public void initdevice()
{
Debug.WriteLine("Init Device");
_Controller = new KMotion_dotNet.KM_Controller();
_XAxis = new KMotion_dotNet.KM_Axis(_Controller, 0, "x");
_YAxis = new KMotion_dotNet.KM_Axis(_Controller, 1, "y");
_ZAxis = new KMotion_dotNet.KM_Axis(_Controller, 2, "z");
_AAxis = new KMotion_dotNet.KM_Axis(_Controller, 3, "a");
_BAxis = new KMotion_dotNet.KM_Axis(_Controller, 4, "b");
_CAxis = new KMotion_dotNet.KM_Axis(_Controller, 5, "c");
_Motion = new KMotion_dotNet.KM_CoordMotion(_Controller);
AddHandlers();
initdevicesettings();
}
/// <summary>
/// Primary constructor for the KM_Interpreter object
/// </summary>
public KM_Interpreter(KM_CoordMotion coordmotion)
{
try
{
KM_dotnet_Interop_GCodeInterpreter_New(coordmotion.InstanceHandle, ref _InstanceHandle);
Set_G_COMPLETE_CALLBACK();
Set_G_STATUS_CALLBACK();
Set_G_USER_CALLBACK();
Set_G_USER_MCODE_CALLBACK();
}
catch (DllNotFoundException e)
{
throw new DMException(this, e, String.Format("Dll Not Found Exception thrown : Caller - [{0}] :: Member - [{1}]",
this.ToString(), "Ctor"));
}
catch (EntryPointNotFoundException e)
{
throw new DMException(this, e, String.Format("Entry Point Not Found Exception thrown : Caller - [{0}] :: Member - [{1}]",
this.ToString(), "Ctor"));
}
catch (Exception e)
{
throw new DMException(this, e, String.Format("General Exception thrown : Caller - [{0}] :: Member - [{1}]",
this.ToString(), "Ctor"));
}
}
public void initdevicesettings()
{
MyApplication = ((App)Application.Current);
string codeBase = Assembly.GetExecutingAssembly().CodeBase;
UriBuilder uri = new UriBuilder(codeBase);
string path = Uri.UnescapeDataString(uri.Path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
path = Path.GetDirectoryName(path);
String TheCFile = "C:\\KMotion432\\KMotion\\Release\\InitSolderingRobot.c";
String result = _Controller.ExecuteProgram(1, TheCFile, false);
if (result != "") MessageBox.Show(result);
// setup and map kflop axis to variables
_Solder1Move = new KMotion_dotNet.KM_Axis(_Controller, 0, "x");
_Solder2Move = new KMotion_dotNet.KM_Axis(_Controller, 1, "y");
_Solder1Feed = new KMotion_dotNet.KM_Axis(_Controller, 2, "z");
_Solder2Feed = new KMotion_dotNet.KM_Axis(_Controller, 3, "a");
_CaddyDrive = new KMotion_dotNet.KM_Axis(_Controller, 4, "b");
_CAxis = new KMotion_dotNet.KM_Axis(_Controller, 5, "c");
_Motion = new KMotion_dotNet.KM_CoordMotion(_Controller);
Debug.WriteLine(_Controller.GetCommandValue<string>("Version", false));
_Solder1Move.Enable();
_Solder2Move.Enable();
_Solder1Feed.Enable();
_Solder2Feed.Enable();
_CaddyDrive.Enable();
_Controller.WriteLine("SetBitDirection38=0");
caddyEnabled = true;
// init IO ports with default values
_Solder1Move.CPU = settings.SolderHead1.HeadCPM;
_Solder1Move.Velocity = settings.SolderHead1.HeadVelocity;
_Solder1Move.Acceleration = settings.SolderHead1.HeadAcceleration;
_Solder1Move.TuningParams.Jerk = settings.SolderHead1.HeadJerk;
_Solder2Move.CPU = settings.SolderHead2.HeadCPM;
_Solder2Move.Velocity = settings.SolderHead2.HeadVelocity;
_Solder2Move.Acceleration = settings.SolderHead2.HeadAcceleration;
_Solder2Move.TuningParams.Jerk = settings.SolderHead2.HeadJerk;
_Solder1Feed.CPU = settings.SolderHead1.FeedCPM;
_Solder1Feed.Velocity = settings.SolderHead1.FeedVelocity;
_Solder1Feed.Acceleration = settings.SolderHead1.FeedAcceleration;
_Solder1Feed.TuningParams.Jerk = settings.SolderHead1.FeedJerk;
_Solder2Feed.CPU = settings.SolderHead2.FeedCPM;
_Solder2Feed.Velocity = settings.SolderHead2.FeedVelocity;
_Solder2Feed.Acceleration = settings.SolderHead2.FeedAcceleration;
_Solder2Feed.TuningParams.Jerk = settings.SolderHead2.FeedJerk;
_CaddyDrive.CPU = cpmCaddy;
_CaddyDrive.Velocity = 2e4;
_CaddyDrive.Acceleration = 2e4;
_CaddyDrive.TuningParams.Jerk = 3e5;
_CaddyDrive.TuningParams.OutputGain = -1;
// setup homing params
_Solder1Move.HomingParams.SourceType = HOMING_ROUTINE_SOURCE_TYPE.AUTO;
_Solder1Move.HomingParams.DefaultThread = 5;
_Solder1Move.HomingParams.HomeFastVel = 600;
_Solder1Move.HomingParams.HomeSlowVel = 200;
_Solder1Move.HomingParams.HomeLimitBit = 39;
_Solder1Move.HomingParams.HomeLimitState = true;
_Solder1Move.HomingParams.RepeatHomeAtSlowerRate = true;
_Solder1Move.HomingParams.SequencePriority = 1;
_Solder1Move.HomingParams.HomeNegative = true;
_Solder1Move.HomingParams.StatusBit = 39;
_Solder1Move.HomingParams.SetToZero = true;
_Solder2Move.HomingParams.SourceType = HOMING_ROUTINE_SOURCE_TYPE.AUTO;
_Solder2Move.HomingParams.DefaultThread = 3;
_Solder2Move.HomingParams.HomeFastVel = 600;
_Solder2Move.HomingParams.HomeSlowVel = 200;
_Solder2Move.HomingParams.HomeLimitBit = 40;
_Solder2Move.HomingParams.HomeLimitState = true;
_Solder2Move.HomingParams.RepeatHomeAtSlowerRate = true;
_Solder2Move.HomingParams.SequencePriority = 2;
_Solder2Move.HomingParams.HomeNegative = true;
_Solder2Move.HomingParams.StatusBit = 40;
_Solder2Move.HomingParams.SetToZero = true;
_CaddyDrive.HomingParams.SourceType = HOMING_ROUTINE_SOURCE_TYPE.AUTO;
_CaddyDrive.HomingParams.DefaultThread = 4;
_CaddyDrive.HomingParams.HomeFastVel = 2000;
_CaddyDrive.HomingParams.HomeSlowVel = 100;
_CaddyDrive.HomingParams.HomeLimitBit = 43;
_CaddyDrive.HomingParams.HomeLimitState = true;
_CaddyDrive.HomingParams.RepeatHomeAtSlowerRate = true;
_CaddyDrive.HomingParams.SequencePriority = 4;
_CaddyDrive.HomingParams.HomeNegative = true;
_CaddyDrive.HomingParams.StatusBit = 43;
_CaddyDrive.HomingParams.SetToZero = true;
}
