/// <summary>
/// MoveAbsAxis
/// </summary>
/// <param name="axis"></param>
public override void MoveAbsAxis(RealAxis axis, MLengthSpeed speed, bool waitForCompletion)
{
try
{
string ret = "";
ret = SendPortCommand(string.Format("P1={0}", (int)(axis.TargetPosition * 100)), PortSetting.ReadWriteTimeOut);
//System.Threading.Thread.Sleep(10);
ret = SendPortCommand(string.Format("S1={0}", (int)speed), PortSetting.ReadWriteTimeOut);
//System.Threading.Thread.Sleep(10);
ret = SendPortCommand(string.Format("AC1={0}", (int)axis.AccelDecel), PortSetting.ReadWriteTimeOut);
//System.Threading.Thread.Sleep(10);
ret = SendPortCommand(string.Format("DC1={0}", (int)axis.AccelDecel), PortSetting.ReadWriteTimeOut);
//System.Threading.Thread.Sleep(10);
ret = SendPortCommand(string.Format("M1=1"), PortSetting.ReadWriteTimeOut);
//System.Threading.Thread.Sleep(10);
ret = SendPortCommand(String.Format("START1"), PortSetting.ReadWriteTimeOut);
System.Threading.Thread.Sleep(10);
if (!ret.Contains("RUN") && !ret.Contains("OK"))
{
throw new MCoreExceptionPopup("Move Absolute Command fail {0}", this.Nickname);
}
WaitForMoveDone(10000);
System.Threading.Thread.Sleep(25);
OnUpdateCurrentPositions();
}
catch (Exception ex)
{
//U.LogError(ex, "Move Absolute Command fail {0}", this.Nickname);
throw new MCoreExceptionPopup(ex, "Move Absolute Command fail {0}", this.Nickname);
}
}
public override void MoveRelAxis(RealAxis axis, MLengthSpeed speed, bool waitForCompletion)
{
Millimeters mmSpeed = new Millimeters(speed);
try
{
lock (this)
{
int axisNumber = axis.AxisNo + 1;
double percent = mmSpeed;
double dPos = axis.TargetPosition;
string cmd = string.Format("DRIVEI({0},{1:F2}),S={2:F2}", axisNumber, dPos, percent);
SendCommand(cmd);
string ret = WaitForCommand();
CheckOKReplied("DRIVEI", ret, "RUN");
ret = WaitForCommand(30000);
CheckOKReplied("WaitMoveDone", ret, "END");
}
lock (this)
{
OnUpdateCurrentPositions();
}
}
catch (Exception ex)
{
//U.LogAlarmPopup(ex, "Move Absolute Command fail {0}", this.Nickname);
throw new MCoreExceptionPopup(ex, "Move Absolute Command fail {0}", this.Nickname);
}
}
public override void MoveLinearXY(AxesBase axes, MLengthSpeed speed)
{
Millimeters mmSpeed = new Millimeters(speed);
try
{
double xPos = (axes.ChildArray[0] as RealAxis).TargetPosition;
double yPos = (axes.ChildArray[1] as RealAxis).TargetPosition;
double zPos = (axes.ChildArray[2] as RealAxis).TargetPosition;
double rPos = (axes.ChildArray[3] as RealAxis).TargetPosition;
double percent = mmSpeed;
lock (this)
{
string cmd = string.Format("MOVE P,{0:F2} {1:F2} {2:F2} {3:F2} 0.0 0.0 {4},S={5:F2}", xPos, yPos, zPos, rPos, this.AxesMoveMode, percent);
SendCommand(cmd);
string ret = WaitForCommand();
CheckOKReplied("MOVE P", ret, "RUN");
ret = WaitForCommand(30000);
CheckOKReplied("WaitMoveDone", ret, "END");
}
lock (this)
{
OnUpdateCurrentPositions();
}
}
catch (Exception ex)
{
//U.LogAlarmPopup(ex, "MoveLinearXY Command fail {0}", this.Nickname);
throw new MCoreExceptionPopup(ex, "MoveLinearXY Command fail {0}", this.Nickname);
}
}
/// <summary>
/// MoveAbsAxis
/// </summary>
/// <param name="axis"></param>
public override void MoveAbsAxis(RealAxis axis, MLengthSpeed speed, bool waitForCompletion)
{
try
{
string ret = "";
double dTargetPos = RealPosionConvertToPulsePos(axis.TargetPosition);
ret = SendPortCommand(string.Format("P.{0}={1}", axis.AxisNo, (int)(dTargetPos)), PortSetting.ReadWriteTimeOut, false);
//System.Threading.Thread.Sleep(10);
double dTargetSpeed = RealSpeedConvertToPulseSpeed(speed);
ret = SendPortCommand(string.Format("S.{0}={1}", axis.AxisNo, (int)dTargetSpeed), PortSetting.ReadWriteTimeOut, false);
//System.Threading.Thread.Sleep(10);
double dTargetAceel = RealSpeedConvertToPulseSpeed(axis.AccelDecel);
ret = SendPortCommand(string.Format("A.{0}={1}", axis.AxisNo, (int)dTargetAceel), PortSetting.ReadWriteTimeOut, false);
//System.Threading.Thread.Sleep(10);
ret = SendPortCommand(string.Format("^.{0}", axis.AxisNo), PortSetting.ReadWriteTimeOut, false);
//System.Threading.Thread.Sleep(10);
ret = SendPortCommand(string.Format("?99.{0}", axis.AxisNo), PortSetting.ReadWriteTimeOut, true);
System.Threading.Thread.Sleep(10);
if (!ret.Contains("Ux"))
{
throw new MCoreExceptionPopup("Move Absolute Command fail {0}", this.Nickname);
}
WaitForMoveDone(10000);
System.Threading.Thread.Sleep(30);
OnUpdateCurrentPositions();
}
catch (Exception ex)
{
//U.LogError(ex, "Move Absolute Command fail {0}", this.Nickname);
throw new MCoreExceptionPopup(ex, "Move Absolute Command fail {0}", this.Nickname);
}
}
/// <summary>
/// Home an Axis
/// </summary>
/// <param name="axis"></param>
public override void MoveAbsAxis(RealAxis axis, MLengthSpeed speed, bool waitForCompletion)
{
Millimeters mmSpeed = new Millimeters(speed);
MoveAbsAxis(axis, axis.TargetPosition, (float)mmSpeed, waitForCompletion);
}
/// <summary>
/// MoveAbsAxis
/// </summary>
/// <param name="axis"></param>
public override void MoveAbsAxis(RealAxis axis, MLengthSpeed speed, bool waitForCompletion)
{
try
{
int iPos = (int)(axis.TargetPosition / 0.01);
int iInpos = 1;
int iSpeed = (int)(speed / 0.01);
int iAccel = (int)(axis.AccelDecel / 0.01);
string sPos = iPos.ToString("X8");
string sInpos = iInpos.ToString("X8");
string sSPeed = iSpeed.ToString("X8");
string s = sPos.Substring(4, 4);
int iPos1 = int.Parse(sPos.Substring(0, 4), System.Globalization.NumberStyles.AllowHexSpecifier);
int iPos2 = int.Parse(sPos.Substring(4, 4), System.Globalization.NumberStyles.AllowHexSpecifier);
int iInpos1 = int.Parse(sInpos.Substring(0, 4), System.Globalization.NumberStyles.AllowHexSpecifier);
int iInpos2 = int.Parse(sInpos.Substring(4, 4), System.Globalization.NumberStyles.AllowHexSpecifier);
int iSpeed1 = int.Parse(sSPeed.Substring(0, 4), System.Globalization.NumberStyles.AllowHexSpecifier);
int iSpeed2 = int.Parse(sSPeed.Substring(4, 4), System.Globalization.NumberStyles.AllowHexSpecifier);
int[] regValue = new int[7];
regValue[0] = iPos1;
regValue[1] = iPos2;
regValue[2] = iInpos1;
regValue[3] = iInpos2;
regValue[4] = iSpeed1;
regValue[5] = iSpeed2;
regValue[6] = iAccel;
lock (this)
{
_waitDataRecived.Reset();
try
{
_modbusClient.WriteMultipleRegisters(IAIConstAddr.PCMD, regValue);
}
catch
{
}
finally
{
}
WaitDataReceived(ReadTimeOut);
}
WaitForMoveDone(10000);
lock (this)
{
System.Threading.Thread.Sleep(100);
OnUpdateCurrentPositions();
}
}
catch (Exception ex)
{
//U.LogAlarmPopup(ex, "Move Absolute Command fail {0}", this.Nickname);
throw new MCoreExceptionPopup(ex, "Move Absolute Command fail {0}", this.Nickname);
}
}
/// <summary>
/// SimulateMoveRel
/// </summary>
/// <param name="speed"></param>
public virtual void SimulateMoveRel(MLengthSpeed speed)
{
CurrentMotorCounts = TargetMotorCounts;
}
/// <summary>
/// Move the axis to an absolute position (stored in CommandedPosition)
/// </summary>
/// <param name="axes"></param>
/// <param name="speed"></param>
public virtual void MoveLinearXY(AxesBase axes, MLengthSpeed speed)
{
// Simulation
}
/// <summary>
/// Move the axis to an absolute position (stored in CommandedPosition)
/// </summary>
/// <param name="axes"></param>
/// <param name="speed"></param>
public virtual void MoveLinearXY(RealAxes axes, MLengthSpeed speed)
{
// Simulation
}
public virtual void MoveRelAxis(RealAxis axis, MLengthSpeed speed, bool waitForCompletion)
{
// Simulation
axis.SimulateMoveRel(speed);
}
