From a8130e7ce12f182b8b74c2b543443291595086d2 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Fri, 24 Oct 2025 07:26:56 +0000 Subject: [PATCH 1/2] Create draft PR for #42 From 4d8825c00b30daf71e64165f2f10aa9d3eeb33eb Mon Sep 17 00:00:00 2001 From: peterbarancek <62284244+peterbarancek@users.noreply.github.com> Date: Fri, 24 Oct 2025 09:43:23 +0200 Subject: [PATCH 2/2] +Single and Multi axis jerk added into movement in service * rendering Kuka Krc4Ecat service view --- .../TcoMultiAxis/TcoMultiAxisServiceViewModel.cs | 7 +++++++ .../TcoSingleAxis/TcoSingleAxisServiceViewModel.cs | 2 ++ .../Krc4/Service/TcoKrc4_ECat_v_5_x_xServiceView.xaml.cs | 2 +- .../Krc4/Service/TcoKrc4_Ecat_v_5_x_xServiceViewModel.cs | 2 +- 4 files changed, 11 insertions(+), 2 deletions(-) diff --git a/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoMultiAxis/TcoMultiAxisServiceViewModel.cs b/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoMultiAxis/TcoMultiAxisServiceViewModel.cs index 165279b0..6374ec38 100644 --- a/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoMultiAxis/TcoMultiAxisServiceViewModel.cs +++ b/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoMultiAxis/TcoMultiAxisServiceViewModel.cs @@ -206,6 +206,8 @@ private void MoveToPosition() this.Component._axis1._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis1.Velocity.Synchron; this.Component._axis1._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis1.Acceleration.Synchron; this.Component._axis1._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis1.Deceleration.Synchron; + this.Component._axis1._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis1.Jerk.Synchron; + if ((bool)Axis1MoveAllowed) @@ -218,6 +220,7 @@ private void MoveToPosition() this.Component._axis2._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis2.Velocity.Synchron; this.Component._axis2._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis2.Acceleration.Synchron; this.Component._axis2._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis2.Deceleration.Synchron; + this.Component._axis2._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis2.Jerk.Synchron; if ((bool)Axis2MoveAllowed) @@ -229,6 +232,8 @@ private void MoveToPosition() this.Component._axis3._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis3.Velocity.Synchron; this.Component._axis3._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis3.Acceleration.Synchron; this.Component._axis3._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis3.Deceleration.Synchron; + this.Component._axis3._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis3.Jerk.Synchron; + if ((bool)Axis3MoveAllowed) @@ -240,6 +245,8 @@ private void MoveToPosition() this.Component._axis4._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis4.Velocity.Synchron; this.Component._axis4._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis4.Acceleration.Synchron; this.Component._axis4._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis4.Deceleration.Synchron; + this.Component._axis4._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis4.Jerk.Synchron; + if ((bool)Axis4MoveAllowed) diff --git a/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoSingleAxis/TcoSingleAxisServiceViewModel.cs b/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoSingleAxis/TcoSingleAxisServiceViewModel.cs index bd89b028..0ea96ec6 100644 --- a/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoSingleAxis/TcoSingleAxisServiceViewModel.cs +++ b/src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoSingleAxis/TcoSingleAxisServiceViewModel.cs @@ -177,6 +177,8 @@ private void MoveToPosition() this.Component._axis._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis1.Velocity.Synchron; this.Component._axis._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis1.Acceleration.Synchron; this.Component._axis._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis1.Deceleration.Synchron; + this.Component._axis._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis1.Jerk.Synchron; + diff --git a/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_ECat_v_5_x_xServiceView.xaml.cs b/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_ECat_v_5_x_xServiceView.xaml.cs index 4b96df32..1fd5c6b8 100644 --- a/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_ECat_v_5_x_xServiceView.xaml.cs +++ b/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_ECat_v_5_x_xServiceView.xaml.cs @@ -26,7 +26,7 @@ public TcoKrc4_Ecat_v_5_x_xServiceView() { if (DesignerProperties.GetIsInDesignMode(this)) { - this.DataContext = new TcoKrc4_v_5_x_xServiceViewModel(); + this.DataContext = new TcoKrc4_Ecat_v_5_x_xServiceViewModel(); } InitializeComponent(); diff --git a/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_Ecat_v_5_x_xServiceViewModel.cs b/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_Ecat_v_5_x_xServiceViewModel.cs index 67b4c7c2..d7cc42cb 100644 --- a/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_Ecat_v_5_x_xServiceViewModel.cs +++ b/src/TcoKukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_Ecat_v_5_x_xServiceViewModel.cs @@ -21,7 +21,7 @@ public TcoKrc4_Ecat_v_5_x_xServiceViewModel() :base() } } - public class TcoKrc4_Ecat_v_5_x_xViewModel : TcoKrc4_v_5_x_xServiceViewModel + public class TcoKrc4_Ecat_v_5_x_xViewModel : TcoKrc4_Ecat_v_5_x_xServiceViewModel { } }