private void OnSetDecel(SMMethodCall mc, Axis.AxisBase axis, double decel)
{
int axisNumber = axis.Id + 1;
double percent = GetPercentage(axis, "Default Decel", decel);
SendCommand(string.Format("DECEL({0})={1:F2}", axisNumber, percent));
string ret = WaitForCommand();
CheckOKReplied("SetDec", ret);
mc.End();
}
private void OnHome(SMMethodCall mc, Axis.AxisBase axis)
{
// If Incremental
//SendCommand(string.Format("ORGORD({0})", axisNumber));
SendCommand(string.Format("ABSRST"));
string ret = WaitForCommand();
CheckOKReplied("WaitHomeDone", ret);
mc.End();
}
// Single Axis move commands
/// <summary>
/// Move single axis in Relative
/// </summary>
/// <param name="mc"></param>
/// <param name="axis"></param>
/// <param name="dPos"></param>
/// <param name="dSpeed"></param>
private void OnMoveSingleAxisRel(SMMethodCall mc, Axis.AxisBase axis, double dPos, double dSpeed)
{
int axisNumber = axis.Id + 1;
double percent = GetPercentage(axis, "Default Speed", dSpeed);
dPos = U.ConvertFromInternal(Enums.UnitTypes.mm, dPos);
SendCommand(string.Format("DRIVEI({0},{1:F2}),S={2:F2}", axisNumber, dPos, percent));
string ret = WaitForCommand();
CheckOKReplied("WaitMoveDone", ret);
mc.End();
}
private void OnEnableAxis(SMMethodCall mc, Axis.AxisBase axis, bool bEnable)
{
string ret = string.Empty;
int axisNumber = axis.Id + 1;
if (bEnable)
{
SendCommand(string.Format("SERVO ON({0})", axisNumber));
ret = WaitForCommand();
CheckOKReplied("Enable", ret);
}
else
{
SendCommand(string.Format("SERVO FREE({0})", axisNumber));
ret = WaitForCommand();
CheckOKReplied("Enable", ret);
}
axis.Enabled = bEnable;
mc.End();
}
