private AcsAxes ConvertAxis(GantryAxes axis)
{
switch (axis)
{
case GantryAxes.Z:
return(AcsAxes.GantryZ);
default:
case GantryAxes.X:
return(AcsAxes.GantryX);
case GantryAxes.Y:
return(AcsAxes.GantryY);
}
}
internal AcsAxis(Api api, AcsUtils utils, BufferHelper bufferHelper, GantryAxes axisId, Axis acsAxisId,
IRobotControlSetting config)
{
this.api = api;
this.bufferHelper = bufferHelper;
acsUtils = utils;
axisConfig = config;
ApplicationAxisId = (int)axisId;
AcsAxisId = acsAxisId;
Name = ApplicationAxisId.ToString();
ReloadConfigParameters();
HomeStopCondition = string.Format("FAULT({0}).#LL", (int)AcsAxisId);
if (!Homed)
{
acsUtils.ClearBits("FDEF", (int)AcsAxisId, 64);
acsUtils.ClearBits("FDEF", (int)AcsAxisId, 32);
}
acsUtils.SetBits("FDEF", (int)AcsAxisId, 3);
if (Homed)
{
acsUtils.SetBits("FDEF", (int)AcsAxisId, 64);
acsUtils.SetBits("FDEF", (int)AcsAxisId, 32);
}
switch (ApplicationAxisId)
{
case 0:
HomeBuffer = 3;
break;
case 1:
HomeBuffer = 0;
break;
case 2:
HomeBuffer = 1;
break;
}
}
public bool Stop(GantryAxes axis)
{
return(true);
}
public bool Abort(GantryAxes axis)
{
return(true);
}
public bool MoveRelative(GantryAxes axis, double relativePosition, double vel = 0, double acc = 0, double dec = 0)
{
axesPosition[ConvertAxis(axis)] += relativePosition;
return(true);
}
public bool Jog(GantryAxes axis, double vel = 0, double acc = 0, double dec = 0)
{
return(true);
}
public bool Init(GantryAxes axis)
{
return(true);
}
public bool MoveAbsolute(GantryAxes axis, double targetPos, double vel = 0, double acc = 0, double dec = 0)
{
axesPosition[ConvertAxis(axis)] = targetPos;
return(true);
}
public bool IsIdle(GantryAxes axis)
{
return(true);
}
public double GetGantryPosition(GantryAxes axis)
{
return(axesPosition[ConvertAxis(axis)]);
}
public bool AtNegativeSwLimit(GantryAxes axis)
{
return(false);
}
public void ClearError(GantryAxes axis)
{
}
public bool AtPositiveHwLimit(GantryAxes axis)
{
return(false);
}
public bool AtHomeSensor(GantryAxes axis)
{
return(false);
}
public double Velocity(GantryAxes axis)
{
return(0);
}
public void SetRPos(GantryAxes axis, double pos)
{
axesPosition[ConvertAxis(axis)] = pos;
}
public bool Homed(GantryAxes axis)
{
return(true);
}
public bool Disable(GantryAxes axis)
{
return(true);
}
public bool Ready(GantryAxes axis)
{
return(true);
}
public bool ReloadConfigParameters(GantryAxes axis)
{
return(true);
}
public bool Enabled(GantryAxes axis)
{
return(true);
}