public ushort HomeServo(ushort g_uESCCardNo, ushort g_uESCNodeID, ushort uMode, uint nStrVel, uint nMaxVel, ref ushort _mDone, int nOffset = 0)
{
uint _uTacc = Convert.ToUInt32(Convert.ToDouble(0.1));
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_Home_Config(g_uESCCardNo, g_uESCNodeID, 0, uMode, nOffset, nStrVel, nMaxVel, _uTacc);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Slave_Home_Config, ErrorCode = " + g_uRet.ToString());
return(g_uRet);
}
else
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_Home_Move(g_uESCCardNo, g_uESCNodeID, 0);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Slave_Home_Move, ErrorCode = " + g_uRet.ToString());
}
else
{
do
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_Motion_Get_Mdone(0, g_uESCNodeID, 0, ref _mDone);
} while ((_mDone) != 0);
}
return(g_uRet);
}
}
//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
ushort uValue = BitConverterEx.ConvertToUInt16(Status1);
if (uValue != _lastOutputValue)
{
_lastOutputValue = uValue;
ushort uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Set_Output_Value(dIOPara.CardNo, dIOPara.NodeNo, g_uESCSlotID, uValue);
if (uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_DIO_Set_Output_Value, " + GetEtherCATErrorCode(uRet));
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
}
//}
}
/// <summary>
/// 設定Output數值
/// </summary>
/// <param name="bitNum">Bit Number</param>
/// <param name="status">寫入成功回傳true，反之false(DI點一定false)</param>
/// <returns></returns>
public bool SetOutput(ushort bitNum, bool status)
{
if (dIOPara.IsActive)
{
if (ParameterDictionary.GetValue("DO7062BlockScan") == "true")
{
Status1[bitNum] = status;
Status2[bitNum / 8, bitNum % 8] = status;
}
else
{
Stopwatch sw = Stopwatch.StartNew();
ushort uValue = (ushort)(status ? 1 : 0);
ushort uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Set_Single_Output_Value(dIOPara.CardNo, dIOPara.NodeNo, g_uESCSlotID, bitNum, uValue);
if (uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_DIO_Set_Single_Output_Value, " + GetEtherCATErrorCode(uRet));
}
sw.Stop();
//LogHelper.Debug("{0} SetOutput TACT {1}", this.DeviceName, sw.ElapsedMilliseconds);
}
return(true);
}
else
{
return(false);
}
}
//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
ushort uValue = 0, uRet = 0;
uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Get_Input_Value(dIOPara.CardNo, dIOPara.NodeNo, g_uESCSlotID, ref uValue);
if (uRet == CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
for (int nBit = 0; nBit < 16; nBit++)
{
Status1[nBit] = BitConverterEx.TestB(uValue, (byte)nBit);
Status2[nBit / 8, nBit % 8] = BitConverterEx.TestB(uValue, (byte)nBit);
}
}
else
{
throw new Exception("CS_ECAT_Slave_DIO_Get_Input_Value, " + GetEtherCATErrorCode(uRet));
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
//}
}
// Protected implementation of Dispose pattern.
protected override void Dispose(bool disposing)
{
if (disposed)
{
return;
}
if (disposing)
{
// Free any other managed objects here.
//
}
// Free any unmanaged objects here.
if (g_nESCExistCards > 0)
{
foreach (var item in g_uESCCardNoList)
{
CEtherCAT_DLL.CS_ECAT_Master_Reset(item.Value.CardNo);
}
CEtherCAT_DLL.CS_ECAT_Master_Close();
g_nESCExistCards = 0;
}
disposed = true;
}
public ushort getDI(ushort g_uESCCardNo, ushort g_uESCNodeID)
{
ushort _uValue = 0, _SlotNo = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Get_Input_Value(g_uESCCardNo, g_uESCNodeID, _SlotNo, ref _uValue);
return(_uValue);
}
/// <summary>
/// 清除所有DO點狀態
/// </summary>
public void ClearAllOutput()
{
ushort uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Set_Output_Value(dIOPara.CardNo, dIOPara.NodeNo, g_uESCSlotID, 0);
if (uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_DIO_Set_Output_Value, " + GetEtherCATErrorCode(uRet));
}
}
public void SetInpuAverageMode(ADCChannel channelNo, ushort averageTimes)
{
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_ESC8124_Set_Input_AverageMode(adcPara.CardNo, adcPara.NodeNo, (ushort)channelNo, averageTimes);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_ESC8124_Set_Input_AverageMode, " + GetEtherCATErrorCode(g_uRet));
}
}
public void SetInputEnable(ADCChannel channelNo, bool enable)
{
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_R1_EC8124_Set_Input_Enable(adcPara.CardNo, adcPara.NodeNo, (ushort)channelNo, (ushort)(enable ? 1 : 0));
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_R1_EC8124_Set_Input_Enable, " + GetEtherCATErrorCode(g_uRet));
}
}
public void SetInputConvstFreqMode(ADCChannel channelNo, ConvstFreqMode rangeMode)
{
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_ESC8124_Set_Input_ConvstFreq_Mode(adcPara.CardNo, adcPara.NodeNo, (ushort)channelNo, (ushort)rangeMode);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_R1_EC8124_Set_Input_RangeMode, " + GetEtherCATErrorCode(g_uRet));
}
}
public void SetOutputValue(DACChannel channelNo, ushort value)
{
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_AIO_Set_Output_Value(dacPara.CardNo, dacPara.NodeNo, (ushort)channelNo, value);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_AIO_Set_Output_Value, " + GetEtherCATErrorCode(g_uRet));
}
}
public void SetOutputRangeMode(DACChannel channelNo, RangeMode rangeMode)
{
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_R1_EC9144_Set_Output_RangeMode(dacPara.CardNo, dacPara.NodeNo, (ushort)channelNo, (ushort)rangeMode);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_R1_EC9144_Set_Output_RangeMode, " + GetEtherCATErrorCode(g_uRet));
}
}
public ushort MoveP(ushort g_uESCNodeID, ushort g_uConstVel, ushort g_uAccesleration, ushort g_uDeceleration, int g_nTarget)
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_PP_Start_Move(0, g_uESCNodeID, 0, g_nTarget, g_uConstVel, g_uAccesleration, g_uDeceleration, 1);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("CS_ECAT_Slace_PP_Start_Move, ErrorCode = " + g_uRet.ToString());
}
return(g_uRet);
}
public string setOnservo(ushort g_uESCCardNo, ushort g_uESCNodeID, ushort _uCheckOnOff)
{
ushort _g_uESCSlotID = 0;
// _uCheckOnOff = 1;
CEtherCAT_DLL.CS_ECAT_Slave_Motion_Set_Svon(g_uESCCardNo, g_uESCNodeID, _g_uESCSlotID, _uCheckOnOff);
//MessageBox.Show("OK");
return("");
}
public ushort GetInputRangeMode(ADCChannel channelNo)
{
ushort rangeMode = 0;
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_R1_EC8124_Get_Input_RangeMode(adcPara.CardNo, adcPara.NodeNo, (ushort)channelNo, ref rangeMode);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_R1_EC8124_Set_Input_RangeMode, " + GetEtherCATErrorCode(g_uRet));
}
return(rangeMode);
}
public ushort GetInputValue(ADCChannel channelNo)
{
ushort value = 0;
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_AIO_Get_Input_Value(adcPara.CardNo, adcPara.NodeNo, (ushort)channelNo, ref value);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_AIO_Get_Input_Value, " + GetEtherCATErrorCode(g_uRet));
}
return(value);
}
public ushort GetOutputReturnCode(DACChannel channelNo)
{
ushort returnCode = 0;
ushort g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_R1_EC9144_Get_Output_ReturnCode(dacPara.CardNo, dacPara.NodeNo, (ushort)channelNo, ref returnCode);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Slave_R1_EC9144_Get_Output_ReturnCode, " + GetEtherCATErrorCode(g_uRet));
}
return(returnCode);
}
public ushort getMdone(ushort NodeID)
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_Motion_Get_Mdone(0, NodeID, SlotNo, ref StatusMdone);
// Mdone = StatusMdone;
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("CS_ECAT_Slave_Motion_Get_Mdone, ErrorCode = " + g_uRet.ToString());
StatusMdone = 1;
}
return(StatusMdone);
}
public int getPosition(ushort g_uESCCardNo, ushort g_uESCNodeID)
{
int _ngetPos = 0;
ushort _g_uESCSlotID = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_Motion_Get_Position(g_uESCCardNo, g_uESCNodeID, _g_uESCSlotID, ref _ngetPos);
// MessageBox.Show(_ngetPos.ToString());
return(_ngetPos);
// return _ngetPos.ToString();
}
public ushort setDO(ushort g_uESCCardNo, ushort g_uESCNodeID, ushort BitNum, ushort value)
{
ushort _SlotNo = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Set_Single_Output_Value(g_uESCCardNo, g_uESCNodeID, _SlotNo, BitNum, value);
//MessageBox.Show (g_uRet.ToString());
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("CS_ECAT_Slave_DIO_Set_Single_Output_Value, ErrorCode = " + g_uRet.ToString());
}
return(g_uRet);
}
public string getAnalog(ushort g_uESCCardNo, ushort g_uESCNodeID, int CH_Index)
{
int[] g_nModeValue = new int[2];
int[] g_nModeLength = new int[2];
ushort _uValue = 0, uRet = 0, _g_uESCSlotID = 0;
int nIndexMode = 0;
double _dTempData = 0;
uint uRevisionNo = 0;
g_nModeValue[0] = -5;
//g_nModeValue[1] = -10;
g_nModeLength[0] = 10;
//g_nModeLength[1] = 20;
gRevisionNo = uRevisionNo;
_g_uESCSlotID = Convert.ToUInt16(CH_Index);
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_ESC8124_Set_Input_Enable(g_uESCCardNo, g_uESCNodeID, _g_uESCSlotID, 1);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Slave_ESC8124_Set_Input_Enable, ErrorCode = " + g_uRet.ToString());
}
uRet = CEtherCAT_DLL.CS_ECAT_Slave_AIO_Get_Input_Value(g_uESCCardNo, g_uESCNodeID, _g_uESCSlotID, ref _uValue);
if (uRet == CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
if (gRevisionNo == 0x100000)
{
_dTempData = _uValue + 0x8000;
if (_dTempData >= 0x10000)
{
_dTempData -= 0x10000;
}
}
else
{
_dTempData = _uValue;
}
_dTempData = g_nModeValue[nIndexMode] + (_dTempData * g_nModeLength[nIndexMode] / 0xFFFF);
// double _uPvalue = (2.489 * _dTempData) - 3.370 ;
return(_dTempData.ToString("0.###"));
}
return("AD_FAIL");
}
public ushort setPO(ushort g_uESCCardNo, ushort g_uESCNodeID, uint nTargetVel)
{
uint uAcceleration = Convert.ToUInt32(5000);
uint uDeceleration = Convert.ToUInt32(2000);
ushort uRet = CEtherCAT_DLL.CS_ECAT_Slave_PP_Start_Move(g_uESCCardNo, g_uESCNodeID, 0, 300000, nTargetVel, uAcceleration, uDeceleration, 0);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("CS_ECAT_Slave_PP_Start_Move, ErrorCode = " + g_uRet.ToString());
}
return(uRet);
}
public ushort resetPO(ushort g_uESCCardNo, ushort g_uESCNodeID)
{
double dTdec;
// ushort Status = CEtherCAT_DLL.CS_ECAT_Slave_Motion_Sd_Stop(g_uESCCardNo, g_uAxisNo, g_SlotNo, g_Tdec);
dTdec = Convert.ToDouble(1);
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_Motion_Sd_Stop(g_uESCCardNo, g_uESCNodeID, 0, 0);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Slave_Motion_Sd_Stop, ErrorCode = " + g_uRet.ToString());
}
return(g_uRet);
}
public ushort getAI(ushort g_uESCNodeID, ushort CH_Index, ref double uValue)
{
int[] g_nModeValue = new int[2];
int[] g_nModeLength = new int[2];
int nIndexMode = 0;
double _dTempData = 0;
uint uRevisionNo = 0;
g_nModeValue[0] = -5;
//g_nModeValue[1] = -10;
ushort _uValue = 0;
g_nModeLength[0] = 10;
//g_nModeLength[1] = 20;
gRevisionNo = uRevisionNo;
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_ESC8124_Set_Input_Enable(g_uESCCardNo, g_uESCNodeID, CH_Index, 1);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Slave_ESC8124_Set_Input_Enable, ErrorCode = " + g_uRet.ToString());
}
else
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_AIO_Get_Input_Value(g_uESCCardNo, g_uESCNodeID, CH_Index, ref _uValue);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Slave_AIO_Get_Input_Value, ErrorCode = " + g_uRet.ToString());
}
else
{
if (gRevisionNo == 0x100000)
{
_dTempData = _uValue + 0x8000;
if (_dTempData >= 0x10000)
{
_dTempData -= 0x10000;
}
}
else
{
_dTempData = _uValue;
}
}
}
uValue = _dTempData;
return(g_uRet);
}
public ushort ToTarget(ushort g_uESCCardNo, ushort g_uESCNodeID, ref ushort Mdone)
{
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Slave_JOG, ErrorCode = " + g_uRet.ToString());
}
else
{
do
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_Motion_Get_Mdone(g_uESCCardNo, g_uESCNodeID, 0, ref Mdone);
} while (Mdone != 0);
}
return(g_uRet);
}
public bool getDI(ushort g_uESCCardNo, ushort g_uESCNodeID, ushort bitNum)
{
ushort _uValue = 0, _SlotNo = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Get_Input_Value(g_uESCCardNo, g_uESCNodeID, _SlotNo, ref _uValue);
if ((_uValue & (0x1 << bitNum)) == (0x1 << bitNum))
{
return(true);
}
else
{
return(false);
}
}
public bool getDO(ushort g_uESCCardNo, ushort g_uESCNodeID, ushort bitNum)
{
ushort _SlotNo = 0, _value = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Get_Single_Output_Value(g_uESCCardNo, g_uESCNodeID, _SlotNo, bitNum, ref _value);
// MessageBox.Show(g_uRet.ToString());
if ((_value & (0x1 << bitNum)) == (0x1 << bitNum))
{
return(true);
}
else
{
return(false);
}
}
private void InitialCard()
{
try
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Open(ref g_nESCExistCards);
}
catch (Exception ex)
{
throw new Exception("No EtherCat dll can be found!");
}
g_bInitialFlag = false;
if (g_nESCExistCards == 0)
{
throw new Exception("No EtherCat can be found!");
}
else
{
for (ushort uCount = 0; uCount < g_nESCExistCards; uCount++)
{
ushort uCardNo = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Get_CardSeq(uCount, ref uCardNo);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Master_Get_CardSeq, " + GetEtherCATErrorCode(g_uRet));
}
else
{
g_uESCCardNoList.Add(uCount, new CardInfo()
{
CardNo = uCardNo
});
}
}
EtherCATInitializationForm.GetInstance().SetCardList(g_uESCCardNoList);
foreach (var item in g_uESCCardNoList)
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Initial(item.Value.CardNo);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
throw new Exception("CS_ECAT_Master_Initial, " + GetEtherCATErrorCode(g_uRet));
}
}
g_bInitialFlag = true;
}
}
public string initialCard(ushort nCardNumber = 0)
{
ushort nSeq = 0,
g_uRet = 0;
{
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Get_CardSeq(nSeq, ref nCardNumber);
g_uRet = CEtherCAT_DLL.CS_ECAT_Master_Initial(nCardNumber);
if (g_uRet != CEtherCAT_DLL_Err.ERR_ECAT_NO_ERROR)
{
MessageBox.Show("_ECAT_Master_Initial, ErrorCode = " + g_uRet.ToString());
}
}
return("INITIAL");
}
public ushort getDI(ushort g_uESCNodeID, ushort bitNum, out bool _bitValue)
{
ushort _uValue = 0, _SlotNo = 0;
g_uRet = CEtherCAT_DLL.CS_ECAT_Slave_DIO_Get_Input_Value(0, g_uESCNodeID, _SlotNo, ref _uValue);
if ((_uValue & (0x1 << bitNum)) == (0x1 << bitNum))
{
_bitValue = true;
}
else
{
_bitValue = false;
}
return(g_uRet);
}
