// native Ensemble units are mm/s for velocity and G for accel
// Constructors & Finalizers -------------------------------------------
public Axis(A3200HC a3200HC, string name, uint nodeId, uint pointId)
: base(a3200HC, name, nodeId, pointId)
{
base.type = Type.Axis;
lastProfile = new MoveProfile();
nativeProfile = new MoveProfile();
}
private void MakeNativeProfile(IMoveProfile moveProfile)
{
nativeProfile.Acceleration = moveProfile.Acceleration * countsPerUnit; // convert acceleration to G's
nativeProfile.Deceleration = moveProfile.Deceleration * countsPerUnit;
nativeProfile.Velocity = moveProfile.Velocity * countsPerUnit;
nativeProfile.FollowingError = moveProfile.FollowingError * countsPerUnit;
nativeProfile.Jerk = moveProfile.Jerk * countsPerUnit;
nativeProfile.SettlingWindow = moveProfile.SettlingWindow * countsPerUnit;
}
public void SetMoveProfile(IMoveProfile moveProfile)
{
if (lastProfile.Equals(moveProfile))
{
return;
}
UpdateLastProfile(moveProfile);
a3200HC.SetMoveProfile(this, moveProfile);
}
private bool ProfileUnchanged(IMoveProfile moveProfile)
{
return(moveProfile.MoveType == lastProfile.MoveType &
moveProfile.Jerk == lastProfile.Jerk &
moveProfile.Acceleration == lastProfile.Acceleration &
moveProfile.Deceleration == lastProfile.Deceleration &
moveProfile.Velocity == lastProfile.Velocity &
moveProfile.SettlingWindow == lastProfile.SettlingWindow &
moveProfile.SettlingTime == lastProfile.SettlingTime &
moveProfile.FollowingError == lastProfile.FollowingError);
}
public void MoveAbsoluteStart(IMoveProfile moveProfile, double position)
{
if (!this.IsHomed)
{
throw new HardwareException(string.Format("Axis [{0}] not homed. Cannot move absolutely.", this.Name));
}
SetMoveProfile(moveProfile);
a3200HC.Move(this, position);
}
private void UpdateLastProfile(IMoveProfile moveProfile)
{
lastProfile.MoveType = moveProfile.MoveType;
lastProfile.Jerk = moveProfile.Jerk;
lastProfile.Acceleration = moveProfile.Acceleration;
lastProfile.Deceleration = moveProfile.Deceleration;
lastProfile.Velocity = moveProfile.Velocity;
lastProfile.SettlingWindow = moveProfile.SettlingWindow;
lastProfile.SettlingTime = moveProfile.SettlingTime;
lastProfile.FollowingError = moveProfile.FollowingError;
MakeNativeProfile(moveProfile);
}
//public void InvertAxisDirection(AxisOrientation axisOrient, bool isInvert)
//{
// switch (axisOrient)
// {
// case AxisOrientation.LeftRight:
// AxisAndMovePackage pkg = (AxisAndMovePackage)arrowButtonRight.Tag;
// arrowButtonRight.Tag = CreatePackage(pkg.Axis, pkg.MoveProfile, !isInvert);
// arrowButtonLeft.Tag = CreatePackage(pkg.Axis, pkg.MoveProfile, isInvert);
// break;
// case AxisOrientation.ForwardBackward:
// AxisAndMovePackage pkg2 = (AxisAndMovePackage)arrowButtonForward.Tag;
// arrowButtonForward.Tag = CreatePackage(pkg2.Axis, pkg2.MoveProfile, !isInvert);
// arrowButtonBackward.Tag = CreatePackage(pkg2.Axis, pkg2.MoveProfile, isInvert);
// break;
// case AxisOrientation.UpDown:
// AxisAndMovePackage pkg3 = (AxisAndMovePackage)arrowButtonUp.Tag;
// arrowButtonUp.Tag = CreatePackage(pkg3.Axis, pkg3.MoveProfile, !isInvert);
// arrowButtonDown.Tag = CreatePackage(pkg3.Axis, pkg3.MoveProfile, isInvert);
// break;
// case AxisOrientation.Rotation:
// AxisAndMovePackage pkg4 = (AxisAndMovePackage)arrowButtonCCW.Tag;
// arrowButtonCCW.Tag = CreatePackage(pkg4.Axis, pkg4.MoveProfile, !isInvert);
// arrowButtonCW.Tag = CreatePackage(pkg4.Axis, pkg4.MoveProfile, isInvert);
// break;
// }
//}
//public void AssignDigitalInputs(params IDigitalInput[] digitalInputs)
//{
// if (digitalInputs == null)
// return;
// _digitalInputs = new List<IDigitalInput>();
// _digitalInputs.AddRange(digitalInputs);
// buttonDIO.Visible = true;
//}
//public void AssignDigitalOutputs(params IDigitalOutput[] digitalOutputs)
//{
// if (digitalOutputs == null)
// return;
// _digitalOutputs = new List<IDigitalOutput>();
// _digitalOutputs.AddRange(digitalOutputs);
// buttonDIO.Visible = true;
//}
// Internal methods ----------------------------------------------------
private AxisAndMovePackage CreatePackage(IAxis axis, IMoveProfile moveProfile, bool isPositiveMove)
{
if (axis != null)
{
AxisAndMovePackage pkg = new AxisAndMovePackage();
pkg.Axis = axis;
pkg.MoveProfile = moveProfile;
pkg.IsPositiveMove = isPositiveMove;
return(pkg);
}
else
{
return(null);
}
}
// Methods -------------------------------------------------------------
public void AssignData(string name, double position, IAxis axis, IMoveProfile axisMoveProfile, AxisOrientation orientation, string positionName)
{
if (axis == null)
{
throw new Exception("Axis cannot be null.");
}
labelName.Text = name;
labelAxesName.Text = positionName;//axis.Name;
_teachPosition = position;
_axis = axis;
_axisMoveProfile = axisMoveProfile;
textBoxMoveToPosition.Text = position.ToString();
//
if (orientation == AxisOrientation.LeftRight)
{
arrowButtonLeft.Visible = true;
arrowButtonRight.Visible = true;
arrowButtonRight.Tag = CreatePackage(axis, axisMoveProfile, true);
arrowButtonLeft.Tag = CreatePackage(axis, axisMoveProfile, false);
}
else if (orientation == AxisOrientation.ForwardBackward)
{
arrowButtonForward.Visible = true;
arrowButtonBackward.Visible = true;
arrowButtonForward.Tag = CreatePackage(axis, axisMoveProfile, true);
arrowButtonBackward.Tag = CreatePackage(axis, axisMoveProfile, false);
}
else if (orientation == AxisOrientation.UpDown)
{
arrowButtonUp.Visible = true;
arrowButtonDown.Visible = true;
arrowButtonUp.Tag = CreatePackage(axis, axisMoveProfile, false);
arrowButtonDown.Tag = CreatePackage(axis, axisMoveProfile, true);;
}
else
{
arrowButtonCCW.Visible = true;
arrowButtonCW.Visible = true;
arrowButtonCCW.Tag = CreatePackage(axis, axisMoveProfile, false);
arrowButtonCW.Tag = CreatePackage(axis, axisMoveProfile, true);
}
}
public void AssignAxis(IAxis axis, IMoveProfile moveProfile)
{
if (DesignMode)
{
return;
}
this.axis = axis;
Axis _axis = (Axis)axis;
groupBox1.Text = _axis.Name;
lbAxisNo.Text = _axis.PointId.ToString();
tNumAcceleration.Text = moveProfile.Acceleration.ToString();
tNumVelocity.Text = moveProfile.Velocity.ToString();
//tmrUpdate.Enabled = true;
}
// Methods -------------------------------------------------------------
public void AssignData(IAxis axisX, IAxis axisY, IAxis axisTheta, double positionX, double positionY, double positionTheta, IMoveProfile MoveProfileX, IMoveProfile MoveProfileY, IMoveProfile MoveProfileTheta, string positionName)
{
//if (axis == null)
// throw new Exception("Axis cannot be null.");
labelName.Text = "Precisor Station";
labelAxesName.Text = positionName;
_teachPositionX = positionX;
_teachPositionY = positionY;
_teachPositionTheta = positionTheta;
_axisX = axisX;
_axisY = axisY;
_axisTheta = axisTheta;
_axisMoveProfileX = MoveProfileX;
_axisMoveProfileY = MoveProfileY;
_axisMoveProfileTheta = MoveProfileTheta;
textBoxMoveToPositionX.Text = positionX.ToString();
textBoxMoveToPositionY.Text = positionY.ToString();
textBoxMoveToPositionTheta.Text = positionTheta.ToString();
arrowButtonLeft.Visible = true;
arrowButtonRight.Visible = true;
arrowButtonRight.Tag = CreatePackage(HSTMachine.Workcell.IOManifest.GetAxis((int)HSTIOManifest.Axes.X), _axisMoveProfileX, true);
arrowButtonLeft.Tag = CreatePackage(HSTMachine.Workcell.IOManifest.GetAxis((int)HSTIOManifest.Axes.X), _axisMoveProfileX, false);
arrowButtonUp.Visible = true;
arrowButtonDown.Visible = true;
arrowButtonUp.Tag = CreatePackage(HSTMachine.Workcell.IOManifest.GetAxis((int)HSTIOManifest.Axes.Y), _axisMoveProfileY, true);
arrowButtonDown.Tag = CreatePackage(HSTMachine.Workcell.IOManifest.GetAxis((int)HSTIOManifest.Axes.Y), _axisMoveProfileY, false);;
arrowButtonCCW.Visible = true;
arrowButtonCW.Visible = true;
arrowButtonCCW.Tag = CreatePackage(HSTMachine.Workcell.IOManifest.GetAxis((int)HSTIOManifest.Axes.Theta), _axisMoveProfileTheta, false);
arrowButtonCW.Tag = CreatePackage(HSTMachine.Workcell.IOManifest.GetAxis((int)HSTIOManifest.Axes.Theta), _axisMoveProfileTheta, true);
}
public void MoveRelativeStart(IMoveProfile moveProfile, double positionRelative)
{
SetMoveProfile(moveProfile);
a3200HC.MoveRel(this, positionRelative);
}
public void MoveAbsolute(IMoveProfile moveProfile, double position, uint msecTimeOut)
{
MoveAbsoluteStart(moveProfile, position);
WaitMoveDone(msecTimeOut);
}
private uint GetMoveTimeOutValue(IAxis axis, double targePosition, IMoveProfile moveProfile)
{
return(10000);
}
public void ShowSingleAxisTeachForm(HSTIOManifest.Axes axis, /*TouchscreenNumBox*/ TextBox tsnb, IMoveProfile mp, SingleAxisForm.AxisOrientation or, string positionName)
{
new Thread(delegate()
{
IAxis ax = HSTMachine.Workcell.IOManifest.GetAxis((int)axis);
mp.Velocity = 100;
mp.Acceleration = 500;
mp.Deceleration = 500;
SingleAxisForm f = new SingleAxisForm();
f.AssignData(ax.Name, Convert.ToDouble(tsnb.Text), ax, mp, or, positionName);
//f.TopMost = true;
if (f.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
tsnb.BeginInvoke((MethodInvoker) delegate
{
tsnb.Text = f.TeachPosition.ToString();
});
}
}).Start();
}
public void MoveRelative(IMoveProfile moveProfile, double positionRelative, uint msecTimeOut)
{
MoveRelativeStart(moveProfile, positionRelative);
WaitMoveDone(msecTimeOut);
}
public void ShowMultipleAxisTeachForm(HSTIOManifest.Axes axisX, HSTIOManifest.Axes axisY, HSTIOManifest.Axes axisTheta, /*TouchscreenNumBox*/ TextBox tsnbX, /*TouchscreenNumBox*/ TextBox tsnbY, /*TouchscreenNumBox*/ TextBox tsnbTheta, IMoveProfile mpX, IMoveProfile mpY, IMoveProfile mpTheta, string positionName)
{
Log.Info(this, "Text Box X:{0}, Text Box Y:{1}, Text Box Theta:{2}", tsnbX, tsnbY, tsnbTheta);
new Thread(delegate()
{
IAxis axX = HSTMachine.Workcell.IOManifest.GetAxis((int)axisX);
IAxis axY = HSTMachine.Workcell.IOManifest.GetAxis((int)axisY);
IAxis axTheta = HSTMachine.Workcell.IOManifest.GetAxis((int)axisTheta);
//temp do separate move profile, can join together and use same move profile if wannted later
mpX.Velocity = 100;
mpX.Acceleration = 500;
mpX.Deceleration = 500;
mpY.Velocity = 20;
mpY.Acceleration = 100;
mpY.Deceleration = 100;
mpTheta.Velocity = 20;
mpTheta.Acceleration = 100;
mpTheta.Deceleration = 100;
MultipleAxisForm f = new MultipleAxisForm();
f.AssignData(axX, axY, axTheta, Convert.ToDouble(tsnbX.Text), Convert.ToDouble(tsnbY.Text), Convert.ToDouble(tsnbTheta.Text), mpX, mpY, mpTheta, positionName);
//f.TopMost = true;
if (f.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
tsnbX.BeginInvoke((MethodInvoker) delegate
{
tsnbX.Text = f.TeachPositionX.ToString();
});
tsnbY.BeginInvoke((MethodInvoker) delegate
{
tsnbY.Text = f.TeachPositionY.ToString();
});
tsnbX.BeginInvoke((MethodInvoker) delegate
{
tsnbTheta.Text = f.TeachPositionTheta.ToString();
});
}
}).Start();
}
public void SetMoveProfile(IMoveProfile moveProfile)
{
a3200HC.SetMoveProfile(this, moveProfile);
}
