int IPIZ.GetAxisStatus()
{
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
////////////////////////////////////////
// Read the moving state of the axes. //
////////////////////////////////////////
int[] bIsMoving = new int[3];
// if 'axes' = NULL or 'axis' is empty a general moving state of all axes ist returnd in 'bIsMoving[0]'
// if 'bIsMoving[0]' = TRUE at least one axis of the controller ist still moving.
// if 'bIsMoving[0]' = FALSE no axis of the contrller is moving.
//bIsMoving[0] = 1;
// if 'axes != NULL and 'axis' is not empty the moving state of every axis in 'axes' is returned in
// the arry bIsMoving.
if (PI_GCS.IsMoving(m_iControllerId, m_sAxisName, bIsMoving) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From IsMoving " + iError.ToString() + ": " + sErrorMessage.ToString();
return(-1);
}
return(bIsMoving[0]);
}
bool IPIZ.Close()
{
if (m_iControllerId >= 0)
{
PI_GCS.CloseConnection(m_iControllerId);
}
return(true);
}
bool IPIZ.StopAll()
{
bool ret = true;
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
if (PI_GCS.STP(m_iControllerId) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From STP " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
return(ret);
}
bool IPIZ.Open()
{
bool ret = true;
try
{
string sErrMsg = string.Empty;
string sIdInfo = string.Empty;
StringBuilder sIdn = new StringBuilder(1024);
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
//////////////////////////////////////////////////////////////////////////
// connect to the controller over RS-232 (COM port 1, baudrate 115200). //
//////////////////////////////////////////////////////////////////////////
m_iControllerId = PI_GCS.ConnectRS232(sysCfg.PI_ComPort_Num, sysCfg.PI_ComBaudRate);
if (m_iControllerId < 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From ConnectRS232 " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
else
{
////////////////////////////////////
// Get the IDeNtification string. //
////////////////////////////////////
if (PI_GCS.qIDN(m_iControllerId, sIdn, sIdn.Capacity) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From IDN? " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
else
{
sIdInfo = sIdn.ToString();
}
}
}
catch (Exception ex)
{
ret = false;
}
return(ret);
}
bool IPIZ.MoveToRelativePos(double dbPos)
{
bool ret = true;
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
dPos[0] = dbPos;
if (PI_GCS.MVR(m_iControllerId, m_sAxisName, dPos) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "Error From MVR " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
return(ret);
}
float IPIZ.GetCurPos()
{
float fCurPos = 0f;
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
// call the command to querry the current POSition of axes.
if (PI_GCS.qPOS(m_iControllerId, m_sAxisName, dPos) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From Pos?" + iError.ToString() + ": " + sErrorMessage.ToString();
}
fCurPos = (float)dPos[0];
return(fCurPos);
}
void IPIZ.SetCloseMode(bool isCloseLoop)
{
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
int[] bFlags = new int[3];
// Switch on the Servo for all axes
// Set servo-control "on" or "off" (closed-loop/open-loop mode)
bFlags[0] = isCloseLoop == true ? 1 : 0;// servo on for the axis in the string 'axes'.
// call the SerVO mode command.
if (PI_GCS.SVO(m_iControllerId, m_sAxisName, bFlags) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From SVO " + iError.ToString() + ": " + sErrorMessage.ToString();
}
return;
}
bool IPIZ.Zero()
{
bool ret = true;
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
dPos[0] = 0;
// call the MOV command (for closed servo loop).
if (PI_GCS.MOV(m_iControllerId, m_sAxisName, dPos) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From MOV " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
return(ret);
}
bool IPIZ.MoveToAbsPos(double dbPos)
{
bool ret = true;
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
double[] dPos = new double[3];
// move all axes the corresponding position in 'dPos'
dPos[0] = dbPos;
// call the MOV command (for closed servo loop).
if (PI_GCS.MOV(m_iControllerId, m_sAxisName, dPos) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From MOV " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
return(ret);
}
bool IPIZ.GetAxisName()
{
bool ret = true;
string sErrMsg = string.Empty;
StringBuilder sAxes = new StringBuilder(1024);
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
/////////////////////////////////////////
// Get the name of the connected axis. //
/////////////////////////////////////////
if (PI_GCS.qSAI(m_iControllerId, sAxes, sAxes.Capacity) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From SAI? " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
m_sAxisName = sAxes.ToString();
return(ret);
}
bool IPIZ.bIsOnTarget()
{
bool ret = false;
string sErrMsg = string.Empty;
StringBuilder sErrorMessage = new StringBuilder(1024);
int iError;
////////////////////////////////////////
// Read the moving state of the axes. //
////////////////////////////////////////
int[] bIsOnTarget = new int[3];
if (PI_GCS.qONT(m_iControllerId, m_sAxisName, bIsOnTarget) == 0)
{
iError = PI_GCS.GetError(m_iControllerId);
PI_GCS.TranslateError(iError, sErrorMessage, sErrorMessage.Capacity);
sErrMsg = "ERROR From IsMoving " + iError.ToString() + ": " + sErrorMessage.ToString();
ret = false;
}
else
{
ret = bIsOnTarget[0] == 1 ? true : false;
}
return(ret);
}
