Class MotionController

java.lang.Object
  MotionController

 class MotionController
extends java.lang.Object

The class MotionController contains methods to perform various operations upon the Galil Motion Controller Card. Most MotionController methods calls then invoke the native methods provided by the af2motioncontroller library, which communicates through the Galil API library to the Galil PCI card.

Field Summary

private static MotionController	_instance
private int	AXIS_WAIT_PERIOD The polling period for axis motion complete
private long	AXIS_WAIT_TIMEOUT The axis movement wait timeout (2 mins)
(package private) static java.lang.String	E_DMC_AXIS_NAME
(package private) static boolean	ENCODER_SIMULATION
(package private) static java.lang.String	F_DMC_AXIS_NAME
(package private) static java.lang.String	G_DMC_AXIS_NAME
(package private) static java.lang.String	H_DMC_AXIS_NAME
private java.lang.String	MAX_POSITION_LIMIT
private java.lang.String	MIN_POSITION_LIMIT
(package private) static java.lang.String	S_DMC_AXIS_NAME
(package private) static java.lang.String	W_DMC_AXIS_NAME
(package private) static java.lang.String	X_DMC_AXIS_NAME
(package private) static java.lang.String	Y_DMC_AXIS_NAME
(package private) static java.lang.String	Z_DMC_AXIS_NAME

Constructor Summary

private

MotionController() The MotionController's private constructor.

Method Summary

private java.lang.String	axisParameters(java.util.List axes, java.util.List parameters) Create an axis parameter list string
private void	close() Close communications with the DMC card
(package private) void	defineAuxiliaryEncoderPosition(MotionControllerAxis theAxis, long Position) Define the axis' auxiliary encoder position
(package private) void	defineEncoderPosition(MotionControllerAxis theAxis, long Position) Define the axis' encoder position
(package private) void	disablePositionLimits(MotionControllerAxis theAxis) Disable position limits
private long	DMCClose() Galil DMC18x0 native method to close comms with the motion controller
private MotionControllerResult	DMCCommand(java.lang.String Command) Galil DMC18x0 native method to send a command to the motion controller
private long	DMCGetAnalogInputFromDR(int DMCAnalogInputPort)
private long	DMCGetAxisAuxiliaryPositionFromDR(int DMCAxisNumber)
private long	DMCGetAxisMotorPositionFromDR(int DMCAxisNumber)
private long	DMCGetGeneralInputFromDR(int DMCGeneralInputPortBlock)
private long	DMCGetGeneralOutputFromDR(int DMCGeneralOutputPortBlock)
private long	DMCOpen() Galil DMC18x0 native method to open comms with the motion controller
private long	DMCRefreshDataRecord()
private long	DMCReset() Galil DMC18x0 native method to reset the motion controller
(package private) void	findEdge(MotionControllerAxis theAxis) Find the home switch edge of an axis
(package private) void	findEdge(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2) Find the home switch edges of 2 axes
(package private) void	findIndex(MotionControllerAxis theAxis) Find the index pulse of an axis
(package private) long	getAcceleration(MotionControllerAxis theAxis) Get the acceleration of an axis
(package private) double	getADCReading(int theADCPort) Get the value of an a/d port
(package private) long	getAnalogInputFromDR(int DMCAnalogInputPort)
(package private) long	getAuxiliaryEncoderPosition(MotionControllerAxis theAxis) Get the auixiliary encoder position
(package private) long	getAxisAuxiliaryPositionFromDR(int DMCAxisNumber)
(package private) long	getAxisMotorPositionFromDR(int DMCAxisNumber)
(package private) long	getDeceleration(MotionControllerAxis theAxis) Get the deceleration of an axis
(package private) int	getDigitalInputs(int digitalInputBlockNumber) Get the state of a digital input block
(package private) int	getDigitalOutputs(int digitalOutputBlockNumber) Get the state of a digital output block
(package private) long	getGeneralInputFromDR(int DMCGeneralInputPortBlock)
(package private) long	getGeneralOutputFromDR(int DMCGeneralOutputPortBlock)
(package private) MotionControllerResult	getPosition() Get the positions of all of the main encoders
(package private) long	getPosition(MotionControllerAxis theAxis) Get the main encoder position of an axis
(package private) long	getPositionError(MotionControllerAxis theAxis) Get the position error of an axis
(package private) MotionControllerResult	getReferencePosition() Get the reference positions of all of the main encoders
(package private) long	getReferencePosition(MotionControllerAxis theAxis) Get the main encoder reference position of an axis
(package private) long	getSpeed(MotionControllerAxis theAxis) Get the speed of an axis
(package private) void	home(MotionControllerAxis theAxis) Find and define the home position of an axis
(package private) void	home(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2) Find and define the home position of two axes
static MotionController	instance() The instance class method
(package private) boolean	isDigitalInputPortHigh(int theInputPort) Get the condition of a digital input port
(package private) boolean	isDigitalOutputPortHigh(int theOutputPort) Get the condition of a digital output port
(package private) boolean	isInForwardLimit(MotionControllerAxis theAxis) Check the forward limit of an axis
(package private) boolean	isInHomeSwitch(MotionControllerAxis theAxis) Is the axis in it's home switch
(package private) boolean	isInReverseLimit(MotionControllerAxis theAxis) Check the reverse limit of an axis
(package private) void	jog(MotionControllerAxis theAxis, long Speed) Jog an axis
(package private) void	move(MotionControllerAxis theAxis, long Position) Move an axis to the required position
(package private) void	move(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2, long Position1, long Position2) Move 2 axes to the required positions - this does not produce a linear motion
(package private) void	moveVector(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2, long Position1, long Position2, long VectorSpeed, long VectorAcceleration) Move 2 axes in a linear motion
(package private) void	moveVector(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2, MotionControllerAxis theAxis3, long Position1, long Position2, long Position3, long VectorSpeed, long VectorAcceleration) Move 3 axes in a linear motion
(package private) void	offset(MotionControllerAxis theAxis, long Offset) Offset an axis
(package private) void	offset(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2, long Offset1, long Offset2) Offset 2 axes - this does not produce a linear motion
(package private) void	offsetVector(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2, long Offset1, long Offset2, long VectorSpeed, long VectorAcceleration) Offset 2 axes in a linear motion
private void	open() Open communications with the DMC card
(package private) void	refreshDataRecord() Refresh the data record
private void	reset() Reset the DMC card
(package private) MotionControllerResult	sendCommand(java.lang.String Command) Send a command to the motion controller
(package private) void	setAcceleration(MotionControllerAxis theAxis, int Acceleration) Set the acceleration of an axis
(package private) void	setDeceleration(MotionControllerAxis theAxis, int Deceleration) Set the deceleration of an axis
(package private) void	setDigitalOutputPortHigh(int theDigitalOutputPort) Set a digital port output high
(package private) void	setDigitalOutputPortLow(int theDigitalOutputPort) Set a digital output port low
(package private) void	setDualLoop(MotionControllerAxis theAxis, boolean state) Set the axis to use the dual loop method
(package private) void	setErrorLimit(long errorLimit) Set the error limit on all axes
(package private) void	setMotorOff(MotionControllerAxis theAxis) Set an axis motor off
(package private) void	setMotorServoHere(MotionControllerAxis theAxis) Set an axis motor servoing
(package private) void	setMotorsOff() Set all of the motors to the off condition
(package private) void	setMotorsServoHere() Set all of the motors servoing
(package private) void	setPID(MotionControllerAxis theAxis, double ProportionalConstant, double Integrator, double DerivativeConstant) Set the gain (PID) parameters of an axis
(package private) void	setPositionLimits(MotionControllerAxis theAxis, long ReversePositionLimit, long ForwardPositionLimit) Set the reverse and forward position limits for an axis
(package private) void	setSmoothing(MotionControllerAxis theAxis, double Smoothing) Set the smoothing of an axis
(package private) void	setSpeed(MotionControllerAxis theAxis, int Speed) Set the speed of an axis
(package private) void	setTorqueLimit(MotionControllerAxis theAxis, double torque) Set the torque limit
(package private) void	stop() Stop motion on all axes
private void	test()
(package private) void	wait(MotionControllerAxis theAxis) Wait for an axis to complete it's motion
(package private) void	wait(MotionControllerAxis theAxis1, MotionControllerAxis theAxis2, MotionControllerAxis theAxis3) Wait for 3 axes to complete motion

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ENCODER_SIMULATION

static final boolean ENCODER_SIMULATION

See Also:

Constant Field Values

X_DMC_AXIS_NAME

static final java.lang.String X_DMC_AXIS_NAME

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Constant Field Values

Y_DMC_AXIS_NAME

static final java.lang.String Y_DMC_AXIS_NAME

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Constant Field Values

Z_DMC_AXIS_NAME

static final java.lang.String Z_DMC_AXIS_NAME

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Constant Field Values

W_DMC_AXIS_NAME

static final java.lang.String W_DMC_AXIS_NAME

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Constant Field Values

E_DMC_AXIS_NAME

static final java.lang.String E_DMC_AXIS_NAME

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Constant Field Values

F_DMC_AXIS_NAME

static final java.lang.String F_DMC_AXIS_NAME

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Constant Field Values

G_DMC_AXIS_NAME

static final java.lang.String G_DMC_AXIS_NAME

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Constant Field Values

H_DMC_AXIS_NAME

static final java.lang.String H_DMC_AXIS_NAME

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Constant Field Values

S_DMC_AXIS_NAME

static final java.lang.String S_DMC_AXIS_NAME

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Constant Field Values

AXIS_WAIT_PERIOD

private final int AXIS_WAIT_PERIOD

The polling period for axis motion complete

See Also:

Constant Field Values

AXIS_WAIT_TIMEOUT

private final long AXIS_WAIT_TIMEOUT

The axis movement wait timeout (2 mins)

See Also:

Constant Field Values

MIN_POSITION_LIMIT

private final java.lang.String MIN_POSITION_LIMIT

See Also:

Constant Field Values

MAX_POSITION_LIMIT

private final java.lang.String MAX_POSITION_LIMIT

See Also:

Constant Field Values

_instance

private static MotionController _instance

Constructor Detail

MotionController

private MotionController()

The MotionController's private constructor.

Method Detail

instance

public static MotionController instance()

The instance class method

Returns:

The single instance of the class

DMCCommand

private MotionControllerResult DMCCommand(java.lang.String Command)

Galil DMC18x0 native method to send a command to the motion controller

Parameters:

Command - Command to send to DMC

Returns:

Driver result code

DMCOpen

private long DMCOpen()

Galil DMC18x0 native method to open comms with the motion controller

Returns:

Driver result code

DMCClose

private long DMCClose()

Galil DMC18x0 native method to close comms with the motion controller

Returns:

Driver result code

DMCReset

private long DMCReset()

Galil DMC18x0 native method to reset the motion controller

Returns:

Driver result code

DMCRefreshDataRecord

private long DMCRefreshDataRecord()

DMCGetGeneralInputFromDR

private long DMCGetGeneralInputFromDR(int DMCGeneralInputPortBlock)

DMCGetGeneralOutputFromDR

private long DMCGetGeneralOutputFromDR(int DMCGeneralOutputPortBlock)

DMCGetAnalogInputFromDR

private long DMCGetAnalogInputFromDR(int DMCAnalogInputPort)

DMCGetAxisMotorPositionFromDR

private long DMCGetAxisMotorPositionFromDR(int DMCAxisNumber)

DMCGetAxisAuxiliaryPositionFromDR

private long DMCGetAxisAuxiliaryPositionFromDR(int DMCAxisNumber)

open

private void open()

Open communications with the DMC card

close

private void close()

Close communications with the DMC card

reset

private void reset()

Reset the DMC card

sendCommand

MotionControllerResult sendCommand(java.lang.String Command)

Send a command to the motion controller

Parameters:

Command - The command to send

Returns:

Result of the command to the motion controller

setDigitalOutputPortHigh

void setDigitalOutputPortHigh(int theDigitalOutputPort)

Set a digital port output high

Parameters:

theDigitalOutputPort - The number of the digital output port

setDigitalOutputPortLow

void setDigitalOutputPortLow(int theDigitalOutputPort)

Set a digital output port low

Parameters:

theDigitalOutputPort - The number of the digital output port

isDigitalInputPortHigh

boolean isDigitalInputPortHigh(int theInputPort)

Get the condition of a digital input port

Parameters:

theInputPort - The number of the input port

Returns:

Boolean to indicate whether the input port is high

isDigitalOutputPortHigh

boolean isDigitalOutputPortHigh(int theOutputPort)

Get the condition of a digital output port

Parameters:

theOutputPort - The number of the output port

Returns:

Boolean to indicate whether the output port is high

getDigitalInputs

int getDigitalInputs(int digitalInputBlockNumber)

Get the state of a digital input block

Parameters:

digitalInputBlockNumber - The input block number

Returns:

The bytewise state of the input block

getDigitalOutputs

int getDigitalOutputs(int digitalOutputBlockNumber)

Get the state of a digital output block

Parameters:

digitalOutputBlockNumber - The output block number

Returns:

The bytewise state of the output block

getADCReading

double getADCReading(int theADCPort)

Get the value of an a/d port

Parameters:

theADCPort - The number of the a/d port

Returns:

The voltage on the a/d port (-10.0 to +10.0)

setPID

void setPID(MotionControllerAxis theAxis,
            double ProportionalConstant,
            double Integrator,
            double DerivativeConstant)

Set the gain (PID) parameters of an axis

Parameters:

theAxis - The axis

ProportionalConstant - The proportional constant P

Integrator - The integrator I

DerivativeConstant - Thye derivative constant D

setAcceleration

void setAcceleration(MotionControllerAxis theAxis,
                     int Acceleration)

Set the acceleration of an axis

Parameters:

theAxis - The axis

Acceleration - The required acceleration

setDeceleration

void setDeceleration(MotionControllerAxis theAxis,
                     int Deceleration)

Set the deceleration of an axis

Parameters:

theAxis - The axis

Deceleration - The required deceleration

setSmoothing

void setSmoothing(MotionControllerAxis theAxis,
                  double Smoothing)

Set the smoothing of an axis

Parameters:

theAxis - The axis

Smoothing - The required smoothing factor (0=maximum smoothing, 1=no smoothing)

setSpeed

void setSpeed(MotionControllerAxis theAxis,
              int Speed)

Set the speed of an axis

Parameters:

theAxis - The axis

Speed - The required speed

setPositionLimits

void setPositionLimits(MotionControllerAxis theAxis,
                       long ReversePositionLimit,
                       long ForwardPositionLimit)

Set the reverse and forward position limits for an axis

Parameters:

theAxis - The axis

ReversePositionLimit - The reverse position limit

ForwardPositionLimit - The forward position limit

disablePositionLimits

void disablePositionLimits(MotionControllerAxis theAxis)

Disable position limits

Parameters:

theAxis - The axis

setErrorLimit

void setErrorLimit(long errorLimit)

Set the error limit on all axes

Parameters:

errorLimit - The error limit in encoder counts

setMotorsOff

void setMotorsOff()

Set all of the motors to the off condition

setMotorOff

void setMotorOff(MotionControllerAxis theAxis)

Set an axis motor off

Parameters:

theAxis - The axis

setTorqueLimit

void setTorqueLimit(MotionControllerAxis theAxis,
                    double torque)

Set the torque limit

Parameters:

theAxis - The axis

torque - The torque limit

setMotorsServoHere

void setMotorsServoHere()

Set all of the motors servoing

setMotorServoHere

void setMotorServoHere(MotionControllerAxis theAxis)

Set an axis motor servoing

Parameters:

theAxis - The axis

setDualLoop

void setDualLoop(MotionControllerAxis theAxis,
                 boolean state)

Set the axis to use the dual loop method

Parameters:

theAxis - MotionControllerAxis

state - boolean

defineEncoderPosition

void defineEncoderPosition(MotionControllerAxis theAxis,
                           long Position)

Define the axis' encoder position

Parameters:

theAxis - The axis

Position - The position the axis is to be defined at

defineAuxiliaryEncoderPosition

void defineAuxiliaryEncoderPosition(MotionControllerAxis theAxis,
                                    long Position)

Define the axis' auxiliary encoder position

Parameters:

theAxis - The axis

Position - The position the axis is to be defined at

home

void home(MotionControllerAxis theAxis)

Find and define the home position of an axis

Parameters:

theAxis - The axis to be homed

home

void home(MotionControllerAxis theAxis1,
          MotionControllerAxis theAxis2)

Find and define the home position of two axes

Parameters:

theAxis1 - The first axis to be homed

theAxis2 - The second axis to be homed

jog

void jog(MotionControllerAxis theAxis,
         long Speed)

Jog an axis

Parameters:

theAxis - The axis

Speed - The jogging speed

move

void move(MotionControllerAxis theAxis,
          long Position)

Move an axis to the required position

Parameters:

theAxis - The axis to be moved

Position - The position to which the axis is to be moved

move

void move(MotionControllerAxis theAxis1,
          MotionControllerAxis theAxis2,
          long Position1,
          long Position2)

Move 2 axes to the required positions - this does not produce a linear motion

Parameters:

theAxis1 - Axis 1 to be moved

theAxis2 - Axis 2 to be moved

Position1 - The demand position for axis 1

Position2 - The demand position for axis 1

offset

void offset(MotionControllerAxis theAxis,
            long Offset)

Offset an axis

Parameters:

theAxis - The axis to be offset

Offset - The offset

offset

void offset(MotionControllerAxis theAxis1,
            MotionControllerAxis theAxis2,
            long Offset1,
            long Offset2)

Offset 2 axes - this does not produce a linear motion

Parameters:

theAxis1 - The first axis

theAxis2 - The second axis

Offset1 - The first axis offset

Offset2 - The second axis offset

moveVector

void moveVector(MotionControllerAxis theAxis1,
                MotionControllerAxis theAxis2,
                long Position1,
                long Position2,
                long VectorSpeed,
                long VectorAcceleration)

Move 2 axes in a linear motion

Parameters:

theAxis1 - The first axis

theAxis2 - The second axis

Position1 - The first axis position

Position2 - The second axis position

VectorSpeed - The speed of the linear motion

VectorAcceleration - The acceleration of the linear motion

moveVector

void moveVector(MotionControllerAxis theAxis1,
                MotionControllerAxis theAxis2,
                MotionControllerAxis theAxis3,
                long Position1,
                long Position2,
                long Position3,
                long VectorSpeed,
                long VectorAcceleration)

Move 3 axes in a linear motion

Parameters:

theAxis1 - The first axis

theAxis2 - The second axis

theAxis3 - The third axis

Position1 - The first axis position

Position2 - The second axis position

Position3 - The third axis position

VectorSpeed - The speed of the linear motion

VectorAcceleration - The acceleration of the linear motion

offsetVector

void offsetVector(MotionControllerAxis theAxis1,
                  MotionControllerAxis theAxis2,
                  long Offset1,
                  long Offset2,
                  long VectorSpeed,
                  long VectorAcceleration)

Offset 2 axes in a linear motion

Parameters:

theAxis1 - The first axis

theAxis2 - The second axis

Offset1 - The first axis offset

Offset2 - The second axis offset

VectorSpeed - The speed of the linear motion

VectorAcceleration - The acceleration of the linear motion

getPosition

long getPosition(MotionControllerAxis theAxis)

Get the main encoder position of an axis

Parameters:

theAxis - The axis

Returns:

The main encoder position

getPosition

MotionControllerResult getPosition()

Get the positions of all of the main encoders

Returns:

The motion controller result

getReferencePosition

long getReferencePosition(MotionControllerAxis theAxis)

Get the main encoder reference position of an axis

Parameters:

theAxis - The axis

Returns:

The main encoder reference position

getReferencePosition

MotionControllerResult getReferencePosition()

Get the reference positions of all of the main encoders

Returns:

The motion controller result

getPositionError

long getPositionError(MotionControllerAxis theAxis)

Get the position error of an axis

Parameters:

theAxis - The axis

Returns:

The position error

getAuxiliaryEncoderPosition

long getAuxiliaryEncoderPosition(MotionControllerAxis theAxis)

Get the auixiliary encoder position

Parameters:

theAxis - The axis

Returns:

The auxiliary encoder position

getAcceleration

long getAcceleration(MotionControllerAxis theAxis)

Get the acceleration of an axis

Parameters:

theAxis - The axis

Returns:

The current acceleration of the axis

getDeceleration

long getDeceleration(MotionControllerAxis theAxis)

Get the deceleration of an axis

Parameters:

theAxis - The axis

Returns:

The current deceleration of the axis

getSpeed

long getSpeed(MotionControllerAxis theAxis)

Get the speed of an axis

Parameters:

theAxis - The axis

Returns:

The current speed of the axis

findIndex

void findIndex(MotionControllerAxis theAxis)

Find the index pulse of an axis

Parameters:

theAxis - The axis

findEdge

void findEdge(MotionControllerAxis theAxis)

Find the home switch edge of an axis

Parameters:

theAxis - The axis

findEdge

void findEdge(MotionControllerAxis theAxis1,
              MotionControllerAxis theAxis2)

Find the home switch edges of 2 axes

Parameters:

theAxis1 - The axis 1

theAxis2 - The axis 2

wait

void wait(MotionControllerAxis theAxis)

Wait for an axis to complete it's motion

Parameters:

theAxis - The axis

wait

void wait(MotionControllerAxis theAxis1,
          MotionControllerAxis theAxis2,
          MotionControllerAxis theAxis3)

Wait for 3 axes to complete motion

Parameters:

theAxis1 - Axis 1

theAxis2 - Axis 2

theAxis3 - Axis 3

stop

void stop()

Stop motion on all axes

isInHomeSwitch

boolean isInHomeSwitch(MotionControllerAxis theAxis)

Is the axis in it's home switch

Parameters:

theAxis - The axis

Returns:

Boolean to indicate whether the axis is in it's home switch

isInForwardLimit

boolean isInForwardLimit(MotionControllerAxis theAxis)

Check the forward limit of an axis

Parameters:

theAxis - The axis

Returns:

Boolean to indicate if the axis is in the forward limit

isInReverseLimit

boolean isInReverseLimit(MotionControllerAxis theAxis)

Check the reverse limit of an axis

Parameters:

theAxis - The axis

Returns:

Boolean to indicate if the axis is in the reverse limit

refreshDataRecord

void refreshDataRecord()

Refresh the data record

getGeneralInputFromDR

long getGeneralInputFromDR(int DMCGeneralInputPortBlock)

getGeneralOutputFromDR

long getGeneralOutputFromDR(int DMCGeneralOutputPortBlock)

getAnalogInputFromDR

long getAnalogInputFromDR(int DMCAnalogInputPort)

getAxisMotorPositionFromDR

long getAxisMotorPositionFromDR(int DMCAxisNumber)

getAxisAuxiliaryPositionFromDR

long getAxisAuxiliaryPositionFromDR(int DMCAxisNumber)

axisParameters

private java.lang.String axisParameters(java.util.List axes,
                                        java.util.List parameters)

Create an axis parameter list string

Parameters:

axes - A list of axes

parameters - A list of parameters

Returns:

The list of comma separated parameters for the axis parameters

test

private void test()