public double GetPos(ushort NodeID)
{
if (CardNo.Count == 0)
{
return(0.0);
}
int pos = 0;
double codepos = 0.0;
if (!GetPara(NodeID).IsServoMotor)
{
CPCI_DMC.CS_DMC_01_get_command(CardNo[0], NodeID, 0, ref pos);
}
else
{
CPCI_DMC.CS_DMC_01_get_position(CardNo[0], NodeID, 0, ref pos);
}
codepos = (double)pos / GetPara(NodeID).MotorScale;
return(codepos);
}
private void timer1_Tick(object sender, EventArgs e)
{
//Motion status
int cmd = 0, pos = 0;
short spd = 0;
ushort i, MC_done = 0;
uint MC_status = 0, err = 0;
gnodeid = ushort.Parse(cmbNodeID.Text);
if (chktimer.Checked)
{
//Status
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, gnodeid, 0, ref cmd); //Command
if (rc == 0)
{
txtcommand.Text = cmd.ToString();
}
rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, gnodeid, 0, ref pos); //Feedback
if (rc == 0)
{
txtfeedback.Text = pos.ToString();
}
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, gnodeid, 0, ref spd); //Speed
if (rc == 0)
{
txtspeed.Text = spd.ToString();
}
rc = CPCI_DMC.CS_DMC_01_motion_status(gCardNo, gnodeid, 0, ref MC_status); //Motion done
if (rc == 0)
{
txtmotion.Text = "&H" + Convert.ToString(MC_status, 16);
}
rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, gnodeid, 0, ref err);
if (rc == 0)
{
txtERR.Text = err.ToString();
}
}
}
public void working()
{
int Amount = Convert.ToInt32(txtAmount.Text);
for (int i = 0; i < Amount; i++)
{
//ktrRpm1.Clear();
//ktrRpm2.Clear();
//ktrTorque1.Clear();
//ktrTorque2.Clear();
//motorRpm1.Clear();
//motorRpm2.Clear();
//motorTorque1.Clear();
//motorTorque2.Clear();
chart1.Series[0].Points.Clear();
chart2.Series[0].Points.Clear();
chart3.Series[0].Points.Clear();
chart4.Series[0].Points.Clear();
chart5.Series[0].Points.Clear();
chart6.Series[0].Points.Clear();
chart7.Series[0].Points.Clear();
chart8.Series[0].Points.Clear();
bool boolGo = true;
newturn = true;
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node2, 0, ref cmd1);
rc = CPCI_DMC.CS_DMC_01_start_tr_move(gCardNo, node2, 0, (int)(OneCirclePluse * TransmissionRate), 0, Convert.ToInt32(2133.3333 * -Int16.Parse(txtRpm1.Text)), 0.1, 0.1);
while (true)
{
showMotorState();
saveMotorData();
showChart();
limitSend("000000000006" + "010204000001");
limitX0Listen();
limitSend("000000000006" + "010204010001");
limitX1Listen();
label30.Text = X0Message;
if (X1Message == "01-02-01-01" & boolGo)
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, Int32.Parse(txtRpm2.Text));
}
else if (X1Message == "01-02-01-00")
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, 0);
boolGo = false;
}
else if (X1Message == "01-02-01-01" & !boolGo & X0Message != "01-02-01-00")
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, -Int32.Parse(txtRpm2.Text));
}
else if (X0Message == "01-02-01-00" & !boolGo)
{
KtrBoolClear = true;
label29.Text = "in";
showMotorState();
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, 0);
Thread.Sleep(500);
CPCI_DMC.CS_DMC_01_set_position(gCardNo, node1, 0, 0);
CPCI_DMC.CS_DMC_01_set_command(gCardNo, node1, 0, 0);
//CPCI_DMC.CS_DMC_01_set_position(gCardNo, node2, 0, 0);
//CPCI_DMC.CS_DMC_01_set_command(gCardNo, node2, 0, 0);
break;
}
}
}
}
