We recently purchased the UCCNC Software and the UC100 motion controller.
Our hopes are to update our old production machines with new motion control software.
I've been playing around with the C# API and can connect\open the UC100 controller.
My questions are:
[list=]
[*] How to do a general axis move after updating positions\index?
[*] How to move 2-axis simultaneously?
[/list]
Here's my sample code:
- Code: Select all
using System.Runtime.InteropServices;
namespace DemoMotionControlForm_
{
public partial class Form1 : Form
{
private int devices;
private String helpStr;
public Form1()
{
InitializeComponent();
helpStr = "ERROR WITH DEVICE!\nFOLLOW STEPS BELOW\n\n";
helpStr += "1. Hit 'List Devices'\n2. Hit 'Get Device Info'\n3. Hit 'Open Device'";
}
private void label1_Click(object sender, EventArgs e)
{
}
private void btnMoveRight_Click(object sender, EventArgs e)
{
// might need a call to AddLinearMoveRel()
// for moving 2axis check AddSyncMove()
int xPos = 0;
int yPos = 0;
int zPos = 0;
int aPos = 0;
int bPos = 0;
int cPos = 0;
int ret = UC100.GetAxisIndex(ref xPos, ref yPos, ref zPos, ref aPos, ref bPos, ref cPos);
if (ret != 0) {
MessageBox.Show(helpStr);
return;
}
else
MessageBox.Show("Current X-Axis Index -> " + xPos);
xPos += 2000; // add 2000 steps
ret = UC100.SetAxisIndex(xPos, yPos, zPos, aPos, bPos, cPos);
if (ret != 0) {
MessageBox.Show(helpStr);
return;
}
else
MessageBox.Show("New X-Axis Index -> " + xPos);
UC100.AddLinearMoveRel(0, 10.0, 2000, 1.0, true);
if (ret != 0)
{
MessageBox.Show(helpStr);
return;
}
else
MessageBox.Show("Trying to do linear move -> " + xPos);
}
private void btnMoveLeft_Click(object sender, EventArgs e)
{
// copy the moveRight logic over
// change the dir pin to move left
MessageBox.Show("Moving Motor left <- ");
}
private void btnStop_Click(object sender, EventArgs e)
{
MessageBox.Show("Stopping Motor");
}
private void button2_Click(object sender, EventArgs e)
{
UC100.ListDevices(ref devices);
MessageBox.Show(devices + " device(s) connected");
}
private void btnGetDeviceInfo_Click(object sender, EventArgs e)
{
int boardID = 1;
int type = 0;
int serialNumber = 0;
int ret = UC100.DeviceInfo(boardID, ref type, ref serialNumber);
if (ret != 0)
MessageBox.Show(helpStr);
else
MessageBox.Show("Board ID " + boardID + "\nType " + type + "\nSerial Number " + serialNumber + "\nRet = " + ret);
}
private void groupBox2_Enter(object sender, EventArgs e)
{
}
private void btnOpenDevice_Click(object sender, EventArgs e)
{
int ret = UC100.Open(1);
if (ret != 0)
MessageBox.Show(helpStr);
else
MessageBox.Show("Device Connected\nRet " + ret);
}
private void btnCloseDevice_Click(object sender, EventArgs e)
{
int ret = UC100.Close();
if (ret != 0)
MessageBox.Show(helpStr);
else
MessageBox.Show("Device Disconnected\nRet " + ret);
}
private void btnSetMotorAxis_Click(object sender, EventArgs e)
{
int ret = 0, stepRate = 0;
UC100.AxisSetting axisSetting = new UC100.AxisSetting
{
Axis = 0, // X-Axis
Enable = true,
StepPin = 2,
DirPin = 3,
StepNeg = false,
DirNeg = false,
MaxAccel = 0, // change
MaxVel = 0, // change
StepPer = 0, // change might be 8000
HomePin = 0, // change
HomeNeg = false,
LimitPPin = 0,
LimitNPin = 0,
LimitNNeg = false,
SoftLimitP = 0,
SoftLimitN = 0,
SlaveAxis = 0,
BacklashOn = false,
BacklashDist = 0,
CompAccel = 0,
EnablePin = 4,
EnablePinNeg = false,
EnableDelay = 0,
CurrentHiLowPin = 0,
CurrentHiLowPinNeg = false,
HomeBackOff = 0,
RotaryAxis = false,
RotaryRollover = false,
};
ret = UC100.SetAxisSetting(ref axisSetting);
UC100.GetStepRate(ref stepRate);
if (ret != 0)
MessageBox.Show(helpStr);
else
MessageBox.Show("X-Axis Setup!\nRet " + ret + "\nStepRate = " + stepRate);
}
}
}
Cheers!