C# Class KMotion_dotNet.KM_AxisGroup

KM_Controller Object for grouping Axis channels

Protected Properties

Property	Type	Description
_Acceleration	double
_ArcsToSegs	bool
_AxisList	List
_BreakAngle	double
_CollinearTolerance	double
_Controller	KM_Controller
_CornerTolerance	double
_DegreesA	bool
_DegreesB	bool
_DegreesC	bool
_FacetAngle	double
_ID	int
_LookAhead	double
_MaxLength	double
_MaxVelocity	double
_Name	string
_UseOnlyLinearSegments	bool
_Velocity	double

Public Methods

Method	Description
Abort ( ) : void	Abort any Coordinated Motion
AddArc ( double endx, double endy, double centerx, double centery, CANON_PLANE plane, bool clockwise, double finalz ) : void	Perform Coordinated Arc Move (in specified plane) of multiple axis to a desired destination
AddArc ( double endx, double endy, double centerx, double centery, CANON_PLANE plane, bool clockwise, double finalz, double a, double b, double c ) : void	Perform Coordinated Arc Move (in specified plane) of multiple axis to a desired destination with aditional a,b,c, axes linearly interpolated
AddArc ( double endx, double endy, double centerx, double centery, bool clockwise, double finalz ) : void	Perform Coordinated Arc Move of multiple axis to a desired destination
AddCommand ( int command ) : void	Insert special embedded IO commaand into the Coordinated moition buffer
AddLine ( double nextpoint ) : void	Add a linear motion to the coordinated motion buffer
ClearAbort ( ) : void	Clear any Coordinated Motion Abort condition
ClearHalt ( ) : void	Clear any Coordinated Motion Halt condition
CompletePath ( ) : void	Finalize any motion that resides in the coordinated motion buffer
DisableGroup ( ) : void	Abort and disable an entire coordinated group
EnableGroup ( ) : void	Define, configure, and enable an axis group
Halt ( ) : void	Halt any Coordinated Motion
KM_AxisGroup ( KM_Controller controller ) : System	Creates group of axes
MotionComplete ( ) : bool	Checks if the commanded axis group motion is completed
RapidTo ( double position ) : void	Perform Rapid Move (independent motion) of multiple axis to a desired destination and wait until motion is completed
RunGcodeFile ( string file ) : void	Launch GCode Interpreter executing specified GCode file
RunGcodeFileSegment ( string file, int firstline, int lastline ) : void	Launch GCode Interpreter executing specified GCode file
SetMCodeAction ( int num, MCODE_TYPE type, double p1, double p2, double p3, double p4, double p5, string data ) : void	Specifies a specific M Code action to be performed for a encountered MCodeSet. Parameters and data are specific to the action type
SetOffsetData ( int num, double x, double y, double z, double a, double b, double c ) : void	Set Work Fixture Offset to be used by the GCode Interpreter
SetParamsFile ( string paramsfile ) : void	Set Params File name to be used by the GCode Interpreter
SetToolFile ( string toolFile ) : void	Set Tool File name to be used by the GCode Interpreter
SetToolTableEntry ( int index, int slot, int ID, double length, double diameter, double xoffset, double yoffset ) : void	Set Tool Table Entry to be used by the GCode Interpreter
StartPath ( ) : void	Flush/clear coordinated motion buffer and wait for any rapids to complete
StartRapidTo ( double position ) : void	Perform Start of Rapid Move (independent motion) of multiple axis to a desired destination
WaitforMotionComplete ( int timeout ) : bool	Blocks the calling thread until the axis group is in position within a specified time limit

Method Details

Abort() public method

Abort any Coordinated Motion

public Abort ( ) : void
return	void

AddArc() public method

Perform Coordinated Arc Move (in specified plane) of multiple axis to a desired destination

public AddArc ( double endx, double endy, double centerx, double centery, CANON_PLANE plane, bool clockwise, double finalz ) : void
endx	double
endy	double
centerx	double
centery	double
plane	CANON_PLANE
clockwise	bool
finalz	double
return	void

AddArc() public method

Perform Coordinated Arc Move (in specified plane) of multiple axis to a desired destination with aditional a,b,c, axes linearly interpolated

public AddArc ( double endx, double endy, double centerx, double centery, CANON_PLANE plane, bool clockwise, double finalz, double a, double b, double c ) : void
endx	double
endy	double
centerx	double
centery	double
plane	CANON_PLANE
clockwise	bool
finalz	double
a	double
b	double
c	double
return	void

AddArc() public method

Perform Coordinated Arc Move of multiple axis to a desired destination

public AddArc ( double endx, double endy, double centerx, double centery, bool clockwise, double finalz ) : void
endx	double
endy	double
centerx	double
centery	double
clockwise	bool
finalz	double
return	void

AddCommand() public method

Insert special embedded IO commaand into the Coordinated moition buffer

public AddCommand ( int command ) : void
command	int
return	void

AddLine() public method

Add a linear motion to the coordinated motion buffer

public AddLine ( double nextpoint ) : void
nextpoint	double
return	void

ClearAbort() public method

Clear any Coordinated Motion Abort condition

public ClearAbort ( ) : void
return	void

ClearHalt() public method

Clear any Coordinated Motion Halt condition

public ClearHalt ( ) : void
return	void

CompletePath() public method

Finalize any motion that resides in the coordinated motion buffer

public CompletePath ( ) : void
return	void

DisableGroup() public method

Abort and disable an entire coordinated group

public DisableGroup ( ) : void
return	void

EnableGroup() public method

Define, configure, and enable an axis group

public EnableGroup ( ) : void
return	void

Halt() public method

Halt any Coordinated Motion

public Halt ( ) : void
return	void

KM_AxisGroup() public method

Creates group of axes

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

MotionComplete() public method

Checks if the commanded axis group motion is completed

public MotionComplete ( ) : bool
return	bool

RapidTo() public method

Perform Rapid Move (independent motion) of multiple axis to a desired destination and wait until motion is completed

public RapidTo ( double position ) : void
position	double
return	void

RunGcodeFile() public method

Launch GCode Interpreter executing specified GCode file

public RunGcodeFile ( string file ) : void
file	string	Gcode File Path
return	void

RunGcodeFileSegment() public method

Launch GCode Interpreter executing specified GCode file

public RunGcodeFileSegment ( string file, int firstline, int lastline ) : void
file	string	Gcode File Path
firstline	int	Gcode line number to start
lastline	int	Gcode line number to stop
return	void

SetMCodeAction() public method

Specifies a specific M Code action to be performed for a encountered MCodeSet. Parameters and data are specific to the action type

public SetMCodeAction ( int num, MCODE_TYPE type, double p1, double p2, double p3, double p4, double p5, string data ) : void
num	int	MCode Mapping Number
type	MCODE_TYPE	type of action to be performed
p1	double	parameter #1
p2	double	parameter #3
p3	double	parameter #3
p4	double	parameter #4
p5	double	parameter #5
data	string	string parameter - typically a file name
return	void

SetOffsetData() public method

Set Work Fixture Offset to be used by the GCode Interpreter

public SetOffsetData ( int num, double x, double y, double z, double a, double b, double c ) : void
num	int	Fixture Number
x	double	x offset
y	double	y offset
z	double	z offset
a	double	a offset
b	double	b offset
c	double	c offset
return	void

SetParamsFile() public method

Set Params File name to be used by the GCode Interpreter

public SetParamsFile ( string paramsfile ) : void
paramsfile	string	Params File Path String
return	void

SetToolFile() public method

Set Tool File name to be used by the GCode Interpreter

public SetToolFile ( string toolFile ) : void
toolFile	string	Tool File Path String
return	void

SetToolTableEntry() public method

Set Tool Table Entry to be used by the GCode Interpreter

public SetToolTableEntry ( int index, int slot, int ID, double length, double diameter, double xoffset, double yoffset ) : void
index	int	Tool Table Index Number
slot	int	Tool changer 2 digit slot Number
ID	int	Tool 4 digit ID Number
length	double	Tool length offset
diameter	double	Tool diameter used in radius compensation
xoffset	double	Tool X Offset
yoffset	double	Tool Y Offset
return	void

StartPath() public method

Flush/clear coordinated motion buffer and wait for any rapids to complete

public StartPath ( ) : void
return	void

StartRapidTo() public method

Perform Start of Rapid Move (independent motion) of multiple axis to a desired destination

public StartRapidTo ( double position ) : void
position	double
return	void

WaitforMotionComplete() public method

Blocks the calling thread until the axis group is in position within a specified time limit

public WaitforMotionComplete ( int timeout ) : bool
timeout	int	time in ms to wait for axis group to acheive position, 0 will wait indefinitely
return	bool

Property Details

_Acceleration protected_oe property

Acceleration to use during positioning

protected double _Acceleration
return	double

_ArcsToSegs protected_oe property

Causes Arcs to be converted to segments (Kinematic Setting)

protected bool _ArcsToSegs
return	bool

_AxisList protected_oe property

Axis objects that the group is comprised of

protected List _AxisList
return	List

_BreakAngle protected_oe property

Trajectory Planner Break Angle, larger angles require full stop

protected double _BreakAngle
return	double

_CollinearTolerance protected_oe property

Trajectory Planner Collinear tolerance at which in-line segments can be combined

protected double _CollinearTolerance
return	double

_Controller protected_oe property

KM_Controller Object for used for device access

protected KM_Controller _Controller
return	KM_Controller

_CornerTolerance protected_oe property

Trajectory Planner Collinear tolerance at which in-line segments can be combined

protected double _CornerTolerance
return	double

_DegreesA protected_oe property

Causes Arcs to be converted to segments (User Setting)

protected bool _DegreesA
return	bool

_DegreesB protected_oe property

Axis A is in Degrees

protected bool _DegreesB
return	bool

_DegreesC protected_oe property

Axis B is in Degrees

protected bool _DegreesC
return	bool

_FacetAngle protected_oe property

Trajectory Planner angles to be used when corner rounding

protected double _FacetAngle
return	double

_ID protected_oe property

Axis Group Number

protected int _ID
return	int

_LookAhead protected_oe property

Trajectory Planner Plan/Look ahead in seconds

protected double _LookAhead
return	double

_MaxLength protected_oe property

Trajectory Planner max allowed length for individual segments (long linear segments can cause cord errors in non-linear systems)

protected double _MaxLength
return	double

_MaxVelocity protected_oe property

Maximum velocity to use during positioning and coordinated motion

protected double _MaxVelocity
return	double

_Name protected_oe property

Call Name Use to describe what the Axis Group controls i.e. Spindle 1 Carriage, Wrist, etc...

protected string _Name
return	string

_UseOnlyLinearSegments protected_oe property

Axis Group Number

protected bool _UseOnlyLinearSegments
return	bool

_Velocity protected_oe property

Velocity to use during positioning

protected double _Velocity
return	double