Table of Contents

Class ActuatorModule

Namespace
Loehnert.Lisrt.Drive.Festo
Assembly
Loehnert.Lisrt.Drive.Festo.dll

Represents a LisRT module for an Festo actuator, with Modbus TCP communication.

public class ActuatorModule : LisrtModule, ILisrtModule, IInitializable, INotifyPropertyChangedEx, INotifyPropertyChanged, IHasServiceView, IPositioningAxis
Inheritance
PropertyChangedBase
ActuatorModule
Implements
INotifyPropertyChangedEx
Inherited Members
PropertyChangedBase.Refresh()
PropertyChangedBase.IsNotifying
PropertyChangedBase.PropertyChanged

Remarks

Configuration

Insert the correct configuration values to the configuration file, which you can find in the Festo Configuration Tool (FCT) on your component under Controller -> Fieldbus -> Factor group tab.

FCT Parameter Module Configuration
Exponent Position PositionFactor and PositionUnit
Exponent Velocity VelocityFactor and VelocityUnit

Festo configuration tool parameters

Modbus Timeout

Some controller (e. g. CMMO) have a Modbus communication timeout. Sometimes it's necessary to increase the time or disable the function.

A common IOException for the Modbus communication timeout is:

Unable to write data to the transport connection: An established connection was aborted by the software in your host machine.

Festo configuration tool operation parameters

Constructors

ActuatorModule(string)

Initializes a new instance of the ActuatorModule class.

public ActuatorModule(string name)

Parameters

name string

Actuator name.

Properties

ControlMode

Gets or sets the control mode.

[Configuration(ControlMode.Positioning)]
public ControlMode ControlMode { get; set; }

Property Value

ControlMode

DisableHasFaultMessage

Gets or sets a value indicating whether the has fault message will be shown.

public bool DisableHasFaultMessage { get; set; }

Property Value

bool

DisableNotReferencedMessage

Gets or sets a value indicating whether the not referenced message will be shown.

public bool DisableNotReferencedMessage { get; set; }

Property Value

bool

EnableDisableTimeoutInMS

Gets or sets the timeout for enabling or disabling the drive in ms. Default is 1000ms.

public uint EnableDisableTimeoutInMS { get; set; }

Property Value

uint

HomingTimeoutInMS

Gets or sets the maximum time in ms for homing. Default is 30000ms.

public uint HomingTimeoutInMS { get; set; }

Property Value

uint

IP

Gets or sets the IP address.

[Configuration("")]
public string IP { get; set; }

Property Value

string

Icon

Gets a icon which is representative for the module.

public override Uri Icon { get; }

Property Value

Uri

InitializationState

Gets a value indicating whether the object is initialized.

public InitializationState InitializationState { get; }

Property Value

InitializationState

PollingInterval

Gets or sets the interval for polling data. Default is 100ms.

public double PollingInterval { get; set; }

Property Value

double

Remarks

Polls with ReadAndUpdateState() on Initialized.

Port

Gets or sets the port.

[Configuration(0)]
public int Port { get; set; }

Property Value

int

PositionFactor

Gets or sets the factor for position.

[Configuration(1)]
public double PositionFactor { get; set; }

Property Value

double

PositionUnit

Gets or sets the position unit.

[Configuration("")]
public string PositionUnit { get; set; }

Property Value

string

SetpointMaximum

Gets or sets the set point maximum.

[Configuration(0, Description = "Minimum for the setpoint value", Unit = "Depends on the control mode")]
public double SetpointMaximum { get; set; }

Property Value

double

SetpointMinimum

Gets or sets the set point minimum.

[Configuration(0, Description = "Minimum for the setpoint value", Unit = "Depends on the control mode")]
public double SetpointMinimum { get; set; }

Property Value

double

State

Gets the state for the actuator. Polling is active after Initialize() with PollingInterval.

public ActuatorState State { get; }

Property Value

ActuatorState

TreeItem

Gets the view model for the module.

public override ITreeItem TreeItem { get; }

Property Value

ITreeItem

VelocityFactor

Gets or sets the factor for velocity.

[Configuration(1)]
public double VelocityFactor { get; set; }

Property Value

double

VelocityUnit

Gets or sets the velocity unit.

[Configuration("")]
public string VelocityUnit { get; set; }

Property Value

string

Methods

DisableDrive()

Disables the drive.

public void DisableDrive()

Remarks

Resets DriveIsEnabled.

Exceptions

InvalidOperationException

Thrown when InitializationState is not Initialized.

TimeoutException

Thrown when drive and motion is not enabled till EnableDisableTimeoutInMS.

DoHoming()

Executes homing. In homing, the reference point of the dimensional reference system is determined.

public void DoHoming()

Exceptions

TimeoutException

Thrown when drive is not ready for homing, or drive doesn't start homing, or drive doesn't finishes homing (see HomingTimeoutInMS).

EnableDrive()

Enables the drive.

public void EnableDrive()

Remarks

Resets IsStop, Halt and Start. Sets DriveIsEnabled.

Exceptions

InvalidOperationException

Thrown when InitializationState is not Initialized.

TimeoutException

Thrown when drive and motion is not enabled till EnableDisableTimeoutInMS.

Exit()

De initializes the actuator.

public void Exit()

GoToPosition(double, int)

Goes to the position.

public void GoToPosition(double position, int timeout = 1000)

Parameters

position double

Set point position.

timeout int

Timeout for MotionIsComplete in MS.

Exceptions

InvalidOperationException

Thrown when PositionFactor is 0 (zero).

ArgumentOutOfRangeException

Thrown when position is not between SetpointMinimum and SetpointMaximum.

InvalidOperationException

Thrown when InitializationState is not Initialized or drive is not enabled or operation is not enabled or ControlMode is not Positioning.

TimeoutException

Thrown when MotionIsComplete is false or AxisIsMoving is true till timeout.

Initialize()

Initializes the actuator.

public void Initialize()

ReadAndUpdateState()

Reads the ActuatorState and updates the State.

protected void ReadAndUpdateState()

Remarks

ReadAndUpdateState() is automatically called while Initialized, depending on PollingInterval.

Exceptions

InvalidOperationException

Thrown when InitializationState is not Initialized.

ResetFault()

Acknowledges a fault.

public void ResetFault()

SetSetpoint(int, int)

Sets and applies a raw set point value.

public void SetSetpoint(int rawValue, int timeout = 1000)

Parameters

rawValue int

Raw set point value.

timeout int

Timeout for reaching the position in MS.

Exceptions

InvalidOperationException

Thrown when InitializationState is not Initialized.

TimeoutException

Thrown when start is not acknowledged till timeout.

ShowServiceView()

Shows the service window.

public void ShowServiceView()

StartNegativeJog()

Starts negative jog.

public void StartNegativeJog()

StartPositiveJog()

Starts positive jog.

public void StartPositiveJog()

StopNegativeJog()

Stops negative jog.

public void StopNegativeJog()

StopPositiveJog()

Stops positive jog.

public void StopPositiveJog()

WriteControlData()

Writes the control data to the actuator.

protected void WriteControlData()

Exceptions

InvalidOperationException

Thrown when InitializationState is not Initialized.