C# Class KMotion_dotNet.KM_CoordMotion

Coordinated Motion class representing the CoordMotion.cpp object from the C++ Dynotion Code Use to directly control multiple axis motion Notably:: Straight Traverse Straight Feed Arc Feed

Inheritance: IDisposable

Show file Open project: parhansson/KMotionX Class Usage Examples

Public Methods

Method	Description
Abort ( ) : void	Abort causes all motion to abruptly stop usually due to something catastrophic like a communication error Use in an E-Stop condition
ArcFeed ( double feedrate, int plane, double planarXend, double planarYend, double planarXcenter, double planarYcenter, int rotation, double planarZ, double a, double b, double c, int sequence_number, int ID ) : void	Perform arc motion at a specified feed rate
ArcFeedAccel ( double feedrate, double accel, int plane, double planarXend, double planarYend, double planarXcenter, double planarYcenter, int rotation, double planarZ, double a, double b, double c, int sequence_number, int ID ) : void	Perform arc motion at a specified feed rate and Acceleration
CheckMotionHalt ( bool coord ) : int	Cehecks for a motion halt
ClearAbort ( ) : void	Clears any existing Abort conditions
ClearHalt ( ) : void	Clear any exisiting halts
Dispose ( ) : void	Releases object resources
DoKMotionBufCmd ( string command ) : void	Inserts a console script command in the buffer
DoKMotionCmd ( string command, bool flushbufferfirst ) : void	Processes a console script command
DoRateAdjustments ( int i0, int i1, double feedrate ) : void	Update the Trajectory Planner's segment feedrates.
DoSpecialCommand ( int segment ) : void	Perform segment execution
DownloadDoneSegments ( ) : void	Download all computed segments from the Trajectory Planner to the device buffer
DownloadInit ( ) : void	Initializes download
Dwell ( double seconds, int sequence_number ) : void	Pause motion fow given amount of time
ExecutionStop ( ) : void	Stop the execution of current motion in a controlled number
FlushSegments ( ) : void	Flushes the segment buffer
GetAxisDefinitions ( int &x, int &y, int &z, int &a, int &b, int &c ) : void	Get the assignment of KFLOP axis Channels to GCode Axes XYZABC, -1 indicates unused/unassigned axis
GetAxisDestination ( int axis ) : double	Gets the axis destination
GetAxisPosition ( int axis ) : double	Gets the axis position
Halt ( ) : void	Halt cause motion to stop in a controlled manner. A feed hold is commanded so that the motion decellerates along the intended path. After the system completely stops, the exact point in the Coordinated Motion Buffer where the stop actually happened is uploaded and the GCode Interpreter is rewound to that point.
KM_CoordMotion ( KM_Controller controller ) : System	Primary constructor for KM_CoordMotion object
MeasurePointAppendToFile ( string command ) : void	Write position data to file
OutputSegment ( int segment ) : void	Output given segment
ReadAndSyncCurPositions ( double &x, double &y, double &z, double &a, double &b, double &c ) : void	First Syncs the Coor Motion Library to the current axis destinations then sets the passed variables to the CoordMotion's Absolute positions
SetAxisDefinitions ( int x, int y, int z, int a, int b, int c ) : void	Set the assignment of KFLOP axis Channels to GCode Axes XYZABC, -1 indicates unused/unassigned axis
SetTPParams ( ) : void	Force the Trajectory Planner to update it's parameters
StartTraverse ( double x, double y, double z, double a, double b, double c, bool suppresscallback, object usercallback ) : void	Fires an async delegate to move axes at traversal speeds non-interpolated
StraightFeed ( double feedrate, double x, double y, double z, double a, double b, double c, int sequence_number, int ID ) : void	Perform linear motion at a specified feed rate
StraightFeedAccel ( double feedrate, double accel, double x, double y, double z, double a, double b, double c, int sequence_number, int ID ) : void	Perform linear motion at a specified feed rate and Acceleration
StraightTraverse ( double x, double y, double z, double a, double b, double c, bool suppresscallback ) : void	Move axes at traversal speeds non-interpolated
UpdateCurrentPositionsABS ( double &x, double &y, double &z, double &a, double &b, double &c, bool snap ) : void	Sets the passed variables to the CoordMotion's Absolute positions
WaitForMoveXYZABCFinished ( ) : void	Blocks calling thread until all commanded motion is complete
WaitForSegmentsFinished ( bool suppressdisablederror ) : void	Waits for all buffered segments to complete Blocks calling thread until the buffer is complete

Protected Methods

Method	Description
OnTraverseCompletes ( IAsyncResult result ) : void	Returns after the Async Traverse is called

Private Methods

Method	Description
GetFeedRateOverride ( ) : double	Gets the current Feedrate override
GetFeedRateRapidOverride ( ) : double	Gets the current Feedrate Rapidoverride
GetHardwareFRORange ( ) : double	Gets the Hardware FRO Range for all axes Below this value FRO is handled by hardware (no delay) Above this value FRO is handle by the Trajectory Planner (proper accelerations)
GetIsAbort ( ) : bool	Property accessor to query Abort condition
GetIsHalt ( ) : bool	Property accessor to query Halt condition
GetSpindleRateOverride ( ) : double	Gets the current Spindlerate override
Get_PreviouslyStopped ( ) : PREV_STOP_TYPE	Property getter Accessor for PreviouslyStopped
Get_Simulate ( ) : bool	Property getter Accessor for simulation
KM_dotnet_Interop_CoordMotion_ArcFeed ( IntPtr handle, double DesiredFeedRate_in_per_sec, int plane, double first_end, double second_end, double first_axis, double second_axis, int rotation, double axis_end_point, double a, double b, double c, int sequence_number, int ID ) : int
KM_dotnet_Interop_CoordMotion_ArcFeedAccel ( IntPtr handle, double DesiredFeedRate_in_per_sec, double DesiredAccel, int plane, double first_end, double second_end, double first_axis, double second_axis, int rotation, double axis_end_point, double a, double b, double c, int sequence_number, int ID ) : int
KM_dotnet_Interop_CoordMotion_CheckMotionHalt ( IntPtr handle, bool Coord ) : int
KM_dotnet_Interop_CoordMotion_Clear_Abort ( IntPtr handle ) : void
KM_dotnet_Interop_CoordMotion_Clear_Halt ( IntPtr handle ) : void
KM_dotnet_Interop_CoordMotion_DoKMotionBufCmd ( IntPtr handle, string command ) : int
KM_dotnet_Interop_CoordMotion_DoKMotionCmd ( IntPtr handle, string command, bool FlushBeforeUnbufferedOperation ) : int
KM_dotnet_Interop_CoordMotion_DoRateAdjustments ( IntPtr handle, int i0, int i1, double FeedRate ) : int
KM_dotnet_Interop_CoordMotion_DoSpecialCommand ( IntPtr handle, int iseg ) : int
KM_dotnet_Interop_CoordMotion_DownloadDoneSegments ( IntPtr handle ) : int
KM_dotnet_Interop_CoordMotion_DownloadInit ( IntPtr handle ) : void
KM_dotnet_Interop_CoordMotion_DownloadedSegmentCount ( IntPtr handle ) : int
KM_dotnet_Interop_CoordMotion_Dwell ( IntPtr handle, double seconds, int sequence_number ) : void
KM_dotnet_Interop_CoordMotion_ExecutionStop ( IntPtr handle ) : int
KM_dotnet_Interop_CoordMotion_FlushSegments ( IntPtr handle ) : void
KM_dotnet_Interop_CoordMotion_Free ( IntPtr &handle ) : void
KM_dotnet_Interop_CoordMotion_GetAxisDefinitions ( IntPtr handle, int &x, int &y, int &z, int &a, int &b, int &c ) : int
KM_dotnet_Interop_CoordMotion_Get_Abort ( IntPtr handle ) : bool
KM_dotnet_Interop_CoordMotion_Get_AxisDestination ( IntPtr handle, int axis, double &value ) : int
KM_dotnet_Interop_CoordMotion_Get_AxisPosition ( IntPtr handle, int axis, double &value ) : int
KM_dotnet_Interop_CoordMotion_Get_FeedRateOverride ( IntPtr handle ) : double
KM_dotnet_Interop_CoordMotion_Get_FeedRateRapidOverride ( IntPtr handle ) : double
KM_dotnet_Interop_CoordMotion_Get_Halt ( IntPtr handle ) : bool
KM_dotnet_Interop_CoordMotion_Get_HardwareFRORange ( IntPtr handle ) : double
KM_dotnet_Interop_CoordMotion_Get_PreviouslyStopped ( IntPtr handle ) : PREV_STOP_TYPE
KM_dotnet_Interop_CoordMotion_Get_Simulate ( IntPtr handle ) : bool
KM_dotnet_Interop_CoordMotion_Get_SpindleRateOverride ( IntPtr handle ) : double
KM_dotnet_Interop_CoordMotion_MeasurePointAppendToFile ( IntPtr handle, string command ) : int
KM_dotnet_Interop_CoordMotion_New ( IntPtr controller, IntPtr &handle ) : void
KM_dotnet_Interop_CoordMotion_OutputSegment ( IntPtr handle, int iseg ) : int
KM_dotnet_Interop_CoordMotion_ReadAndSyncCurPositions ( IntPtr handle, double &x, double &y, double &z, double &a, double &b, double &c ) : int
KM_dotnet_Interop_CoordMotion_ReadCurAbsPosition ( IntPtr handle, double &x, double &y, double &z, double &a, double &b, double &c, bool snap ) : int
KM_dotnet_Interop_CoordMotion_RemainingTime ( IntPtr handle ) : double
KM_dotnet_Interop_CoordMotion_SetArcFeedCallback ( IntPtr handle, KM_CoordMotionArcFeedSixAxisHandler handler ) : void
KM_dotnet_Interop_CoordMotion_SetAxisDefinitions ( IntPtr handle, int x, int y, int z, int a, int b, int c ) : int
KM_dotnet_Interop_CoordMotion_SetStraightFeedCallback ( IntPtr handle, KM_CoordMotionStraightFeedSixAxisHandler handler ) : void
KM_dotnet_Interop_CoordMotion_SetStraightTraverseCallback ( IntPtr handle, KM_CoordMotionStraightTraverseSixAxisHandler handler ) : void
KM_dotnet_Interop_CoordMotion_SetTPParams ( IntPtr handle ) : void
KM_dotnet_Interop_CoordMotion_Set_Abort ( IntPtr handle ) : void
KM_dotnet_Interop_CoordMotion_Set_FeedRateOverride ( IntPtr handle, double value ) : void
KM_dotnet_Interop_CoordMotion_Set_FeedRateRapidOverride ( IntPtr handle, double value ) : void
KM_dotnet_Interop_CoordMotion_Set_Halt ( IntPtr handle ) : void
KM_dotnet_Interop_CoordMotion_Set_HardwareFRORange ( IntPtr handle, double value ) : void
KM_dotnet_Interop_CoordMotion_Set_PreviouslyStopped ( IntPtr handle, PREV_STOP_TYPE value ) : void
KM_dotnet_Interop_CoordMotion_Set_Simulate ( IntPtr handle, bool value ) : void
KM_dotnet_Interop_CoordMotion_Set_SpindleRateOverride ( IntPtr handle, double value ) : void
KM_dotnet_Interop_CoordMotion_StraightFeed ( IntPtr handle, double DesiredFeedRate_in_per_sec, double x, double y, double z, double a, double b, double c, int sequence_number, int ID ) : int
KM_dotnet_Interop_CoordMotion_StraightFeedAccel ( IntPtr handle, double DesiredFeedRate_in_per_sec, double DesiredAccel, double x, double y, double z, double a, double b, double c, int sequence_number, int ID ) : int
KM_dotnet_Interop_CoordMotion_StraightTraverse ( IntPtr handle, double x, double y, double z, double a, double b, double c, bool NoCallback ) : int
KM_dotnet_Interop_CoordMotion_TimeAlreadyExecuted ( IntPtr handle ) : double
KM_dotnet_Interop_CoordMotion_TotalDownloadedTime ( IntPtr handle ) : double
KM_dotnet_Interop_CoordMotion_WaitForMoveXYZABCFinished ( IntPtr handle ) : int
KM_dotnet_Interop_CoordMotion_WaitForSegmentsFinished ( IntPtr handle, bool NoErrorOnDisable ) : int
OnCoordMotionArcFeed ( bool ZeroLenAsFullCircles, double DesiredFeedRate_in_per_sec, int plane, double first_end, double second_end, double first_axis, double second_axis, int rotation, double axis_end_point, double a, double b, double c, double first_start, double second_start, double axis_start_point, int sequence_number, int ID ) : void	Dispatches Arc Feed callback values to CoordMotionArcFeed event subscribers
OnCoordMotionStraightFeed ( double DesiredFeedRate_in_per_sec, double x, double y, double z, double a, double b, double c, int sequence_number, int ID ) : void	Dispatches Straight Feed callback values to CoordMotionStraightFeed event subscribers
OnCoordMotionStraightTraverse ( double x, double y, double z, double a, double b, double c, int sequence_number ) : void	Dispatches Straight Traverse callback values to CoordMotionStraightTraverse event subscribers
SetArcFeedCallback ( ) : void	Sets the internal Arc Feed callback for the CoordMotion.cpp object Separate delegate for this callback prevents the Garbage Collector from releasing the unmanaged function pointer from being destroyed
SetFeedRateOverride ( double value ) : void	Sets the current Feedrate override
SetFeedRateRapidOverride ( double value ) : void	Sets the current Rapid Feedrate override
SetHardwareFRORange ( double value ) : void	Sets the Hardware FRO Range for all axes Below this value FRO is handled by hardware (no delay) Above this value FRO is handle by the Trajectory Planner (proper accelerations)
SetSpindleRateOverride ( double value ) : void	Sets the current Spindlerate override
SetStraightFeedCallback ( ) : void	Sets the internal Straight Feed callback for the CoordMotion.cpp object Separate delegate for this callback prevents the Garbage Collector from releasing the unmanaged function pointer from being destroyed
SetStraightTraverseCallback ( ) : void	Sets the internal Straight Traverse callback for the CoordMotion.cpp object Separate delegate for this callback prevents the Garbage Collector from releasing the unmanaged function pointer from being destroyed
Set_PreviouslyStopped ( PREV_STOP_TYPE value ) : void	Property setter Accessor for PreviouslyStopped
Set_Simulate ( bool value ) : void	Property setter Accessor for simulation

Method Details

Abort() public method

Abort causes all motion to abruptly stop usually due to something catastrophic like a communication error Use in an E-Stop condition

public Abort ( ) : void
return	void

ArcFeed() public method

Perform arc motion at a specified feed rate

public ArcFeed ( double feedrate, int plane, double planarXend, double planarYend, double planarXcenter, double planarYcenter, int rotation, double planarZ, double a, double b, double c, int sequence_number, int ID ) : void
feedrate	double	Desired feed rate
plane	int	plane to perform arc (determines axis pair to use)
planarXend	double	X end point of arc
planarYend	double	Y end point of arc
planarXcenter	double	X center of rotation of arc
planarYcenter	double	Y center of rotation of arc
rotation	int	CW or ACW
planarZ	double	End point of perpindicular axis(for helical motion)
a	double	final end position of a axis
b	double	final end position of a axis
c	double	final end position of a axis
sequence_number	int	internal reference
ID	int	internal reference
return	void

ArcFeedAccel() public method

Perform arc motion at a specified feed rate and Acceleration

public ArcFeedAccel ( double feedrate, double accel, int plane, double planarXend, double planarYend, double planarXcenter, double planarYcenter, int rotation, double planarZ, double a, double b, double c, int sequence_number, int ID ) : void
feedrate	double	Desired feed rate
accel	double	Desired acceleration rate
plane	int	plane to perform arc (determines axis pair to use)
planarXend	double	X end point of arc
planarYend	double	Y end point of arc
planarXcenter	double	X center of rotation of arc
planarYcenter	double	Y center of rotation of arc
rotation	int	CW or ACW
planarZ	double	End point of perpindicular axis(for helical motion)
a	double	final end position of a axis
b	double	final end position of a axis
c	double	final end position of a axis
sequence_number	int	internal reference
ID	int	internal reference
return	void

CheckMotionHalt() public method

Cehecks for a motion halt

public CheckMotionHalt ( bool coord ) : int
coord	bool	specify axis mapped axes only
return	int

ClearAbort() public method

Clears any existing Abort conditions

public ClearAbort ( ) : void
return	void

ClearHalt() public method

Clear any exisiting halts

public ClearHalt ( ) : void
return	void

Dispose() public method

Releases object resources

public Dispose ( ) : void
return	void

DoKMotionBufCmd() public method

Inserts a console script command in the buffer

public DoKMotionBufCmd ( string command ) : void
command	string	command
return	void

DoKMotionCmd() public method

Processes a console script command

public DoKMotionCmd ( string command, bool flushbufferfirst ) : void
command	string	console script
flushbufferfirst	bool	Flush current buffered commands before adding a new one
return	void

DoRateAdjustments() public method

Update the Trajectory Planner's segment feedrates.

public DoRateAdjustments ( int i0, int i1, double feedrate ) : void
i0	int
i1	int
feedrate	double
return	void

DoSpecialCommand() public method

Perform segment execution

public DoSpecialCommand ( int segment ) : void
segment	int	segment index
return	void

DownloadDoneSegments() public method

Download all computed segments from the Trajectory Planner to the device buffer

public DownloadDoneSegments ( ) : void
return	void

DownloadInit() public method

Initializes download

public DownloadInit ( ) : void
return	void

Dwell() public method

Pause motion fow given amount of time

public Dwell ( double seconds, int sequence_number ) : void
seconds	double	time in seconds
sequence_number	int	sequence number to be associated with the dwell
return	void

ExecutionStop() public method

Stop the execution of current motion in a controlled number

public ExecutionStop ( ) : void
return	void

FlushSegments() public method

Flushes the segment buffer

public FlushSegments ( ) : void
return	void

GetAxisDefinitions() public method

Get the assignment of KFLOP axis Channels to GCode Axes XYZABC, -1 indicates unused/unassigned axis

public GetAxisDefinitions ( int &x, int &y, int &z, int &a, int &b, int &c ) : void
x	int
y	int
z	int
a	int
b	int
c	int
return	void

GetAxisDestination() public method

Gets the axis destination

public GetAxisDestination ( int axis ) : double
axis	int	Axis map index
return	double

GetAxisPosition() public method

Gets the axis position

public GetAxisPosition ( int axis ) : double
axis	int	Axis map index
return	double

Halt() public method

Halt cause motion to stop in a controlled manner. A feed hold is commanded so that the motion decellerates along the intended path. After the system completely stops, the exact point in the Coordinated Motion Buffer where the stop actually happened is uploaded and the GCode Interpreter is rewound to that point.

public Halt ( ) : void
return	void

KM_CoordMotion() public method

Primary constructor for KM_CoordMotion object

public KM_CoordMotion ( KM_Controller controller ) : System
controller	KM_Controller
return	System

MeasurePointAppendToFile() public method

Write position data to file

public MeasurePointAppendToFile ( string command ) : void
command	string	file name to append to
return	void

OnTraverseCompletes() protected method

Returns after the Async Traverse is called

protected OnTraverseCompletes ( IAsyncResult result ) : void
result	IAsyncResult	User supplied object that gets returned when traverse is complete
return	void

OutputSegment() public method

Output given segment

public OutputSegment ( int segment ) : void
segment	int	segment index to output
return	void

ReadAndSyncCurPositions() public method

First Syncs the Coor Motion Library to the current axis destinations then sets the passed variables to the CoordMotion's Absolute positions

public ReadAndSyncCurPositions ( double &x, double &y, double &z, double &a, double &b, double &c ) : void
x	double	X axis value
y	double	Y axis value
z	double	Z axis value
a	double	A axis value
b	double	B axis value
c	double	C axis value
return	void

SetAxisDefinitions() public method

Set the assignment of KFLOP axis Channels to GCode Axes XYZABC, -1 indicates unused/unassigned axis

public SetAxisDefinitions ( int x, int y, int z, int a, int b, int c ) : void
x	int
y	int
z	int
a	int
b	int
c	int
return	void

SetTPParams() public method

Force the Trajectory Planner to update it's parameters

public SetTPParams ( ) : void
return	void

StartTraverse() public method

Fires an async delegate to move axes at traversal speeds non-interpolated

public StartTraverse ( double x, double y, double z, double a, double b, double c, bool suppresscallback, object usercallback ) : void
x	double	x position
y	double	y position
z	double	z position
a	double	a position
b	double	b position
c	double	c position
suppresscallback	bool	Prevents callback information from being dispatched
usercallback	object	User supplied object that gets returned when traverse is complete
return	void

StraightFeed() public method

Perform linear motion at a specified feed rate

public StraightFeed ( double feedrate, double x, double y, double z, double a, double b, double c, int sequence_number, int ID ) : void
feedrate	double	Desired feed rate
x	double	X end point
y	double	Y end point
z	double	Z end point
a	double	A end point
b	double	B end point
c	double	C end point
sequence_number	int	internal reference
ID	int	internal reference
return	void

StraightFeedAccel() public method

Perform linear motion at a specified feed rate and Acceleration

public StraightFeedAccel ( double feedrate, double accel, double x, double y, double z, double a, double b, double c, int sequence_number, int ID ) : void
feedrate	double	Desired feed rate
accel	double	Desired acceleration rate
x	double	X end point
y	double	Y end point
z	double	Z end point
a	double	A end point
b	double	B end point
c	double	C end point
sequence_number	int	internal reference
ID	int	internal reference
return	void

StraightTraverse() public method

Move axes at traversal speeds non-interpolated

public StraightTraverse ( double x, double y, double z, double a, double b, double c, bool suppresscallback ) : void
x	double	x position
y	double	y position
z	double	z position
a	double	a position
b	double	b position
c	double	c position
suppresscallback	bool	Prevents callback information from being dispatched
return	void

UpdateCurrentPositionsABS() public method

Sets the passed variables to the CoordMotion's Absolute positions

public UpdateCurrentPositionsABS ( double &x, double &y, double &z, double &a, double &b, double &c, bool snap ) : void
x	double	X axis value
y	double	Y axis value
z	double	Z axis value
a	double	A axis value
b	double	B axis value
c	double	C axis value
snap	bool	snap to exact previously commanded postion (if close) to avoid rounding errors
return	void

WaitForMoveXYZABCFinished() public method

Blocks calling thread until all commanded motion is complete

public WaitForMoveXYZABCFinished ( ) : void
return	void

WaitForSegmentsFinished() public method

Waits for all buffered segments to complete Blocks calling thread until the buffer is complete

public WaitForSegmentsFinished ( bool suppressdisablederror ) : void
suppressdisablederror	bool	suppress errors cause by commanding a disabled axis
return	void