main()
{
float speed = *(float *)&persist.UserData[97]; // value stored is actually a float
float LastSpeed = *(float *)&persist.UserData[99]; // get last speed setting
float LastState = persist.UserData[98]; // get last state
if (LastState==1)
{
// if spindle was CW now we want CCW
// spin down
ClearBit(154);
ClearBit(155);
LastSpeed = 0.0;
Jog(SPINDLEAXIS,0);
while (!CheckDone(SPINDLEAXIS)) ;
}
// turn spindle on CCW and ramp to new speed
SetBit(155);
// spindle is already on, so ramp to new speed
if (LastSpeed != speed)
{
LastSpeed = speed;
Jog(SPINDLEAXIS,LastSpeed * FACTOR);
}
*(float *)&persist.UserData[99] = LastSpeed; // save the last speed
persist.UserData[98] = -1; // remember we are CCW
}
void SimpleHome(int axis,float speed,int dir,int bit,int polarity, float offset)
{
int SaveLimits; //place to save limit switch settings
DisableAxis(axis);
// disable the limits (first save how they were set)
SaveLimits = chan[axis]->LimitSwitchOptions;
chan[axis]->LimitSwitchOptions = 0;
EnableAxis(axis); // enable axis and begin servoing where we are
// Home - jog until it sees the limit
Jog(axis,speed*dir); // jog slowly
while (!ReadBit(bit)) ; // loop until IO bit goes high
Jog(axis,0); // stop
while (!CheckDone(axis)) // loop until motion completes
if (!chan[axis].Enable) return; // abort/exit if diasabled
DisableAxis(axis); // disable the axis
Zero(axis); // Zero the position
EnableAxis(axis); // re-enable
Move(axis,-dir * offset); // move some amount inside the limits
while (!CheckDone(axis)) ; // loop until motion completes
chan[axis]->LimitSwitchOptions = SaveLimits; // restore limit settings
}
main()
{
float speed = *(float *)&persist.UserData[SPEEDVAR]; // value stored is actually a float
float LastState = persist.UserData[STATEVAR]; // get last state
if (LastState==1)
{
// if spindle was CW now we want CCW
// spin down
ClearBit(SPINDLECW_BIT);
ClearBit(SPINDLECCW_BIT);
Jog(SPINDLEAXIS,0);
while (!CheckDone(SPINDLEAXIS)) ;
}
// turn spindle on CCW and ramp to new speed
SetBit(SPINDLECCW_BIT);
// spindle is already on, so ramp to new speed
Jog(SPINDLEAXIS,-speed * FACTOR);
printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
persist.UserData[STATEVAR] = -1; // remember we are CCW
}
void DoSpeedAxis(int ch, int Select, double *LastSpeed, double Speed)
{
if (ReadBit(Select)) //is this axis selected ??
{
Jog(ch,Speed);
*LastSpeed = Speed;
T0=T1; // save last time speed was changed
}
else if (*LastSpeed != 0.0) //not selected so stop if was moving
{
Jog(ch,0.0);
*LastSpeed=0.0;
}
}
void ServiceCSS(void)
{
float rpm;
double T=Time_sec();
if (*css_mode == 2 && T > css_T) // check if we are in CSS mode and it is time to update
{
css_T=T+CSS_UPDATE_DT; // determine next time to update
// convert axis position to distance from center in inches
float radius = fast_fabs((chan[CS0_axis_x].Dest - *css_xoff) * *css_xfactor);
if (radius > 0.0f)
rpm = *css_s / (radius * (TWO_PI_F/60.0f));
else
rpm = *css_max_rpm;
if (rpm > *css_max_rpm) rpm = *css_max_rpm;
if (persist.UserData[STATEVAR]!=0) // if spindle is already on, ramp to new speed
Jog(SPINDLEAXIS,rpm * FACTOR);
// printf("xoff=%f radius= %f xfactor=%f s=%f(ips) maxrpm=%f rpm=%f\n",*css_xoff,radius,*css_xfactor,*css_s,*css_max_rpm,rpm);
}
}
void MakeSelection(S1){
switch(S1){
case 1: TestServo1();
debounce(1);
break;
case 2: TestServo2();
debounce(1);
break;
case 3: TestServo3();
debounce(1);
break;
case 4: TestServo4();
debounce(1);
break;
case 5: TestServo5();
debounce(1);
break;
case 6: TestServo6();
debounce(1);
break;
case 7: SetTo90();
debounce(1);
break;
case 8: GrabBlock();
break;
case 9: Jog();
break;
}
}
main()
{
ch0->LimitSwitchOptions=0x00000000; // disable limits
Jog(0,-100); // start moving
while (!Readbit(8)) ; // wait for switch (input #8) to change
Jog(0,0); // stop
while (!CheckDone(0)) ; // wait till we are stopped
Zero(0); // Set current position to 0
Move(0,1000); // move off limit
while (!CheckDone(0)) ; // wait till we are stopped
// re-enable limits, bit 8 both ends, active low, disable all axis
ch0->LimitSwitchOptions=0x808000f;
}
main()
{
// spin down
ClearBit(SPINDLECW_BIT);
ClearBit(SPINDLECCW_BIT);
Jog(SPINDLEAXIS,0);
printf("Jogging Spindle Stop\n");
persist.UserData[STATEVAR] = 0; // remember we are Off
while (!CheckDone(SPINDLEAXIS)) ;
}
main()
{
int message = persist.UserData[0]; // Mach3 message ID
int Direction = persist.UserData[1]; // Mach3 Spindle Direction
float speed = *(float *)&persist.UserData[2]; // value stored is actually a float
int DirFactor = 1;
if (Direction==0) DirFactor=-1; // change Direcion 0 or 1 to DirFactor -1 or +1
printf("Mach3 Notify Message=%d, Direction=%2d, Spindle Set to %f\n",message,Direction,speed);
switch (message)
{
case EX_SPINSPEED:
if (Direction != -1)
{
printf("Spindle Speed Set to %f\n",speed);
Jog(SPINDLE_AXIS,speed*FACTOR*DirFactor);
}
break;
case EX_SPINON:
if (Direction==0)
{
printf("Spindle CW ON\n");
}
else if (Direction==1)
{
printf("Spindle CCW ON\n");
}
break;
case EX_SPINOFF:
printf("Spindle Stop\n");
Jog(SPINDLE_AXIS,0.0);
break;
}
}
main()
{
int i,n_Samples = 0.005 / TIMEBASE;
gather.Inject = FALSE; // Don't inject any Data anywhere
gather.list[0].type = GATHER_DOUBLE_TYPE; // Gather Dest
gather.list[0].addr = &chan[4].Dest;
gather.list[1].type = GATHER_DOUBLE_TYPE; // Gather Pos
gather.list[1].addr = &chan[4].Position;
gather.list[2].type = GATHER_FLOAT_TYPE ; // Gather Output
gather.list[2].addr = &chan[4].Output;
gather.list[3].type = GATHER_FLOAT_TYPE ; // Gather Output
gather.list[3].addr = &chan[4].last_vel;
gather.list[4].type = GATHER_END_TYPE;
gather.bufptr = (double *)0xfffffffc; // force more than endbuf
gather.endptr = gather_buffer + 4 * n_Samples;
Jog(4,250000);
Delay_sec(1);
TriggerGather(); // start capturing data
Delay_sec(0.002);
Jog(4,-250000);
while (!CheckDoneGather()) ; // what till all captured
Jog(4,0);
// print all captured data (every 50th sample)
for (i=0; i<n_Samples; i+=1)
printf("%d,%f,%f,%f,%f\n", i,gather_buffer[i*4],gather_buffer[i*4+1],
gather_buffer[i*4+2],gather_buffer[i*4+3]);
}
main()
{
float speed = *(float *)&persist.UserData[KMVAR]; // value stored is actually a float
float LastState = persist.UserData[STATEVAR]; // get last state
persist.UserData[SPEEDVAR] = persist.UserData[KMVAR]; // Always save the last desired speed
if (LastState==0)
{
// if spindle is off and User Changes the speed
// just save the desired speed
return 0;
}
// spindle is already on, so ramp to new speed
Jog(SPINDLEAXIS,LastState * speed * FACTOR);
printf("Jogging Spindle %f counts/sec\n",speed * FACTOR);
}
void CTenkeyOpr::Seq(void)
{
Tenkey();
Jog();
}
main()
{
Jog(0,10);
Delay_sec(1);
Jog(0,0);
}
