public CopleyAmpC()
{
connecter = CopleyConnecter.GetInstance();
motor = new CopleyAmpObj();
home = new HomeSettingsObj();
proJog = new ProfileSettingsObj();
e = new CML_AMP_EVENT();
status = new CML_EVENT_STATUS();
param = new CopleyAxisParams();
err = new CML_AMP_FAULT();
}
private void MotorForm_Load(object sender, EventArgs e)
{
try
{
//Initialize code here
xAxisAmp = new AmpObj();
//***************************************************
//
// CANOpen Network
//
//***************************************************
canOpen = new canOpenObj();
//
//**************************************************************************
//* The next two lines of code are optional. If no bit rate is specified,
//* then the default bit rate (1 Mbit per second) is used. If no port name
//* is specified, then CMO will use the first supported CAN card found and
//* use channel 0 of that card.
//**************************************************************************
// Set the bit rate to 1 Mbit per second
canOpen.BitRate = CML_BIT_RATES.BITRATE_1_Mbit_per_sec;
// Indicate that channel 0 of a Copley CAN card should be used
canOpen.PortName = "copley0";
//***************************************************
//* Initialize the CAN card and network
//***************************************************
canOpen.Initialize();
//***************************************************
//* Initialize the amplifier
//***************************************************
xAxisAmp.Initialize(canOpen, X_AXIS_CAN_ADDRESS);
// Read velocity loop settings from the amp, use these as reasonble starting
// points for the trajectory limits.
VelocityTextBox.Text = Convert.ToString((xAxisAmp.VelocityLoopSettings.VelLoopMaxVel) / 10);
AccelTextBox.Text = Convert.ToString((xAxisAmp.VelocityLoopSettings.VelLoopMaxAcc) / 10);
DecelTextBox.Text = Convert.ToString((xAxisAmp.VelocityLoopSettings.VelLoopMaxDec) / 10);
// Initialize home object with amplifier home settings
Home = xAxisAmp.HomeSettings;
}
catch (Exception ex)
{
DisplayError(ex);
}
}
public void Form1_Load(object sender, EventArgs e)
{
try
{
//Initialize code here
xAxisAmp = new AmpObj();
ProfileSettings = new ProfileSettingsObj();
//***************************************************
//
// CANOpen Network
//
//***************************************************
canOpen = new canOpenObj();
//
//**************************************************************************
//* The next two lines of code are optional. If no bit rate is specified,
//* then the default bit rate (1 Mbit per second) is used. If no port name
//* is specified, then CMO will use the first supported CAN card found and
//* use channel 0 of that card.
//**************************************************************************
// Set the bit rate to 1 Mbit per second
canOpen.BitRate = CML_BIT_RATES.BITRATE_1_Mbit_per_sec;
// Indicate that channel 0 of a Copley CAN card should be used
canOpen.PortName = "copley1";
//// Indicate that channel 0 of a KVaser card should be used
//canOpen.PortName = "kvaser0";
//// Indicate that channel 0 of an IXXAT card should be used
//canOpen.PortName = "IXXAT0";
//// Indicate that channel 0 of an IXXAT card (V3.x or newer drivers) should be used
//canOpen.PortName = "IXXATV30";
//***************************************************
//* Initialize the CAN card and network
//***************************************************
canOpen.Initialize();
//***************************************************
//* Initialize the amplifier
//***************************************************
xAxisAmp.Initialize(canOpen, X_AXIS_CAN_ADDRESS);
//Code to replace vb handle statements
JogPosButton.MouseUp += JogPosButton_MouseUp;
JogPosButton.MouseDown += JogPosButton_MouseDown;
JogNegButton.MouseUp += JogNegButton_MouseUp;
JogNegButton.MouseDown += JogNegButton_MouseDown;
//***************************************************
//*
//* EtherCAT Network
//*
//***************************************************
//ecatObj = new EcatObj();
//
//***************************************************
//* The next line of code is optional. The port name is the IP address of
//* the Ethernet adapter. Alternatively, a shortcut name “eth” can be used
//* in conjunction with the adapter number. For example “eth0” for the first
//* Ethernet adapter, “eth1” for the second adapter. If no port name is
//* supplied, it will default to “eth0”.
//**************************************************************************
//// Indicate that the first Ethernet adapter is to be used
//ecatObj.PortName = "eth0";
//// Specify an IP address
//ecatObj.PortName = "192.168.1.1";
//
//***************************************************
//* Initialize the EtherCAT network
//***************************************************
//ecatObj.Initialize();
//
//***************************************************
//* Initialize the amplifier
//***************************************************
//xAxisAmp.InitializeEcat(ecatObj, ECAT_NODE);
//
// Read velocity loop settings from the amp, use these as reasonble starting
// points for the trajectory limits.
VelocityTextBox.Text = Convert.ToString((xAxisAmp.VelocityLoopSettings.VelLoopMaxVel) / 10);
AccelTextBox.Text = Convert.ToString((xAxisAmp.VelocityLoopSettings.VelLoopMaxAcc) / 10);
DecelTextBox.Text = Convert.ToString((xAxisAmp.VelocityLoopSettings.VelLoopMaxDec) / 10);
// Initialize home object with amplifier home settings
Home = xAxisAmp.HomeSettings;
Timer1.Start();
}
catch (Exception ex)
{
DisplayError(ex);
}
}
