Quick Guide for the ServoWorks.NET API 2010/7/13

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Janice Rich
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1 Quick Guide for the ServoWorks.NET API 2010/7/13 This document will guide you through creating a simple sample application that jogs axis 1 in a single direction using Soft Servo Systems ServoWorks.NET API. For this tutorial, you will need the following files (included in the ServoWorks.NET API). SwDll.dll ServoWorks API library SwDLLWrapper.dll Wrapper class to access the ServoWorks API library from.net managed code MotionEngine.rtss, MotionParser.rtss, PLC.rtss Real time motion engines You will also need Microsoft Visual Studio 2005 or Microsoft Visual Studio If you are using Visual Studio 2008, you will need to set the.net framework to version First, create a new Visual C# Windows Application. 2. Compile the new application. Navigate to the folder containing the compiled executable (typically bin\debug). Place the files SwDll.dll and SwDLLWrapper.dll in this folder. Inside this folder, create a new folder names Simulation_Engines. Inside this new folder, place the files MotionEngine.rtss, MotionParser.rtss, and PLC.rtss.

2 3. In Visual Studio, go to Project -> Add Reference. In the window that appears, click on the Browse tab. Go to the directory you just placed SwDLLWrapper and click OK.

3 4. You should now see SwDLLWrapper under References in the Solution Explorer.

4 5. Double click on SwDLLWrapper in the Solution Explorer to open the Object Browser. You will see that all members of SwDLLWrapper are in the namespace SWAPI. In particular, the API class contains all the ServoWorks.NET API functions.

5 6. Right click Form1.cs in the Solution Explorer and click on View Code. Add the following line to the list of used namespaces at the top of the code. using SWAPI;

6 7. Add the following line just above the constructor of Form1 (public Form1()). This will create an API object that will be used to call ServoWorks.NET API functions elsewhere in the program. There should only be one object of the API class in any project that uses the ServoWorks.NET API. private API api;

7 8. Create a function InitializeSWAPI and call it in the constructor of Form1. This function will handle the initialization routine for the ServoWorks.NET API. public Form1() { InitializeComponent(); } InitializeSWAPI(); private void InitializeSWAPI() { }

9. Add the following code to the InitializeSWAPI function. Be sure to change the filepath string to the file path containing the simulator engines on your local PC.

8 9. Add the following code to the InitializeSWAPI function. Be sure to change the filepath string to the file path containing the simulator engines on your local PC. If you want to, you may use C# functions that detect the path that the program executable is in. private void InitializeSWAPI() { this.api = new API(); //Initialize the api object //Opens ServoWorks CNC device this.api.sssopendevice("engines", null); String filepath = "C:\\Documents and Settings\\jskim\\My Documents" + "\\Visual Studio 2005\\Projects\\Tutorial\\Tutorial\\bin" + "\\Debug\\Simulation_Engines"; //File path of motion engines //Open motion engines this.api.sssinstalldrivers(filepath, (short)1, (short)1, null); //Starts communication this.api.sssstartinterrupt();

9 } //Turns servo axis 1 on this.api.ssssetservostatus(1, 1); 10. Most ServoWorks.NET API functions return an error code. You can add simple error checking to InitializeSWAPI, as shown in the code below. private void InitializeSWAPI() { Int32 error; this.api = new API(); //Initialize the api object //Opens ServoWorks CNC device error = this.api.sssopendevice("engines", null); Application.Exit(); String filepath = "C:\\Documents and Settings\\jskim\\My Documents" + "\\Visual Studio 2005\\Projects\\Tutorial\\Tutorial\\bin" + "\\Debug\\Simulation_Engines"; //File path of motion engines

} //Open motion engines error = this.api.sssinstalldrivers(filepath, (short)1, (short)1, null); Application.Exit(); //Starts communication error = this.api.sssstartinterrupt(); Application.

10 } //Open motion engines error = this.api.sssinstalldrivers(filepath, (short)1, (short)1, null); Application.Exit(); //Starts communication error = this.api.sssstartinterrupt(); Application.Exit(); //Turns servo axis 1 on error = this.api.ssssetservostatus(1, 1); Application.Exit(); 11. Go to the Design view of Form1 and add a label, two buttons, and a timer. Set the Text of button1 to Start and button2 to Stop. Set the Interval of timer1 to 50 (ms). Set the Enabled state of timer1 to true.

$private void timer1_tick(object sender, EventArgs e) { this.api.sssgetstatus(ref this.status); this.label1.text = this.status.actualposition[0].$

11 12. Double click on timer1 in the Design view to add an event to the timer. Add the following code to the timer routine. This routine will update label1 with the current position of axis1. private void timer1_tick(object sender, EventArgs e) { this.api.sssgetstatus(ref this.status); this.label1.text = this.status.actualposition[0].tostring("f4"); } Also, add the following private object just under the declaration of the API object. private SSS_STATUS status;

12 13. Return to the design view and double click on the Start button to add another event. Add the code below to the event. private void button1_click(object sender, EventArgs e) { JOG_DATA jogdata = new JOG_DATA(); jogdata.axisflags = 1; //Move axis 1 only jogdata.feedrate = 1000; //1000mm/min jogdata.movedirection = 1; //Positive Direction Int32 error = this.api.ssssetncmode(swapi.constants.sss_opmode_jog); MessageBox.Show("Error starting Jog operation."); error = this.api.sssjogstart(jogdata); MessageBox.Show("Error starting Jog operation.");

13 } 14. Return to the design view and double click on the Stop button to add another event. Add the code below to the event. private void button2_click(object sender, EventArgs e) { Int32 error = this.api.sssjogstop(); MessageBox.Show("Error stopping Jog operation.");

14 } 15. Finally, we need to add a close sequence to run when the program closes. We will do this by overriding the OnClosed function that is executed when the main form of the program is closed. Add the following code just below the event handler for the Stop button. protected override void OnClosed(EventArgs e) { Int32 error; //Stops communication error = this.api.sssstopinterrupt(); MessageBox.Show("Error during closing sequence."); //Closes motion engines error = this.api.sssremovedrivers(); MessageBox.Show("Error during closing sequence."); //Closes ServoWorks CNC device error = this.api.sssclosedevice();

You can refer to other sample programs and ServoWorks manuals to learn more about other ServoWorks features, such as incorporating the

15 MessageBox.Show("Error during closing sequence."); base.onclosed(e); }} 16. You can now compile and run the program! Obviously, this program does not do much it just jogs Axis 1 in the positive direction. You can refer to other sample programs and ServoWorks manuals to learn more about other ServoWorks features, such as incorporating the ServoWorks PLC to your program, using ServoWorks parameters, accessing all of the other variables in SSS_STATUS, and using other features such as the Auto mode, which can be used to run a CNC G code program.

16 17. When you deploy a finished program, please be sure to include SwDll.dll and SwDLLWrapper.dll in the same folder as the program executable.

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