public void SetTripDO(int index, int errorCode, bool state)
{
string sTrip = string.Format(".gv.Daq.DOUT[{0}].trip.", index);
TcComm.WriteInt(sTrip + "code", (short)errorCode, ETcRunTime.RT1);
TcComm.WriteBool(sTrip + "state", state, ETcRunTime.RT1);
}
public void SetServoFriction(ETcServoAxis axis, int dir, float kf, float kv)
{
string sPid = string.Format(".gv.Axis[{0}].friction[{1}].", (int)axis, dir);
TcComm.WriteReal(sPid + "Kf", (float)kf, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Kv", (float)kv, ETcRunTime.RT1);
}
public void SetScaleAO(int index, int type, double scale, double offset)
{
string sAO = string.Format(".gv.Daq.AOUT[{0}].", index);
TcComm.WriteInt(sAO + "mode", (short)type, ETcRunTime.RT1);
TcComm.WriteReal(sAO + "scale", (float)scale, ETcRunTime.RT1);
TcComm.WriteReal(sAO + "offset", (float)offset, ETcRunTime.RT1);
}
public TcDaqStorage()
{
// Storage length = 10 minutes DAQ gathering length
length = (int)TcComm.ReadInt(tagDaqLength, ETcRunTime.RT1) / 2 * 5 * 60 * 10;
values = new float[length];
fValueList = new List <float>(length / 2 / 30);
dValueList = new List <double>(length / 2 / 30);
}
public void SetTripAO(int index, int errorCode, int maxCount, double min, double max)
{
string sTrip = string.Format(".gv.Daq.AOUT[{0}].trip.", index);
TcComm.WriteInt(sTrip + "code", (short)errorCode, ETcRunTime.RT1);
TcComm.WriteInt(sTrip + "maxCount", (short)maxCount, ETcRunTime.RT1);
TcComm.WriteReal(sTrip + "minValue", (float)min, ETcRunTime.RT1);
TcComm.WriteReal(sTrip + "maxValue", (float)max, ETcRunTime.RT1);
}
// Set servo running profile //
public void SetServoProfile(ETcServoAxis axis, PointF[] point)
{
for (int i = 0; i < point.Length; i++)
{
string sPointX = string.Format(".gv.Axis[{0}].profile.point[{1}].X", (int)axis, i);
string sPointY = string.Format(".gv.Axis[{0}].profile.point[{1}].Y", (int)axis, i);
TcComm.WriteReal(sPointX, point[i].X, ETcRunTime.RT1);
TcComm.WriteReal(sPointY, point[i].Y, ETcRunTime.RT1);
}
string sLength = string.Format(".gv.Axis[{0}].profile.length", (int)axis);
TcComm.WriteInt(sLength, (short)point.Length, ETcRunTime.RT1);
}
// Set PID parameter
// axis : Servo axis number
// mode : Servo PID control mode 0-Torque 1-Speed 2-Position
// kp : Propotional factor(%)
// ki : Integral factor(msec)
// kd : Differencial factor(msec)
// tv : Velocity compensation
// tf : Friction
// ti : Rotor inertia
// min : Minimum output value
// max : Maximum output value
public void SetParamServoPID(ETcServoAxis axis, ETcServoMode mode, bool closeLoop, double kp, double ki,
double kd, double ka, double tv, double tf, double ti, double min, double max)
{
string sPid = string.Format(".gv.Axis[{0}].pidParam[{1}].", (int)axis, (int)mode);
TcComm.WriteBool(sPid + "closeLoop", closeLoop, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Kp", (float)kp, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Ki", (float)ki, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Kd", (float)kd, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Ka", (float)ka, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Tv", (float)tv, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Tf", (float)tf, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "Ti", (float)ti, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "value.minValue", (float)min, ETcRunTime.RT1);
TcComm.WriteReal(sPid + "value.maxValue", (float)max, ETcRunTime.RT1);
}
private void DoThreadWork()
{
float[] tcValues = null;
float[] tcNewValues = null;
int tcLength = TcComm.ReadInt(tagDaqLength, ETcRunTime.RT1) / 2;
while (threadTerminated == false)
{
// Is a half of DAQ storage full?
if (TcComm.ReadBool(tagDaqActive, ETcRunTime.RT1) == true)
{
int tcIndex = TcComm.ReadInt(tagDaqIndex, ETcRunTime.RT1);
int tcStart = (tcIndex < tcLength) ? tcLength : 0;
// Read DAQ storage values from TwinCAT
tcValues = TcComm.ReadRealArray(tagDaqValues, tcLength * 2, ETcRunTime.RT1);
//Copy into newValues array
tcNewValues = new float[tcLength];
Array.Copy(tcValues, tcStart, tcNewValues, 0, tcLength);
// Reset DAQ half full flag
TcComm.WriteBool(tagDaqActive, false, ETcRunTime.RT1);
lock (dataLock)
{
Array.Copy(tcValues, tcStart, values, index, tcLength);
index = (index + tcLength) % length;
}
diState = (UInt16)GetFloatValue(ETcRealTags.DI_24_None);
doState = (UInt16)GetFloatValue(ETcRealTags.DO_25_None);
errorCode = (int)GetFloatValue(ETcRealTags.ID_27_ErrorCode);
try
{
OnDaqAvailable(new DaqEventArgs(tcNewValues));
}
catch (Exception ex)
{
Debug.Print(ex.ToString());
}
}
Thread.Sleep(1);
}
}
