public AxisGroup(A3200HC a3200HC, string name, string[] nodeNameSet, AxisGroupType groupType, double safetyOffset)
: base(a3200HC, name, 0, 0)
{
this.name = name;
this.a3200HC = a3200HC;
this.type = Type.Axes;
this.axisNoSet = (int[])nodeNameSet.Clone();
if (nodeNameSet.Length < 2)
{
throw new Exception("Node name set must 2 or more name");
}
this.GroupType = groupType;
if (groupType == AxisGroupType.DoubleCarriage)
{
if (nodeNameSet.Length != 2)
{
throw new HardwareException("Double Carriage support only 2 axis number");
}
if (safetyOffset == 0)
{
throw new HardwareException("Double Carriage must have safetyOffset configuration");
}
else
{
this.safetyOffset = safetyOffset;
}
}
}
// native Ensemble units are mm/s for velocity and G for accel
// Constructors & Finalizers -------------------------------------------
public Axis(A3200HC a3200HC, string name, uint nodeId, uint pointId)
: base(a3200HC, name, nodeId, pointId)
{
base.type = Type.Axis;
lastProfile = new MoveProfile();
nativeProfile = new MoveProfile();
}
// Constructors & Finalizers -------------------------------------------
public IOPoint(A3200HC a3200HC, string name, uint nodeId, uint pointId)
{
this.a3200HC = a3200HC;
this.name = name;
this.nodeId = nodeId;
this.pointId = pointId;
}
public void AssignAxis(A3200HC a3200, IAnalogInput iAnalogInput)
{
if (DesignMode)
{
return;
}
_a3200 = a3200;
_iAnalogInput = iAnalogInput;
tmrUpdate.Enabled = true;
}
// Constructors & Finalizers -------------------------------------------
public IONode(A3200HC a3200HC, uint nodeID, string nodeName
, uint digInCount
, uint digOutCount
, uint analogInCount
, uint analogOutCount)
{
this.a3200HC = a3200HC;
this.nodeID = nodeID;
this.nodeName = nodeName;
this.digInCount = (int)digInCount;
this.digOutCount = (int)digOutCount;
this.analogInCount = (int)analogInCount;
this.analogOutCount = (int)analogOutCount;
this.axisCount = 1; //Fix 1 node = 1 axis
digitalInputMap = new Hashtable();
digitalOutputMap = new Hashtable();
analogInputMap = new Hashtable();
analogOutputMap = new Hashtable();
// create all IO points here and assign default names
string pointName;
for (uint point = 0; point < this.digInCount; point++)
{
pointName = string.Format("DigitalIn {0}", point);
this.CreateDigitalInput(pointName, point);
}
for (uint point = 0; point < this.digOutCount; point++)
{
pointName = string.Format("DigitalOut {0}", point);
this.CreateDigitalOutput(pointName, point);
}
for (uint point = 0; point < this.analogInCount; point++)
{
pointName = string.Format("AnalogIn {0}", point);
this.CreateAnalogInput(pointName, point);
}
for (uint point = 0; point < this.analogOutCount; point++)
{
pointName = string.Format("AnalogOut {0}", point);
this.CreateAnalogOutput(pointName, point);
}
for (uint point = 0; point < this.axisCount; point++)
{
pointName = string.Format("Axis {0}", nodeID);
this.CreateAxis(pointName, nodeID);
}
}
public void AssignAxis(A3200HC a3200, int card, int bit)
{
if (DesignMode)
{
return;
}
_a3200 = a3200;
_card = card;
_bit = bit;
tmrUpdate.Enabled = true;
}
// Constructors & Finalizers -------------------------------------------
public AxisGroup(A3200HC a3200HC, string name, uint[] axisNoSet)
: base(a3200HC, name, 0, 0)
{
this.name = name;
this.a3200HC = a3200HC;
this.type = Type.Axes;
this.axisNoSet = (int[])axisNoSet.Clone();
if (axisNoSet.Length < 2)
{
throw new Exception("Node name set must 2 or more name");
}
}
//Analog Input
public void AssignAxis(A3200HC a3200, IAnalogInput iAnalogInput)
{
_a3200 = a3200;
_iAnalogInput = iAnalogInput;
_ioMode = IOMode.AnalogInput;
if (_a3200 != null)
{
try
{
_analogValue = _a3200.GetRawValue(iAnalogInput).ToString();
}
catch (Exception ex)
{ }
}
}
//Input
public void AssignAxis(A3200HC a3200, int card, int bit)
{
_a3200 = a3200;
_card = card;
_bit = bit;
_ioMode = IOMode.Input;
IDigitalInput digitalInput = HSTMachine.Workcell._ioManifest.GetDigitalInput(_bit + (_card * 8));
if (_a3200 != null)
{
try
{
_iostate = _a3200.GetState(digitalInput) == DigitalIOState.On ? true : false;
}
catch (Exception ex)
{ }
}
}
// Constructors & Finalizers -------------------------------------------
internal IOStore(A3200HC a3200HC)
{
this.a3200HC = a3200HC;
}
// Constructors & Finalizers -------------------------------------------
public DigitalInput(A3200HC a3200HC, string name, uint nodeID, uint pointId)
: base(a3200HC, name, nodeID, pointId)
{
base.type = Type.DigitalInput;
}
// Constructors & Finalizers -------------------------------------------
public DigitalOutput(A3200HC iai, string name, uint nodeId, uint pointId)
: base(iai, name, nodeId, pointId)
{
base.type = Type.DigitalOutput;
}
// Constructors & Finalizers -------------------------------------------
public AnalogOutput(A3200HC a3200HC, string name, uint nodeId, uint pointId)
: base(a3200HC, name, nodeId, pointId)
{
base.type = Type.AnalogOutput;
}
