public void Disconnect()
{
if (m_iControllerId >= 0)
{
PICommand.CloseConnection(m_iControllerId);
}
}
public bool IsConnected(int iControllerID)
{
bool bRet = false;
bRet = PICommand.IsConnected(iControllerID) == 0 ? false : true;
return(bRet);
}
public void RebootSystem(ref string sErrMsg)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
if (PICommand.RBT(m_iControllerId) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From RBT " + iError.ToString() + ": " + sErrorMessage.ToString();
}
}
public void SetVelocity(string axes, double dbvel, ref string sErrMsg)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dbVelocity = new double[3];
dbVelocity[0] = dbvel;
if (PICommand.VEL(m_iControllerId, axes, dbVelocity) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From VEL " + iError.ToString() + ": " + sErrorMessage.ToString();
}
}
public void MoveToRelativePos(string axes, double dbRelPos, ref string sErrMsg)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
dPos[0] = dbRelPos;
if (PICommand.MVR(m_iControllerId, axes, dPos) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "Error From MVR " + iError.ToString() + ": " + sErrorMessage.ToString();
}
}
/// <summary>
/// pi stages doesn't have physical origin
/// </summary>
/// <param name="axes"></param>
/// <param name="sErrMsg"></param>
public void GoHome(string axes, ref string sErrMsg)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
dPos[0] = 0;
// call the MOV command (for closed servo loop).
if (PICommand.MOV(m_iControllerId, axes, dPos) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From MOV " + iError.ToString() + ": " + sErrorMessage.ToString();
}
}
public void MoveToAbsolutePos(string axes, double dbAbsPos, ref string sErrMsg)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
// move all axes the corresponding position in 'dPos'
dPos[0] = dbAbsPos;
// call the MOV command (for closed servo loop).
if (PICommand.MOV(m_iControllerId, axes, dPos) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From MOV " + iError.ToString() + ": " + sErrorMessage.ToString();
}
}
public double GetCurrentPos(string axes, ref string sErrMsg)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
// call the command to querry the current POSition of axes.
if (PICommand.qPOS(m_iControllerId, axes, dPos) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From Pos?" + iError.ToString() + ": " + sErrorMessage.ToString();
return(0.0);
}
return(dPos[0]);
}
public void SetLoopMode(string axes, ref string sErrMsg, bool bIsCloseModeOn)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
int[] bFlags = new int[3];
// Switch on the Servo for all axes
// Set servo-control "on" or "off" (closed-loop/open-loop mode)
bFlags[0] = bIsCloseModeOn == true ? 1 : 0;// servo on for the axis in the string 'axes'.
// call the SerVO mode command.
if (PICommand.SVO(m_iControllerId, axes, bFlags) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From SVO " + iError.ToString() + ": " + sErrorMessage.ToString();
return;
}
}
public void GetAxisName(ref string axes, ref string sErrMsg)
{
StringBuilder sAxes = new StringBuilder(1024);
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
/////////////////////////////////////////
// Get the name of the connected axis. //
/////////////////////////////////////////
if (PICommand.qSAI(m_iControllerId, sAxes, sAxes.Capacity) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From SAI? " + iError.ToString() + ": " + sErrorMessage.ToString();
return;
}
axes = sAxes.ToString();
}
public bool Connect(ref string sErrMsg, ref string sIdInfo)
{
bool bRet = true;
StringBuilder sIdn = new StringBuilder(1024);
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
//////////////////////////////////////////////////////////////////////////
// connect to the controller over RS-232 (COM port 1, baudrate 115200). //
//////////////////////////////////////////////////////////////////////////
m_iControllerId = PICommand.ConnectRS232(1, 115200);
if (m_iControllerId < 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From ConnectRS232 " + iError.ToString() + ": " + sErrorMessage.ToString();
bRet = false;
}
else
{
////////////////////////////////////
// Get the IDeNtification string. //
////////////////////////////////////
if (PICommand.qIDN(m_iControllerId, sIdn, sIdn.Capacity) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From IDN? " + iError.ToString() + ": " + sErrorMessage.ToString();
bRet = false;
}
else
{
sIdInfo = sIdn.ToString();
}
}
return(bRet);
}
public int IsAxisMoving(string axes, ref string sErrMsg)
{
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
////////////////////////////////////////
// Read the moving state of the axes. //
////////////////////////////////////////
int[] bIsMoving = new int[3];
// if 'axes' = NULL or 'axis' is empty a general moving state of all axes ist returnd in 'bIsMoving[0]'
// if 'bIsMoving[0]' = TRUE at least one axis of the controller ist still moving.
// if 'bIsMoving[0]' = FALSE no axis of the contrller is moving.
bIsMoving[0] = 1;
// if 'axes != NULL and 'axis' is not empty the moving state of every axis in 'axes' is returned in
// the arry bIsMoving.
if (PICommand.IsMoving(m_iControllerId, axes, bIsMoving) == 0)
{
iError = PICommand.GetError(m_iControllerId);
PICommand.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From IsMoving " + iError.ToString() + ": " + sErrorMessage.ToString();
return(-1);
}
return(bIsMoving[0]);
}
