public enuPositionerStatus SetAxisAbsolutePosition(enuAxes _axis, double _position)
{
if (Settings.AutoValidateParam)
{
if (ValidateAxisAbsolutePosition(_axis, ref _position) != enuPositionerStatus.Ready)
{
return(mPosStatus);
}
double mSpeed = 0;
if (GetAxisSpeed(_axis, ref mSpeed) != enuPositionerStatus.Ready)
{
return(mPosStatus);
}
if (ValidateAxisSpeed(_axis, ref mSpeed) != enuPositionerStatus.Ready)
{
return(mPosStatus);
}
}
if (mPosStatus == enuPositionerStatus.Ready)
{
HWStatus = LogError(Positioner.MoveAbsSingleAxis(AxisIndex(_axis), _position, true));
//if (HWStatus == enuHWStatus.Ready) mPosStatus = enuPositionerStatus.Ready;
}
return(mPosStatus);
}
public enuHWStatus Connect()
{
hwStatus = enuHWStatus.NotInitialized;
_serialPort = new SerialPort();
_serialPort.PortName = "COM" + Convert.ToString(Settings.COMPort);
_serialPort.BaudRate = Settings.Baudrate;
_serialPort.Parity = Settings.Parity;
_serialPort.DataBits = Settings.Databits;
_serialPort.StopBits = Settings.StopBits;
_serialPort.Handshake = Settings.Handshake;
//todo auto eacho parameter
_serialPort.ReadTimeout = 500;
_serialPort.WriteTimeout = 500;
//Bind the events on the following event handler
_serialPort.ErrorReceived += new SerialErrorReceivedEventHandler(SerialErrorReceived);
_serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
_serialPort.Open();
_serialPort.DiscardInBuffer();
_serialPort.DiscardOutBuffer();
if (Status().HasFlag(enuPumpStatus.Ready))
{
hwStatus = enuHWStatus.Ready;
}
else
{
log.Add("Could not initiate pump!");
}
return(hwStatus);
}
private enuHWStatus RemeasureAxes(int _axis)
{
enuHWStatus stat = enuHWStatus.Ready;
stat |= LogError(Positioner.RMeasureEx(Convert.ToInt16(Math.Pow(_axis, 2))));
return(stat);
}
public enuHWStatus Connect()
{
hwStatus = enuHWStatus.NotInitialized;
_serialPort = new SerialPort();
_serialPort.PortName = "COM" + Convert.ToString(Settings.COMPort);
_serialPort.BaudRate = Settings.Baudrate;
_serialPort.Parity = Settings.Parity;
_serialPort.DataBits = Settings.Databits;
_serialPort.StopBits = Settings.StopBits;
//todo auto eacho parameter
_serialPort.ReadTimeout = 500;
_serialPort.WriteTimeout = 500;
//Bind the events on the following event handler
_serialPort.ErrorReceived += new SerialErrorReceivedEventHandler(SerialErrorReceived);
_serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
_serialPort.Open();
_serialPort.DiscardInBuffer();
_serialPort.DiscardOutBuffer();
if (true) //todo: check RS232 connection status
{
InitTransducerChannels();
hwStatus = enuHWStatus.Ready;
}
else
{
log.Add("Could not initiate sensor!", "Error");
}
return(hwStatus);
}
public enuPositionerStatus SetSpeeds(Position _speeds)
{
if (mPosStatus == enuPositionerStatus.Ready)
{
HWStatus = LogError(Positioner.SetVel(_speeds.X, _speeds.Y, _speeds.Z, 0));
}
return(mPosStatus);
}
public enuPositionerStatus GetAxisAbsolutePosition(enuAxes _axis, ref double _pos)
{
if (mPosStatus == enuPositionerStatus.Ready)
{
HWStatus = LogError(Positioner.GetPosSingleAxis(AxisIndex(_axis), ref _pos));
}
return(mPosStatus);// mPosStatus was modified by HWStatus already
}
public enuPositionerStatus SetAbsolutePosition(Position _pos)
{
if (mPosStatus == enuPositionerStatus.Ready)
{
if (Settings.AutoValidateParam)
{
if (ValidateAbsolutePosition(ref _pos) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by ValidateAbsolutePosition already
}
Position nspeeds = new Position();
if (GetSpeeds(ref nspeeds) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by GetSpeeds already
}
if (ValidateSpeeds(ref nspeeds) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by ValidateSpeeds already
}
if (SetSpeeds(nspeeds) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by SetSpeeds already
}
}
// if new Z-Position is higher retract z first
double nZ = double.NaN;
double mZ = _pos.Z; // remeber the desired z-coordinate
if (GetAxisAbsolutePosition(enuAxes.ZAxis, ref nZ) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by GetAxisAbsolutePosition already
}
if (mZ <= nZ) //the desired height is lower, than the actual
{
_pos.Z = nZ; //write the current Z-coordinate in the position to move
HWStatus = LogError(Positioner.MoveAbs(_pos.X, _pos.Y, _pos.Z, 0, true));
if (HWStatus != enuHWStatus.Ready)
{
return(mPosStatus); // move XY while not changing Z
}
if (SetAxisAbsolutePosition(enuAxes.ZAxis, mZ) != enuPositionerStatus.Ready)
{
return(mPosStatus); //and move Z
}
}
else
{
if (SetAxisAbsolutePosition(enuAxes.ZAxis, _pos.Z) != enuPositionerStatus.Ready)
{
return(mPosStatus); //move Z first
}
HWStatus = LogError(Positioner.MoveAbs(_pos.X, _pos.Y, _pos.Z, 0, true));
}
}
return(mPosStatus);
}
public enuPositionerStatus GetSpeeds(ref Position _speeds)
{
double X = 0, Y = 0, Z = 0, A = 0;
if (mPosStatus == enuPositionerStatus.Ready)
{
HWStatus = LogError(Positioner.GetVel(ref X, ref Y, ref Z, ref A));
}
if (mPosStatus == enuPositionerStatus.Ready)
{
_speeds = new Position(X, Y, Z, A);
}
return(mPosStatus);// mPosStatus was modified by HWStatus already
}
public enuPositionerStatus SetAxisSpeed(enuAxes _axis, double _speed)
{
if (mPosStatus == enuPositionerStatus.Ready)
{
if (Settings.AutoValidateParam)
{
if (ValidateAxisSpeed(_axis, ref _speed) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by ValidateAxisSpeed already
}
}
HWStatus = LogError(Positioner.SetVelSingleAxis(AxisIndex(_axis), _speed));
}
return(mPosStatus); // mPosStatus was modified by HWStatus already
}
public enuPositionerStatus GetAbsolutePosition(ref Position _pos)
{
double X = 0, Y = 0, Z = 0, A = 0;
if (mPosStatus == enuPositionerStatus.Ready)
{
HWStatus = LogError(Positioner.GetPos(ref X, ref Y, ref Z, ref A));
}
if (mPosStatus == enuPositionerStatus.Ready)
{
_pos.X = X;
_pos.Y = Y;
_pos.Z = Z;
_pos.A = A;
}
return(mPosStatus);
}
private enuHWStatus ReCalibrateAxes(int _axis)
{
// calibrate
// mHWStatus |= LogError(Positioner.SetCalibRMAccel(&XD, &YD, &ZD, &AD)); //Stellt Beschleunigung ab, die für den Kalibriervorgang verwendet werden soll. eingestellten Dimension/s²
// measure
// Setzen der Verfahrgeschwindigkeiten die für das Herausfahren aus den Endschaltern
//während des Kalibriervorgangs bzw. des Tischhubmessens verwendet
//werden sollen.
enuHWStatus stat = LogError(Positioner.SetCalibRMBackSpeed(500, 500, 500, 500)); //µm/s
// Setzen der Verfahrgeschwindigkeiten, welche während des Kalibriervorgangs
//verwendet werden sollen.
stat |= LogError(Positioner.SetCalibRMVel(1000, 1000, 1000, 1000));//µm/s
// Funktion zum Setzen eines Kalibrier - Offsets, der beim Kalibrieren nach dem
//Freifahren des Enschalters gefahren wird.
stat |= LogError(Positioner.SetCalibOffset(1000, 1000, 1000, 1000));
//Funktion zum Starten der Kalibrierroutine einer einzelnen Achse.
stat |= LogError(Positioner.CalibrateEx(Convert.ToInt16(Math.Pow(_axis, 2))));
return(stat);
}
public enuPositionerStatus SetAxisRelativePosition(enuAxes _axis, double _increment)
{
if (mPosStatus == enuPositionerStatus.Ready)
{
if (Settings.AutoValidateParam)
{
if (ValidateAxisRelativeMovement(_axis, ref _increment) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by ValidateAxisRelativeMovement already
}
double mSpeed = 0;
if (GetAxisSpeed(_axis, ref mSpeed) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by GetAxisSpeed already
}
if (ValidateAxisSpeed(_axis, ref mSpeed) != enuPositionerStatus.Ready)
{
return(mPosStatus); // mPosStatus was modified by ValidateAxisSpeed already
}
}
HWStatus = LogError(Positioner.MoveRelSingleAxis(AxisIndex(_axis), _increment, true));
}
return(mPosStatus); // mPosStatus was evtl. modified by HWStatus already
}
public enuPositionerStatus GetAxisSpeed(enuAxes _axis, ref double _speed)
{
double X = 0, Y = 0, Z = 0, A = 0;
_speed = 0;
if (mPosStatus == enuPositionerStatus.Ready)
{
HWStatus = LogError(Positioner.GetVel(ref X, ref Y, ref Z, ref A));
}
if (mPosStatus == enuPositionerStatus.Ready) // mPosStatus was modified by HWStatus already
{
switch (_axis)
{
case enuAxes.XAxis:
_speed = X;
break;
case enuAxes.YAxis:
_speed = Y;
break;
case enuAxes.ZAxis:
_speed = Z;
break;
case enuAxes.AAxis:
_speed = A;
break;
default:
mPosStatus = enuPositionerStatus.Error;
break;
}
}
return(mPosStatus);
}
public enuPositionerStatus StopMovement()
{
HWStatus = LogError(Positioner.StopAxes());
return(mPosStatus);
}
public enuPositionerStatus AxisStop(enuAxes _axis)
{
// mHWStatus = LogError(Positioner.SetAbortFlag());
HWStatus = LogError(Positioner.StopAxes());
return(mPosStatus);
}
