| gclib 1.35.5 Communications API for Galil controllers and PLCs |

Contour.vb
1 Partial Public Module Examples
2 Public Function Contour(gclib As Gclib, fileA As String, fileB As String) As Integer
3 Record_Position(gclib, fileA, fileB) 'Record positional data on Axis A and B
4
5 Dim positions_A = System.IO.File.ReadAllText(fileA).Split(",").ToList()
6 Dim positions_B = System.IO.File.ReadAllText(fileB).Split(",").ToList()
7
8 gclib.GCommand("SH AB") 'Set servo here
9 gclib.GCommand("PA 0, 0") 'Set current position To 0
10 gclib.GMotionComplete("AB") 'Wait For motion To complete
11 gclib.GCommand("CM AB") 'Put axis A & B In contour mode
12 gclib.GCommand("DT -1") 'Pauses contour mode To pre-load buffer
13 gclib.GCommand("CD 0,0") 'Pre load buffer With zeros To prevent under buffering
14 gclib.GCommand("CD 0,0") 'Pre load buffer With zeros To prevent under buffering
15 gclib.GCommand("CD 0,0") 'Pre load buffer With zeros To prevent under buffering
16 gclib.GCommand("DT 1") 'Sets the time interval For contour mode To be 2 samples
17
18 Dim capacity = 0 'Holds the capacity of the contour buffer
19 Dim cmd = 0 'Holds the counter for which position to send next
20
21 If positions_A.Count <> positions_B.Count() Then
22 Console.WriteLine("Error: The two datasets are not the same size")
23 Return Examples.GALIL_EXAMPLE_ERROR
24 End If
25
26 Do
27 'Sleep while buffer is emptying
28 System.Threading.Thread.Sleep(400)
29
30 'Stores the available space of the contour buffer in the capacity variable
31 capacity = gclib.GCmdI("CM?")
32 Loop While Load_Buffer(gclib, positions_A, positions_B, capacity, cmd)
33
34 gclib.GCommand("CD 0,0=0") 'End contour mode
35
36 Return Examples.GALIL_EXAMPLE_OK
37
38 End Function
39
40 Private Function Load_Buffer(gclib As Gclib, positions_A As List(Of String), positions_B As List(Of String),
41 capacity As Integer, ByRef cmd As Integer)
42 For i = capacity To 1 Step -1
43 If cmd + 1 < positions_A.Count() Then
44 'Subtract previous position from new position to get how for of a move to make
45 Dim cdA = Double.Parse(positions_A(cmd + 1)) - Double.Parse(positions_A(cmd))
46
47 'Subtract previous position from new position to get how for of a move to make
48 Dim cdB = Double.Parse(positions_B(cmd + 1)) - Double.Parse(positions_B(cmd))
49
50 gclib.GCommand($"CD {cdA},{cdB}")
51
52 cmd = cmd + 1
53 Else
54 Return False
55 End If
56 Next
57 Return True
58 End Function
59 End Module