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);
}
// 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);
}
}
