private void Move(Axes axis, int?coordinate = null, int?speed = null, Direction?dir = null)
{
try
{
if (IsStopped)
{
return;
}
_activeAxis = axis;
if (coordinate == null && speed == null)
{
return;
}
SelectCurrentComPort();
PinnedPosition = PinnedPositions.Moving;
if (coordinate.HasValue)
{
var _speed = XemoDLL.MB_AGet((short)axis, XemoConst.Speed);
if (speed.HasValue)
{
XemoDLL.MB_ASet((short)axis, XemoConst.Speed, speed.Value);
}
//XemoDLL.MB_Delay(100);
XemoDLL.MB_Amove((short)axis, coordinate.Value);
XemoDLL.MB_Still((short)axis);
XemoDLL.MB_ASet((short)axis, XemoConst.Speed, _speed);
//XemoDLL.MB_Delay(1000);
return;
}
if (speed.HasValue && dir.HasValue)
{
XemoDLL.MB_Jog((short)axis, (int)dir.Value * speed.Value);
return;
}
}
catch (Exception ex)
{
Report.Notify(new Message(Codes.ERR_XM_MOVE_UNREG)
{
DetailedText = ex.Message
});
}
}
/// <summary>
/// See description for each parameter before change something!
/// </summary>
/// <param name="ax"></param>
private void InitAxisParam(Axes ax)
{
try
{
SelectCurrentComPort();
var axisNum = (short)ax;
var XemoType = XemoDLL.MB_Get(XemoConst.Version);
XemoDLL.MB_ASet(axisNum, XemoConst.Current, Settings.AxesParams.MOTOR_CURRENT[axisNum]);
XemoDLL.MB_ASet(axisNum, XemoConst.StopCurr, Settings.AxesParams.MOTOR_STOP_CURRENT[axisNum]);
XemoDLL.MB_ASet(axisNum, XemoConst.Micro, Settings.AxesParams.MICROSTEP_RESOLUTION[axisNum]);
XemoDLL.MB_ASet(axisNum, XemoConst.Iscale, (int)Math.Round((float)Settings.AxesParams.INC_PER_REVOLUTION[axisNum] / Settings.AxesParams.MICROSTEP_RESOLUTION[axisNum])); // 10 000
XemoDLL.MB_ASet(axisNum, XemoConst.Uscale, (int)Math.Round(unchecked (Settings.AxesParams.MM_PER_REVOLUTION[axisNum] * 100f))); // 800
//var _speeds = new int[] { Settings.YVelocity, Settings.XVelocity, Settings.CVelocity };
var _speeds = new int[] { 4000, 4000, 3000 };
if (_speeds[axisNum] > Settings.AxesParams.MAX_VELOCITY[axisNum])
{
XemoDLL.MB_ASet(axisNum, XemoConst.Speed, Settings.AxesParams.MAX_VELOCITY[axisNum]);
}
else
{
XemoDLL.MB_ASet(axisNum, XemoConst.Speed, _speeds[axisNum]);
}
XemoDLL.MB_ASet(axisNum, XemoConst.Accel, (int)Math.Round(unchecked (Settings.AxesParams.ACCELERATION_FACTOR[axisNum] *checked (Settings.AxesParams.MAX_VELOCITY[axisNum])))); // 10 000
XemoDLL.MB_ASet(axisNum, XemoConst.Vmin, (int)Math.Round(unchecked (Settings.AxesParams.START_STOP_FREQUENCY[axisNum] * 100f) / 10.0)); // 800
XemoDLL.MB_ASet(axisNum, XemoConst.Decel, (int)Math.Round(unchecked (Settings.AxesParams.DECELERATION_FACTOR[axisNum] *checked (Settings.AxesParams.MAX_VELOCITY[axisNum])))); // 10 000
XemoDLL.MB_ASet(axisNum, XemoConst.H1Speed, Settings.AxesParams.REF_VELOCITY_H1[axisNum] * 100); // 4000
XemoDLL.MB_ASet(axisNum, XemoConst.H2Speed, Settings.AxesParams.REF_VELOCITY_H2[axisNum] * 100); // -300
XemoDLL.MB_ASet(axisNum, XemoConst.H3Speed, Settings.AxesParams.REF_VELOCITY_H3[axisNum] * 100); // 10 000
XemoDLL.MB_ASet(axisNum, XemoConst.HOffset, (int)Math.Round(unchecked (Settings.AxesParams.ZERO_REF_OFFSET[axisNum] * 100)));
//// negative switch polarity
//XemoDLL.MB_IoSet(axisNum, 0, 0, XemoConst.InPolarity, Settings.AxesParams.POLARITY_SWITCHES[axisNum]);
//// positive switch polarity
//XemoDLL.MB_IoSet(axisNum, 0, 1, XemoConst.InPolarity, Settings.AxesParams.POLARITY_SWITCHES[axisNum]);
//// reference switch polarity
//XemoDLL.MB_IoSet(axisNum, 0, 2, XemoConst.InPolarity, Settings.AxesParams.POLARITY_SWITCHES[axisNum]);
// all switches polarity
XemoDLL.MB_IoSet(axisNum, 0, 3, XemoConst.InPolarity, Settings.AxesParams.POLARITY_SWITCHES[axisNum]);
XemoDLL.MB_ASet(axisNum, XemoConst.SlLimit, -100000);
XemoDLL.MB_ASet(axisNum, XemoConst.SrLimit, 100000);
//XemoDLL.MB_ASet(axisNum, XemoConst.BLash, (int)Math.Round(unchecked(Settings.AxesParams.BLASH[axisNum] * 100)));
//XemoDLL.MB_ASet(axisNum, XemoConst.StpEncoder, Settings.AxesParams.INC_MONITORING_ENCODER[axisNum]);
//XemoDLL.MB_ASet(axisNum, XemoConst.FErrWin, Settings.AxesParams.POSITION_ERROR[axisNum]);
}
catch (Exception ex)
{
Report.Notify(new Message(Codes.ERR_XM_INI_AX_UNREG)
{
DetailedText = string.Join('.', $"Error during axis {(short)ax} initialization", ex.Message)
});
}
}
private void SetAxisParameter(Axes axis, short paramCode, int value)
{
SelectCurrentComPort();
XemoDLL.MB_ASet((short)axis, paramCode, value);
}