Add control Chiller, control head zone 4, log err job speed,

1 files changed, 315 insertions, 0 deletions

diff --git a/Software/Stubs Collection/stubs/MotorsConfiguration.cs b/Software/Stubs Collection/stubs/MotorsConfiguration.cs
new file mode 100644
index 000000000..28fe007c1
--- /dev/null
+++ b/Software/Stubs Collection/stubs/MotorsConfiguration.cs
@@ -0,0 +1,315 @@
+using System;
+using System.Text;
+using System.Linq;
+using System.Drawing;
+using System.Diagnostics;
+using System.Windows.Forms;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Collections.Generic;
+using Tango.PMR.Hardware;
+using Tango.PMR.Printing;
+using Tango.PMR.Stubs;
+using Tango.Stubs;
+
+HardwareMotor FeederMotor = new HardwareMotor();
+FeederMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
+FeederMotor.MinFrequency = 0;
+FeederMotor.MaxFrequency = 1000000;
+FeederMotor.SetMicroStep = 1;
+FeederMotor.MicroStep = 8;
+FeederMotor.MaxChangeSlope = 4095;
+FeederMotor.HighLengthMicroSecond = 0;
+FeederMotor.SpeedMaster = false;
+FeederMotor.PulsePerRound = 200;
+FeederMotor.PulleyRadius = 1.25;
+FeederMotor.ConfigWord = 0x1C80;
+FeederMotor.DirectionThreadWize = true;
+FeederMotor.KvalHold = 0x35;
+FeederMotor.KvalRun = 0x7f;
+FeederMotor.KvalAcc = 0x7f;
+FeederMotor.KvalDec = 0x7f;
+FeederMotor.OverCurrentThreshold = 7;
+FeederMotor.StallThreshold = 0x1F;
+FeederMotor.ThermalCompensationFactor = 0;
+FeederMotor.LowSpeedOptimization = false;
+FeederMotor.StSlp = 0x20;
+FeederMotor.IntSpd = 0x1A13; //6675
+FeederMotor.FnSlpAcc = 0x50;
+FeederMotor.FnSlpDec = 0x50;
+FeederMotor.FsSpd = 0x27;
+
+HardwareMotor DryerMotor = new HardwareMotor();
+DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
+DryerMotor.MinFrequency = 0;
+DryerMotor.MaxFrequency = 1000000;
+DryerMotor.SetMicroStep = 1;
+DryerMotor.MicroStep = 8;
+DryerMotor.MaxChangeSlope = 4095;
+DryerMotor.HighLengthMicroSecond = 0;
+DryerMotor.SpeedMaster = true;
+DryerMotor.PulsePerRound = 200;
+DryerMotor.PulleyRadius = 1.05;
+DryerMotor.ConfigWord = 0x1c80;  //7296
+DryerMotor.DirectionThreadWize = true;
+DryerMotor.KvalHold = 0x35; //53
+DryerMotor.KvalRun = 0x7f;  //127
+DryerMotor.KvalAcc = 0x7f;
+DryerMotor.KvalDec = 0x7f;
+DryerMotor.OverCurrentThreshold = 7;
+DryerMotor.StallThreshold = 0x1F;
+DryerMotor.ThermalCompensationFactor = 0;
+DryerMotor.LowSpeedOptimization = false;
+DryerMotor.StSlp = 0x20;
+DryerMotor.IntSpd = 0x1A13;
+DryerMotor.FnSlpAcc = 0x50;
+DryerMotor.FnSlpDec = 0x50;
+DryerMotor.FsSpd = 0x27;
+
+HardwareMotor PoolerMotor = new HardwareMotor();
+PoolerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLdriving;
+PoolerMotor.MinFrequency = 0;
+PoolerMotor.MaxFrequency = 1000000;
+PoolerMotor.SetMicroStep = 1;
+PoolerMotor.MicroStep = 8;
+PoolerMotor.MaxChangeSlope = 10000;
+PoolerMotor.HighLengthMicroSecond = 0;
+PoolerMotor.SpeedMaster = false;
+PoolerMotor.PulsePerRound = 200;
+PoolerMotor.PulleyRadius = 1.25;
+PoolerMotor.ConfigWord = 0x1C80;
+PoolerMotor.DirectionThreadWize = true;
+PoolerMotor.KvalHold = 0x35;
+PoolerMotor.KvalRun = 0x7f;
+PoolerMotor.KvalAcc = 0x7f;
+PoolerMotor.KvalDec = 0x7f;
+PoolerMotor.OverCurrentThreshold = 7;
+PoolerMotor.StallThreshold = 0x1F;
+PoolerMotor.ThermalCompensationFactor = 0;
+PoolerMotor.LowSpeedOptimization = false;
+PoolerMotor.StSlp = 20;
+PoolerMotor.IntSpd = 0x1A13;
+PoolerMotor.FnSlpAcc = 0x50;
+PoolerMotor.FnSlpDec = 0x50;
+PoolerMotor.FsSpd = 0x27;
+ 
+HardwareMotor WinderMotor = new HardwareMotor();
+WinderMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoWinder;
+WinderMotor.MinFrequency = 0;
+WinderMotor.MaxFrequency = 100000;
+WinderMotor.SetMicroStep = 1;
+WinderMotor.MicroStep = 16;
+WinderMotor.MaxChangeSlope = 4095;
+WinderMotor.HighLengthMicroSecond = 0;
+WinderMotor.SpeedMaster = false;
+WinderMotor.PulsePerRound = 200;
+WinderMotor.PulleyRadius = 0.8;
+WinderMotor.ConfigWord = 0x1CA0;
+WinderMotor.DirectionThreadWize = false;
+WinderMotor.KvalHold = 0x08;
+WinderMotor.KvalRun = 0x20;
+WinderMotor.KvalAcc = 0x20;
+WinderMotor.KvalDec = 0x20;
+WinderMotor.OverCurrentThreshold = 0xF;
+WinderMotor.StallThreshold = 0x7F;
+WinderMotor.ThermalCompensationFactor = 0;
+WinderMotor.LowSpeedOptimization = false;
+WinderMotor.StSlp = 0x7;
+WinderMotor.IntSpd = 0x22C5;
+WinderMotor.FnSlpAcc = 0x15;
+WinderMotor.FnSlpDec = 0x15;
+WinderMotor.FsSpd = 0x3ff;
+
+HardwareMotor ScrewMotor = new HardwareMotor();
+ScrewMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoScrew;
+ScrewMotor.MinFrequency = 0;
+ScrewMotor.MaxFrequency = 100000;
+ScrewMotor.SetMicroStep = 1;
+ScrewMotor.MicroStep = 8;
+ScrewMotor.MaxChangeSlope = 4095;
+ScrewMotor.HighLengthMicroSecond = 0;
+ScrewMotor.SpeedMaster = false;
+ScrewMotor.PulsePerRound = 200;
+ScrewMotor.PulleyRadius = 1.68;
+ScrewMotor.ConfigWord = 0x1CA0; //7328
+ScrewMotor.DirectionThreadWize = true;
+ScrewMotor.KvalHold = 0x1;
+ScrewMotor.KvalRun = 0x20;
+ScrewMotor.KvalAcc = 0x20;
+ScrewMotor.KvalDec = 0x20;
+ScrewMotor.OverCurrentThreshold = 0xF;
+ScrewMotor.StallThreshold = 0x7F;
+ScrewMotor.ThermalCompensationFactor = 0;
+ScrewMotor.LowSpeedOptimization = false;
+ScrewMotor.StSlp = 0x7;
+ScrewMotor.IntSpd = 0x22C5; //8901
+ScrewMotor.FnSlpAcc = 0x15;
+ScrewMotor.FnSlpDec = 0x15;
+ScrewMotor.FsSpd = 0x27;
+
+
+HardwareMotor LeftRockerMotor = new HardwareMotor();
+LeftRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoLloading;
+LeftRockerMotor.MinFrequency = 0;
+LeftRockerMotor.MaxFrequency = 1000000;
+LeftRockerMotor.SetMicroStep = 1;
+LeftRockerMotor.MicroStep = 4;
+LeftRockerMotor.MaxChangeSlope = 4095;
+LeftRockerMotor.HighLengthMicroSecond = 0;
+LeftRockerMotor.SpeedMaster = false;
+LeftRockerMotor.PulsePerRound = 200;
+LeftRockerMotor.PulleyRadius = 1.3;
+LeftRockerMotor.ConfigWord = 0xC80;
+LeftRockerMotor.DirectionThreadWize = true;
+LeftRockerMotor.KvalHold = 0x28;
+LeftRockerMotor.KvalRun = 0x5f;
+LeftRockerMotor.KvalAcc = 0x5f;
+LeftRockerMotor.KvalDec = 0x5f;
+LeftRockerMotor.OverCurrentThreshold = 7;
+LeftRockerMotor.StallThreshold = 0x1F;
+LeftRockerMotor.ThermalCompensationFactor = 0;
+LeftRockerMotor.LowSpeedOptimization = false;
+LeftRockerMotor.StSlp = 6;
+LeftRockerMotor.IntSpd = 0x44B8;
+LeftRockerMotor.FnSlpAcc = 0x14;
+LeftRockerMotor.FnSlpDec = 0x14;
+
+HardwareMotor RightRockerMotor = new HardwareMotor();
+RightRockerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
+RightRockerMotor.MinFrequency = 0;
+RightRockerMotor.MaxFrequency = 1000000;
+RightRockerMotor.SetMicroStep = 1;
+RightRockerMotor.MicroStep = 4;
+RightRockerMotor.MaxChangeSlope = 4095;
+RightRockerMotor.HighLengthMicroSecond = 0;
+RightRockerMotor.SpeedMaster = false;
+RightRockerMotor.PulsePerRound = 200;
+RightRockerMotor.PulleyRadius = 1.3;
+RightRockerMotor.ConfigWord = 0xC80;
+RightRockerMotor.DirectionThreadWize = true;
+RightRockerMotor.KvalHold = 0x28;
+RightRockerMotor.KvalRun = 0x5f;
+RightRockerMotor.KvalAcc = 0x5f;
+RightRockerMotor.KvalDec = 0x5f;
+RightRockerMotor.OverCurrentThreshold = 7;
+RightRockerMotor.StallThreshold = 0x1F;
+RightRockerMotor.ThermalCompensationFactor = 0;
+RightRockerMotor.LowSpeedOptimization = false;
+RightRockerMotor.StSlp = 6;
+RightRockerMotor.IntSpd = 0x44B8;
+RightRockerMotor.FnSlpAcc = 0x14;
+RightRockerMotor.FnSlpDec = 0x14;
+RightRockerMotor.FsSpd = 0x27;
+
+HardwareMotor Dispenser4Motor = new HardwareMotor();
+Dispenser4Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser4;
+Dispenser4Motor.MinFrequency = 0;
+Dispenser4Motor.MaxFrequency = 100000;
+Dispenser4Motor.SetMicroStep = 1;
+Dispenser4Motor.MicroStep = 16;
+Dispenser4Motor.MaxChangeSlope = 0x7FF;
+Dispenser4Motor.HighLengthMicroSecond = 0;
+Dispenser4Motor.SpeedMaster = false;
+Dispenser4Motor.PulsePerRound = 400;
+Dispenser4Motor.PulleyRadius = 1.68;
+Dispenser4Motor.ConfigWord = 0x1CA0;
+Dispenser4Motor.DirectionThreadWize = true;
+Dispenser4Motor.KvalHold = 0x21;
+Dispenser4Motor.KvalRun = 0xc0;
+Dispenser4Motor.KvalAcc = 0x2e;
+Dispenser4Motor.KvalDec = 0x3ff;
+Dispenser4Motor.OverCurrentThreshold = 0xF;
+Dispenser4Motor.StallThreshold = 0x1F;
+Dispenser4Motor.ThermalCompensationFactor = 0;
+Dispenser4Motor.LowSpeedOptimization = false;
+Dispenser4Motor.StSlp = 0x9;
+Dispenser4Motor.IntSpd = 0x1AD2;
+Dispenser4Motor.FnSlpAcc = 0x26;
+Dispenser4Motor.FnSlpDec = 0x26;
+Dispenser4Motor.FsSpd = 0x3ff;
+
+HardwareMotor Dispenser7Motor = new HardwareMotor();
+Dispenser7Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser7;
+Dispenser7Motor.MinFrequency = 0;
+Dispenser7Motor.MaxFrequency = 100000;
+Dispenser7Motor.SetMicroStep = 1;
+Dispenser7Motor.MicroStep = 16; // MultiStep[8] = {1,2,4,8,16,32,64,128};
+Dispenser7Motor.MaxChangeSlope = 20; // ACC + DEC
+Dispenser7Motor.HighLengthMicroSecond = 0;
+Dispenser7Motor.SpeedMaster = false;
+Dispenser7Motor.PulsePerRound = 400;
+Dispenser7Motor.PulleyRadius = 1.68;
+Dispenser7Motor.ConfigWord = 0x1CA0;//0x1CA0   7328
+Dispenser7Motor.DirectionThreadWize = false;
+Dispenser7Motor.KvalHold = 0x21;
+Dispenser7Motor.KvalRun = 0xff;//0xc0
+Dispenser7Motor.KvalAcc = 0x40; // + KvalDec 0x80
+Dispenser7Motor.KvalDec = 0x080; //x_FS_SPD   - 0x3FF (max.) the system always works in microstepping mode
+Dispenser7Motor.OverCurrentThreshold = 0xF;
+Dispenser7Motor.StallThreshold = 0x7F;//0x40
+Dispenser7Motor.ThermalCompensationFactor = 0;
+Dispenser7Motor.LowSpeedOptimization = false;
+Dispenser7Motor.StSlp = 0x09;//0x09
+Dispenser7Motor.IntSpd = 0x44B8;//0x1AD2;  //44b8=17592
+Dispenser7Motor.FnSlpAcc = 0x26;//0x26
+Dispenser7Motor.FnSlpDec = 0x26;
+Dispenser7Motor.FsSpd = 0x3ff;
+
+HardwareMotor Dispenser8Motor = new HardwareMotor();
+Dispenser8Motor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDispenser8;
+Dispenser8Motor.MinFrequency = 0;
+Dispenser8Motor.MaxFrequency = 100000;
+Dispenser8Motor.SetMicroStep = 1;
+Dispenser8Motor.MicroStep = 16;
+Dispenser8Motor.MaxChangeSlope = 0x7FF;
+Dispenser8Motor.HighLengthMicroSecond = 0;
+Dispenser8Motor.SpeedMaster = false;
+Dispenser8Motor.PulsePerRound = 400;
+Dispenser8Motor.PulleyRadius = 1.68;
+Dispenser8Motor.ConfigWord = 0x1CA0;
+Dispenser8Motor.DirectionThreadWize = true;
+Dispenser8Motor.KvalHold = 0x21;
+Dispenser8Motor.KvalRun = 0xc0;
+Dispenser8Motor.KvalAcc = 0x2e;
+Dispenser8Motor.KvalDec = 0x3ff;
+Dispenser8Motor.OverCurrentThreshold = 0xF;
+Dispenser8Motor.StallThreshold = 0x1F;
+Dispenser8Motor.ThermalCompensationFactor = 0;
+Dispenser8Motor.LowSpeedOptimization = false;
+Dispenser8Motor.StSlp = 0x9;
+Dispenser8Motor.IntSpd = 0x1AD2;
+Dispenser8Motor.FnSlpAcc = 0x26;
+Dispenser8Motor.FnSlpDec = 0x26;
+Dispenser8Motor.FsSpd = 0x3ff;
+
+HardwareMotor DryerLoadarm = new HardwareMotor();
+DryerLoadarm.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerLoadarm;
+DryerLoadarm.MinFrequency = 0;
+DryerLoadarm.MaxFrequency = 1000000;
+DryerLoadarm.SetMicroStep = 1;
+DryerLoadarm.MicroStep = 1;
+DryerLoadarm.MaxChangeSlope = 10000;
+DryerLoadarm.HighLengthMicroSecond = 0;
+DryerLoadarm.SpeedMaster = false;
+DryerLoadarm.PulsePerRound = 200;
+DryerLoadarm.PulleyRadius = 1.25;
+DryerLoadarm.ConfigWord = 0x1C80;
+DryerLoadarm.DirectionThreadWize = false;
+DryerLoadarm.KvalHold = 0x35;
+DryerLoadarm.KvalRun = 0x7f;
+DryerLoadarm.KvalAcc = 0x7f;
+DryerLoadarm.KvalDec = 0x27;
+DryerLoadarm.OverCurrentThreshold = 7;
+DryerLoadarm.StallThreshold = 0x1F;
+DryerLoadarm.ThermalCompensationFactor = 0;
+DryerLoadarm.LowSpeedOptimization = false;
+DryerLoadarm.StSlp = 0x20;
+DryerLoadarm.IntSpd = 0x1A13;
+DryerLoadarm.FnSlpAcc = 0x50;
+DryerLoadarm.FnSlpDec = 0x50;
+DryerLoadarm.FsSpd = 0x27;
+
+HardwareWinder Winder = new HardwareWinder();
+Winder.HardwareWinderType = Tango.PMR.Hardware.HardwareWinderType.InternalWinder;
+Winder.MillimeterPerRotation = 20;
+