Aerotech系列（2）Aerotech.A3200.Tasks

最新推荐文章于 2025-06-24 15:45:06 发布

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最新推荐文章于 2025-06-24 15:45:06 发布 · 892 阅读

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Icon	Type	Description
	LoadedProgram	Represents a loaded program on the controller.
	LoadedProgramCollection	Exposes programs that are in memory on the controller.
	PathKind	Represents the kind of file specified by a file path.
	Program	Represents a program running on a task
	ProgramFilePoint	Represents a position in a source or binary program file.
	QueueStatus	Represents a set of queue status
	Task	Represents a task. This class exposes properties and methods to control the execution and debug programs running on the task.
	TaskExecutionMode	Represents the task execution modes
	TaskMode	Represents a set of task status
	TasksCollection	Represents the tasks
	TaskState	This value represents information about the state of this task.
	TaskStatus	Contains various task status items such as task error, task warning, task mode, etc.
	TaskStatus0	Represents a set of task status
	TaskStatus1	Represents a set of task status
	TaskStatus2	Represents a set of task status
	TaskVariableContainer	The top-level class that contains all variables for a particular task.

LoadedProgram

Icon	Member	Description
	Associate(TaskId)	Associates the program with a task.
	AssociatedTasks	The tasks the program is associated with.
	Equals(Object)	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	Finalize()()()()	Allows an Object to attempt to free resources and perform other cleanup operations before the Object is reclaimed by garbage collection. (Inherited from Object.)
	GetHashCode()()()()	Serves as a hash function for a particular type. GetHashCode()()()() is suitable for use in hashing algorithms and data structures like a hash table. (Inherited from Object.)
	GetType()()()()	Gets the Type of the current instance. (Inherited from Object.)
	MemberwiseClone()()()()	Creates a shallow copy of the current Object. (Inherited from Object.)
	Name	The name of the PGM program on the controller.
	ToString()()()()	Returns a String that represents the current Object. (Inherited from Object.)
	Unload()()()()	Unloads the program from the controller memory.

Examples:


    try
    {
        // Initialize the connection to the A3200
        Controller^ myController = Controller::Connect();
        // We can stop a program by name
        myController->LoadedPrograms["program.pgm"]->Unload();
        // Or stop and unload all programs
        for each (LoadedProgram^ loadedProgram in myController->LoadedPrograms)
        {
            for each (Task^ associatedTask in loadedProgram->AssociatedTasks)
            {
                associatedTask->Program->Stop();
            }
            loadedProgram->Unload();
        }
        // Disconnect from the network of controllers.
        Controller::Disconnect();
    }
    catch (Exception^ ex)
    {
        Console::WriteLine("Exception occured: {0}", ex->Message);
    }

C#:


    try
    {
        // Initialize the connection to the A3200
        Controller myController = Controller.Connect();
        // We can stop a program by name
        myController.LoadedPrograms["program.pgm"].Unload();
        // Or stop and unload all programs
        foreach (LoadedProgram loadedProgram in myController.LoadedPrograms)
        {
            foreach (Task associatedTask in loadedProgram.AssociatedTasks)
            {
                associatedTask.Program.Stop();
            }
            loadedProgram.Unload();
        }
        // Disconnect from the network of controllers.
        Controller.Disconnect();
    }
    catch (Exception ex)
    {
        Console.WriteLine("Exception occured: {0}", ex.Message);
    }

LoadedProgramCollection

省略

PathKind

Member	Description
Object	The file is an object file.
Source	The file is a source file.

Program

Icon	Member	Description
	Associate(String)	Associates a program loaded on the SMC to the task so that it can be executed
	Associated	Returns a Boolean to denote whether or not a program is currently associated with the task
	BufferedRun(String)	Executes the program in buffered mode on the task, use if program is too big for Run(String)
	Debug	Provides access to advanced program control features to aid in debugging
	Equals(Object)	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	Error	Returns a ErrorInformation object which can be used to retrieve information about any errors on the task
	FileName	Returns the file name of the currently executing program on the task
	Finalize()()()()	Allows an Object to attempt to free resources and perform other cleanup operations before the Object is reclaimed by garbage collection. (Inherited from Object.)
	GetHashCode()()()()	Serves as a hash function for a particular type. GetHashCode()()()() is suitable for use in hashing algorithms and data structures like a hash table. (Inherited from Object.)
	GetType()()()()	Gets the Type of the current instance. (Inherited from Object.)
	InitializeQueue()()()()	Changes the task to execute commands in queue mode
	Load(String)	Compiles (if needed), loads, and associates the loaded file with the task
	MemberwiseClone()()()()	Creates a shallow copy of the current Object. (Inherited from Object.)
	Run(String)	Compiles (if needed), loads, associates, and executes the loaded file on the task
	Start()()()()	Starts execution of the program currently loaded on the task
	Stop()()()()	Stops execution of the currently loaded program.
	Stop(Int32)	Stops execution of the currently loaded program.
	ToString()()()()	Returns a String that represents the current Object. (Inherited from Object.)

Examples：

C++


    try
    {
        // Initialize the connection to the A3200.
        Controller^ myController = Controller::Connect();
        // Put task into Queue mode.
        myController->Tasks[TaskId::T01]->Program->InitializeQueue();
        // Put controller into incremental mode, to guarantee each motion command is executed.
        myController->Commands->Motion->Setup->Incremental();
        // Enable the axis.
        myController->Commands[TaskId::T01]->Motion->Enable("X");
        // Load Queue with a command to perform LINEAR motion.
        for (int i = 0 ; (i < 300); i++)
        {
            while (true)
            {
                try
                {
                    // Load Queue with commands.
                    myController->Commands[TaskId::T01]->Motion->Linear("X", 5, 25);
                    break;
                }
                catch (QueueBufferFullException)
                {
                    // Wait if the Queue is full.
                    Thread::Sleep(10);
                }
            }
        }
        // Collect QueueLineCount to see if there are still commands to execute.
        while (!myController->Tasks[TaskId::T01]->Status->QueueStatus->QueueBufferEmpty)
        {
            // If there are still commands to execute, sleep and then check again on how many commands are left.
            Thread::Sleep(10);
        }
        // Stop using Queue mode.
        myController->Tasks[TaskId::T01]->Program->Stop();
        Controller::Disconnect();
    }
    catch (Exception^ ex)
    {
        Console::WriteLine("Exception occurred: {0}", ex->Message);
    }


    try
    {
        // Initialize the connection to the A3200.
        Controller myController = Controller.Connect();
        // Put task into Queue mode.
        myController.Tasks[TaskId.T01].Program.InitializeQueue();
        // Put controller into incremental mode, to guarantee each motion command is executed.
        myController.Commands.Motion.Setup.Incremental();
        // Enable the axis.
        myController.Commands[TaskId.T01].Motion.Enable("X");
        // Load Queue with a command to perform LINEAR motion.
        for (int i = 0; i < 300; i++)
        {
            while (true)
            {
                try
                {
                    // Load Queue with commands.
                    myController.Commands[TaskId.T01].Motion.Linear("X", 5, 25);
                    break;
                }
                catch (QueueBufferFullException)
                {
                    // Wait if the Queue is full.
                    Thread.Sleep(10);
                }
            }
        }
        // Collect QueueLineCount to see if there are still commands to execute.
        while (!myController.Tasks[TaskId.T01].Status.QueueStatus.QueueBufferEmpty)
        {
            // If there are still commands to execute, sleep and then check again on how many commands are left.
            Thread.Sleep(10);
        }
        // Stop using Queue mode.
        myController.Tasks[TaskId.T01].Program.Stop();
        Controller.Disconnect();
    }
    catch (Exception ex)
    {
        Console.WriteLine("Exception occurred: {0}", ex.Message);
    }

ProgramFilePoint

Icon	Member	Description
	ProgramFilePoint(String, Int32, PathKind)	Creates a new instance of ProgramFilePoint.
	Clone()()()()	Clones the current object.
	Equals(Object)	Compares the current instance of ProgramFilePoint to another instance for equality. (Overrides FilePoint.Equals(Object).)
	Finalize()()()()	Allows an Object to attempt to free resources and perform other cleanup operations before the Object is reclaimed by garbage collection. (Inherited from Object.)
	GetHashCode()()()()	Generates a hash code of the current instance of ProgramFilePoint. (Overrides FilePoint.GetHashCode()()()().)
	GetType()()()()	Gets the

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