private OPM402 GetOperatingMode(MMCSingleAxis singleAxis)
{
OPM402 opMode = OPM402.OPM402_NO;
try
{
opMode = singleAxis.GetOpMode();
}
catch (Exception ex)
{
U.LogPopup(ex, "Cannot Get Op Mode for '{0}'", singleAxis.AxisName);
}
return(opMode);;
}
private void MoveAbsAxis(CompBase compAxis, double pos, float velocity, bool waitForCompletion)
{
if (listAxis.ContainsKey(compAxis))
{
MMCSingleAxis singleAxis = listAxis[compAxis];
if (!WaitForMoveReady(singleAxis, 20000.0))
{
return;
}
MMC_MOTIONPARAMS_SINGLE singleParam = new MMC_MOTIONPARAMS_SINGLE();
if (compAxis is RotaryBase)
{
singleParam.fAcceleration = 250f;
singleParam.fDeceleration = 250f;
}
else
{
singleParam.fAcceleration = 1000f;
singleParam.fDeceleration = 1000f;
}
singleParam.fVelocity = velocity;
singleParam.eDirection = MC_DIRECTION_ENUM.MC_SHORTEST_WAY;
singleParam.fJerk = 100f;
singleParam.eBufferMode = MC_BUFFERED_MODE_ENUM.MC_BUFFERED_MODE;
singleParam.ucExecute = 1;
singleAxis.SetDefaultParams(singleParam);
OPM402 opMode = singleAxis.GetOpMode();
if (opMode != OPM402.OPM402_CYCLIC_SYNC_POSITION_MODE)
{
try
{
singleAxis.SetOpMode(OPM402.OPM402_CYCLIC_SYNC_POSITION_MODE);
Thread.Sleep(500); //'Wait Mode change before move'
}
catch (Exception ex)
{
U.LogPopup(ex, "Cannot set to OPM402_CYCLIC_SYNC_POSITION_MODE mode axis {0}", compAxis.Name);
return;
}
}
try
{
double actualPos = singleAxis.GetActualPosition();
if (actualPos != pos)
{
singleAxis.MoveAbsolute(pos, velocity, MC_BUFFERED_MODE_ENUM.MC_BUFFERED_MODE);
if (waitForCompletion)
{
double curPos = 0.0;
if (compAxis is RotaryBase)
{
curPos = (compAxis as RotaryBase).CurrentPosition;
}
else if (compAxis is RealAxis)
{
curPos = (compAxis as RealAxis).CurrentPosition;
}
else
{
U.LogPopup("Unexpected Axis type for MoveAbsAxis: Type={0} Axis={1}", compAxis.GetType().Name, compAxis.Nickname);
}
// Calculate approximate time to wait for completion (a little less than)
double mSecWait = Math.Abs(pos - curPos) * 950.0 / velocity;
if (!WaitMoveDone(singleAxis, (int)mSecWait))
{
U.LogPopup("Timeout moving {0}", compAxis.Name);
}
}
}
}
catch (Exception ex)
{
U.LogError(ex, "Failed To Move '{0}'", compAxis.Name);
}
}
}
private bool HomeAxisDS402(CompBase compAxis, int homeMethod)
{
if (listAxis.ContainsKey(compAxis))
{
MMCSingleAxis singleAxis = listAxis[compAxis];
if (!OKtoCmdMove(singleAxis))
{
return(false);
}
try
{
OPM402 opMode = singleAxis.GetOpMode();
if (opMode != OPM402.OPM402_HOMING_MODE)
{
try
{
singleAxis.SetOpMode(OPM402.OPM402_HOMING_MODE);
Thread.Sleep(500); //wait Mode Change;
}
catch (Exception ex)
{
U.LogPopup(ex, "Cannot change to Homing mode for axis '{0}'", compAxis.Name);
return(false);;
}
}
MMC_HOMEDS402Params hParam = new MMC_HOMEDS402Params();
hParam.dbPosition = 0;
hParam.eBufferMode = MC_BUFFERED_MODE_ENUM.MC_BUFFERED_MODE;
hParam.uiHomingMethod = homeMethod; // Index_Axis = 33, X_Axis = 1, Y_Axis = 1, Z_Axis = 2
hParam.fAcceleration = 200f;
//hParam.fDistanceLimit = 200f;
//hParam.uiTimeLimit = 10000;
//hParam.fTorqueLimit = 0f;
hParam.fVelocity = 20f;
hParam.ucExecute = 1;
if (GetOperatingMode(singleAxis) != OPM402.OPM402_HOMING_MODE)
{
try
{
singleAxis.SetOpMode(OPM402.OPM402_HOMING_MODE);
Thread.Sleep(500); //wait Mode Change;
}
catch (MMCException ex)
{
U.LogPopup(ex, "Cannot change to Homing mode for '{0}'", singleAxis.AxisName);
return(false);;
}
}
try
{
singleAxis.HomeDS402(hParam);
U.SleepWithEvents(200);
WaitHomingDone(singleAxis, 25000);//(int)hParam.uiTimeLimit);
}
catch (MMCException ex)
{
U.LogPopup(ex, "Homing error for '{0}'", singleAxis.AxisName);
singleAxis.Reset();
return(false);
}
return(true);
}
catch (Exception ex)
{
U.LogError(ex, "Failed to home '{0}'", compAxis.Name);
singleAxis.Reset();
}
}
return(false);
}
