public override void ScribeDiag(string axis1, string axis2, int x0, int y0, int x1, int y1, int axis1Velocity)
{
DoHomeWhileScribing();
x0 = ConvertCoordinates(axis1, x0);
y0 = ConvertCoordinates(axis2, y0);
x1 = ConvertCoordinates(axis1, x1);
y1 = ConvertCoordinates(axis2, y1);
Axis a1 = this.GetAxis(axis1);
Axis a2 = this.GetAxis(axis2);
//Berechne Geschwindigkeit für Achse 2
double t1 = ((double)(x1 - x0)) / ((double)axis1Velocity);
int axis2Velocity = (int)Math.Abs(((double)(y1 - y0)) / t1);
if (axis2Velocity > axis1Velocity)
{
ScribeDiag(axis2, axis1, y0, x0, y1, x1, axis1Velocity);
return;
}
//Beide Geschwindigkeiten sind berechnet!
//Jetzt müssen diese umgerechnet werden, da axis1Velocity die bahngeschwindigkeit angibt.
double a = ((double)axis2Velocity) / ((double)axis1Velocity);
double ac1 = Math.Sqrt(Math.Pow(axis1Velocity, 2) / (1.0 + a * a));
double ac2 = a * ac1;
axis1Velocity = (int)ac1;
axis2Velocity = (int)ac2;
int accel1 = a1.AccelerationRampDistance(axis1Velocity);
int accel2 = a2.AccelerationRampDistance(axis2Velocity);
double time1 = a1.AccelrationRampDistanceTime(axis1Velocity, accel1);
double time2 = a2.AccelrationRampDistanceTime(axis2Velocity, accel2);
double diff = time1 - time2;
if (diff > double.Epsilon)
{
//Anfahrtszeit von Achse 1 ist länger
accel2 += Math.Abs((int)((diff * axis2Velocity)));
}
else if (diff < -double.Epsilon)
{
//Anfahrtszeit von Achse 2 ist länger
accel1 += Math.Abs((int)((diff * axis1Velocity)));
}
else
{
//Beide Zeiten sind gleich lang.
Console.WriteLine("Beide Zeiten sind gleich lang.");
}
//Die Wege sind "gleich lang"
//Berechne Abbremsweg
int deccel1 = a1.DeaccelerationRampDistance(axis1Velocity);
int deccel2 = a2.DeaccelerationRampDistance(axis2Velocity);
//Berechne zuerst Startpunkte von Achse 2
int start2 = y0 - accel2;
int end2 = y1 + deccel2;
if (y0 > y1)
{
start2 = y0 + accel2;
end2 = y1 - deccel2;
}
//Berechne Startpunkt von Achse 1
int realStart = x0, realEnd = x1;
if (x0 <= x1)
{
realStart -= accel1;
realEnd += deccel1;
}
else
{
realStart += accel1;
realEnd -= deccel2;
}
//Berechne PSO Punkte
int armstart = accel1;
int armend = accel1 + (x1 - x0);
if (x0 <= x1)
{
armend *= (-1);
armstart *= (-1);
}
else
{
armstart = accel1;
armend = accel1 + (x0 - x1);
}
if (armstart > armend)
{
int zw = armstart;
armstart = armend;
armend = zw;
}
Aerotech.A3200.Commands.AxesMotionCommands amc = A3200Controller.Commands.Axes["X", "Y"].Motion;
a1.MoveTo(realStart, false);
a2.MoveTo(start2, true);
a1.WaitForMotionDone();
SelectedTool.Arm(a1, armstart, armend);
//a.MoveTo(realEnd, velocity);
A3200Controller.Commands.Axes[axis1, axis2].Motion.Rapid(new double[] { ((double)realEnd) / 10000.0, ((double)end2) / 10000.0 },
new double[] { ((double)axis1Velocity) / 10000.0, ((double)axis2Velocity) / 10000.0 });
SelectedTool.Disarm();
return;
}
public override void ScribeLine(string axisIdent, int start, int end, int velocity)
{
DoHomeWhileScribing();
//Umwandlung in absolute Koordinaten
start = ConvertCoordinates(axisIdent, start);
end = ConvertCoordinates(axisIdent, end);
Axis a = GetAxis(axisIdent);
//Inteligentes Screiben
if (IntelligentScribe)
{
int pos = a.Position;
if (Math.Abs(end - pos) < Math.Abs(start - pos))
{
int zw = start;
start = end;
end = zw;
}
}
int da = a.AccelerationRampDistance(velocity);
int dd = a.DeaccelerationRampDistance(velocity);
int realStart = start, realEnd = end;
if (start < end)
{
realStart -= da;
realEnd += dd;
}
else
{
realStart += da;
realEnd -= dd;
}
int armstart = da;
int armend = da + (end - start);
if (start < end)
{
armend *= (-1);
armstart *= (-1);
}
else
{
armstart = da;
armend = da + (start - end);
}
if (armstart > armend)
{
int zw = armstart;
armstart = armend;
armend = zw;
}
a.MoveTo(realStart);
SelectedTool.Arm(a, armstart, armend);
a.MoveTo(realEnd, velocity);
SelectedTool.Disarm();
}
