Difference between revisions of "KMotion Libraries - GCode Interpreter - Trajectory Planner - Coordinated Motion - .NET"
From Dynomotion
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(Building the KMotion Libraries) |
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− | == | + | ==Building the KMotion Libraries== |
− | + | To build the KMotion Libraries: | |
+ | # Install [https://visualstudio.microsoft.com/vs/older-downloads/ Microsoft Visual Studio Community 2015] (include MFC option) | ||
+ | # Open '''BuildAllLibs.sln''' Solution from root directory of KMotion Installation | ||
+ | # Select Release or Debug Configuration as desired | ||
+ | # Select Build | Build Solution | ||
+ | # new Library .DLLs and .EXEs will reside in the root\KMotion\Release or Debug folder | ||
+ | |||
+ | ==KMotionDLL.dll== | ||
+ | C++ Library that facilitates and coordinates all the communication to KFLOP. It contains the CKMotionDLL class which provides the multi-process, multi-thread, multi-board access to KFLOP using a Client/Server approach. It also creates and instance of the Coordinated Motion Class and GCode Interpreter Classes. | ||
==GCodeInterpreter.dll== | ==GCodeInterpreter.dll== |
Revision as of 14:04, 26 January 2019
Contents
Building the KMotion Libraries
To build the KMotion Libraries:
- Install Microsoft Visual Studio Community 2015 (include MFC option)
- Open BuildAllLibs.sln Solution from root directory of KMotion Installation
- Select Release or Debug Configuration as desired
- Select Build | Build Solution
- new Library .DLLs and .EXEs will reside in the root\KMotion\Release or Debug folder
KMotionDLL.dll
C++ Library that facilitates and coordinates all the communication to KFLOP. It contains the CKMotionDLL class which provides the multi-process, multi-thread, multi-board access to KFLOP using a Client/Server approach. It also creates and instance of the Coordinated Motion Class and GCode Interpreter Classes.
GCodeInterpreter.dll
C++ Library that facilitates Trajectory Planning, Coordinated Motion, Motion Buffering, and GCode. It contains the CCoordMotion and CGCodeInterpreter classes.
GCode Actions
The GCode Interpreter has a method of invoking generalized "Actions". Actions can be invoked from MCodes, S Words, User Defined Buttons, or Special Actions. The Actions performed can be various operations such as changing the states of one or two I/O Bits, writing a Speed value to a DAC, Invoking a User C Program in KFLOP, Invoking a PC Program, Application Callback, or Executing GCode.
The GCode Interpreter contains a Table of Actions:
- MCODE_ACTION McodeActions[MAX_MCODE_ACTIONS];
An Action is defined by an action code and several parameters (several numeric and a string parameter).
The Actions are packed into a contiguous array of actions. When configuring the Actions from an Application the Array Index is used. When Invoking the Action the Action # is used. See the table below for the relationship.
Index | Description | Action# |
0 | M0 | 0 |
1 | M1 | 1 |
2 | M2 | 2 |
3 | M3 | 3 |
4 | M4 | 4 |
5 | M5 | 5 |
6 | M6 | 6 |
7 | M7 | 7 |
8 | M8 | 8 |
9 | M9 | 9 |
10 | S | 10 |
11 | User But0 | 11 |
12 | User But1 | 12 |
13 | User But2 | 13 |
14 | User But3 | 14 |
15 | User But4 | 15 |
16 | User But5 | 16 |
17 | User But6 | 17 |
18 | User But7 | 18 |
19 | User But8 | 19 |
20 | User But9 | 20 |
21 | M100 | 100 |
22 | M101 | 101 |
23 | M102 | 102 |
24 | M103 | 103 |
25 | M104 | 104 |
26 | M105 | 105 |
27 | M106 | 106 |
28 | M107 | 107 |
29 | M108 | 108 |
30 | M109 | 109 |
31 | M110 | 110 |
32 | M111 | 111 |
33 | M112 | 112 |
34 | M113 | 113 |
35 | M114 | 114 |
36 | M115 | 115 |
37 | M116 | 116 |
38 | M117 | 117 |
39 | M118 | 118 |
40 | M119 | 119 |
41 | M30 | 24 |
42 | Cycle Start | 25 |
43 | Halt | 26 |
44 | Stop | 27 |
45 | FeedHold | 28 |
46 | Resume | 29 |
47 | Prog Start | 30 |
48 | ProgExit | 31 |
KMotion_dotNet.dll
The KMotion Libraries are accessible from Programming environments that support .NET (ie C#, VB, Labview, etc.). The .NET interface allows a single reference to KMotion dotNet.dll to pull in all the available functionality of the library and permit support for things like Auto Complete and type/parameter checking.
On-line html based .NET Library help files are available here.
A Help File Based description of the KMotion dotNet functionality is available here
(note when downloading help files some Operating Systems may require the file to be unblocked in its properties to work fully). See Below: