gclib  1.37.6
Communications API for Galil controllers and PLCs
jog.cs
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1 
10 using System;
11 
12 namespace examples
13 {
14  public static partial class Examples
15  {
34 
35  public static int Jog(gclib gclib)
36  {
37  gclib.GCommand("ST"); // Stop all motors
38  gclib.GMotionComplete("A"); // Wait for motion to complete
39  gclib.GCommand("SHA"); // Set servo here
40  gclib.GCommand("DPA=0"); // Start position at absolute zero
41  gclib.GCommand("JGA=0"); // Start jogging with 0 speed
42  gclib.GCommand("BGA"); // Begin motion on A Axis
43 
44  bool isJogging = true;
45  int speed = 0;
46 
47  Console.WriteLine("Enter a character on the keyboard to change the" +
48  " motor's speed:\n<q> Quit\n<a> -2000 counts/s\n" +
49  "<s> -500 counts/s\n<d> +500 counts/s\n<f> " +
50  "+2000 counts/s\n<r> Direction Reversal\n");
51 
52  while (isJogging)
53  {
54  gclib.GCommand("JGA=" + speed);
55 
56  Console.WriteLine("Jog Speed: " + speed);
57 
58  switch (Console.ReadKey(true).Key)
59  {
60  case ConsoleKey.Q:
61  isJogging = false;
62  break;
63  case ConsoleKey.A:
64  speed -= 2000;
65  break;
66  case ConsoleKey.S:
67  speed -= 500;
68  break;
69  case ConsoleKey.D:
70  speed += 500;
71  break;
72  case ConsoleKey.F:
73  speed += 2000;
74  break;
75  case ConsoleKey.R:
76  speed *= -1;
77  break;
78  }
79  }
80 
81  gclib.GCommand("ST");
82  gclib.GMotionComplete("A");
83 
84  return GALIL_EXAMPLE_OK;
85  }
87  }
88 }
examples.Examples.GALIL_EXAMPLE_OK
const int GALIL_EXAMPLE_OK
Examples success code.
Definition: examples.cs:29
examples.Examples.Jog
static int Jog(gclib gclib)
Puts controller into Jog Mode and accepts user input to adjust the speed.
Definition: jog.cs:35