double p5)
{
_Controller.WriteLine(String.Format("IIR{0} 0={1} {2} {3} {4} {5}",
_ID, p1, p2, p3, p4, p5));
}
/// <summary>
/// Sets the Axis' current 0.0 point
/// </summary>
public void ZeroAxis()
{
_Controller.WriteLine(String.Format("Zero{0}", _ID));
}
private void TestBoard2_click(object sender, EventArgs e)
{
KM_Controller KM2;
KM2 = new KMotion_dotNet.KM_Controller(530);
if (KM2.WriteLineReadLine("ReadBit47")=="0")
KM2.WriteLine("SetBit47");
else
KM2.WriteLine("ClearBit47");
}
