gclib  2.0.8
Communications API for Galil controllers and PLCs
motion_complete.cs
Go to the documentation of this file.
1 
10 using System;
11 
12 namespace examples
13 {
14  public static partial class Examples
15  {
25 
26  public static int Motion_Complete(gclib gclib)
27  {
28  Console.WriteLine("*************************************************************");
29  Console.WriteLine("Example GInterrupt() usage");
30  Console.WriteLine("*************************************************************");
31 
32  //Simple check for appropriate communication bus
33  //EI will fail below if interrupts are not supported at all
34  bool ei_support = false;
35 
36  if (gclib.GCommand("WH").Contains("IH"))
37  ei_support = true;
38 
39  if (!ei_support)
40  {
41  Console.WriteLine("No support on this bus");
42  return GALIL_EXAMPLE_ERROR;
43  }
44 
45  //Flush interrupts
46  gclib.GCommand("EI0,0"); //Turn off interrupts
47  gclib.GTimeout(0); //Zero timeout
48 
49  //Flush interrupts, status will be zero when queue is empty
50  while (gclib.GInterrupt() > 0) ;
51 
52  gclib.GTimeout(-1); //Restore timeout
53 
54  //Independent Motion
55  gclib.GCommand("DP 0,0"); //define position zero on A and B
56  Console.WriteLine("Position: " + gclib.GCommand("RP")); //Print reference position
57 
58  gclib.GCommand("SP 4000,4000"); //Set up speed
59  gclib.GCommand("AC 1280000, 1280000"); //acceleration
60  gclib.GCommand("DC 1280000, 1280000"); //deceleration
61  gclib.GCommand("PR 8000, 10000"); //Position Relative. B will take longer to make its move.
62  gclib.GCommand("SH AB"); //Servo Here
63 
64  Console.WriteLine("Beginning independent motion...");
65  gclib.GCommand("BG AB"); //Begin motion
66  Check_Interrupts(gclib, "AB"); //Block until motion is complete on axes A and B
67  Console.WriteLine("Motion Complete on A and B");
68  Console.WriteLine("Position: " + gclib.GCommand("RP")); //Print reference position
69 
70  return GALIL_EXAMPLE_OK;
71  }
72 
73  private static void Check_Interrupts(gclib gclib, string axes)
74  {
75  //bit mask of running axes, axes arg is trusted to provide running axes.
76  //Low bit indicates running.
77  byte axis_mask = 0xFF;
78 
79  //iterate through all chars in axes to make the axis mask
80  for (int i = 0; i < axes.Length; i++)
81  {
82  //support just A-H
83  switch (axes[i])
84  {
85  case 'A':
86  axis_mask &= 0xFE;
87  break;
88  case 'B':
89  axis_mask &= 0xFD;
90  break;
91  case 'C':
92  axis_mask &= 0xFB;
93  break;
94  case 'D':
95  axis_mask &= 0xF7;
96  break;
97  case 'E':
98  axis_mask &= 0xEF;
99  break;
100  case 'F':
101  axis_mask &= 0xDF;
102  break;
103  case 'G':
104  axis_mask &= 0xBF;
105  break;
106  case 'H':
107  axis_mask &= 0x7F;
108  break;
109  }
110  }
111 
112  //send EI axis mask to set up interrupt events.
113  gclib.GCommand("EI " + ~axis_mask);
114 
115  byte status;
116 
117  while (axis_mask != 0xFF) //wait for all interrupts to come in
118  {
119  switch (status = gclib.GInterrupt())
120  {
121  case 0xD0: //Axis A complete
122  axis_mask |= 0x01;
123  break;
124  case 0xD1: //Axis B complete
125  axis_mask |= 0x02;
126  break;
127  case 0xD2: //Axis C complete
128  axis_mask |= 0x04;
129  break;
130  case 0xD3: //Axis D complete
131  axis_mask |= 0x08;
132  break;
133  case 0xD4: //Axis E complete
134  axis_mask |= 0x10;
135  break;
136  case 0xD5: //Axis F complete
137  axis_mask |= 0x20;
138  break;
139  case 0xD6: //Axis G complete
140  axis_mask |= 0x40;
141  break;
142  case 0xD7: //Axis H complete
143  axis_mask |= 0x80;
144  break;
145  }
146  }
147  }
149  }
150 }
const int GALIL_EXAMPLE_OK
Examples success code.
Definition: examples.cs:29
const int GALIL_EXAMPLE_ERROR
Examples error code.
Definition: examples.cs:30
string GCommand(string Command, bool Trim=true)
Used for command-and-response transactions.
Definition: gclib.cs:257
byte GInterrupt()
Provides access to PCI and UDP interrupts from the controller.
Definition: gclib.cs:364
void GTimeout(Int16 timeout_ms)
Set the timeout of communication transactions. Use -1 to set the original timeout from GOpen().
Definition: gclib.cs:604
Provides a class that binds to gclib's unmanaged dll. Wraps each call and provides a more user-friend...
Definition: gclib.cs:68
static int Motion_Complete(gclib gclib)
Uses interrupts to track when the motion of controller is completed.
´╗┐partial Module Examples
Definition: Commands.vb:4