//---------------------------------------------------------------------------
private void DataGrid_MotorStatus_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
m_nAxis = DataGrid_MotorStatus.SelectedIndex;
//
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis))
{
return;
}
m_dCmd = Math.Round(mc_Acs.fn_GetTargetPosition(m_nAxis), 3);
m_dEnc = Math.Round(mc_Acs.fn_GetEncoderPosition(m_nAxis), 3);
m_dJerk = Math.Round(mc_Acs.fn_GetParameterJerk(m_nAxis), 3);
m_dVel = Math.Round(mc_Acs.fn_GetParameterVelocity(m_nAxis), 3);
m_dAcc = Math.Round(mc_Acs.fn_GetParameterAcceleration(m_nAxis), 3);
m_dDec = Math.Round(mc_Acs.fn_GetParameterAcceleration(m_nAxis), 3);
TextBox_Cmd.Text = Convert.ToString(m_dCmd);
TextBox_Enc.Text = Convert.ToString(m_dEnc);
TextBox_Jerk.Text = Convert.ToString(m_dJerk);
TextBox_Vel.Text = Convert.ToString(m_dVel);
TextBox_Acc.Text = Convert.ToString(m_dAcc);
TextBox_Dec.Text = Convert.ToString(m_dDec);
}
//---------------------------------------------------------------------------
private void btMoveN01_Click(object sender, RoutedEventArgs e)
{
//
if (m_nSelMotr < 0)
{
return;
}
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nSelMotr))
{
return; //JUNG/200608
}
Button selbtn = sender as Button;
switch (selbtn.Name)
{
default:
break;
case "btMoveN01": IO.fn_MovePTP_R(m_nSelMotr, -0.1); break;
case "btMoveN10": IO.fn_MovePTP_R(m_nSelMotr, -1.0); break;
case "btMoveP01": IO.fn_MovePTP_R(m_nSelMotr, +0.1); break;
case "btMoveP10": IO.fn_MovePTP_R(m_nSelMotr, +1.0); break;
}
}
//---------------------------------------------------------------------------
private void UserButton_Click_1(object sender, RoutedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis))
{
MOTR.SetServo((EN_MOTR_ID)m_nAxis, false);
}
else
{
mc_Acs.fn_SetDisabled(m_nAxis);
}
}
private void UserButton_Click_4(object sender, RoutedEventArgs e)
{
if (!m_bConnect || m_nAxis < 0)
{
return;
}
for (int i = 0; i < motStatusdataTable.Rows.Count; i++)
{
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis))
{
continue;
}
mc_Acs.fn_SetEnabled(i);
}
MOTR.fn_SetEnableSMC();
}
//-------------------------------------------------------------------------------------------------
private void fn_UpdateMotorParameter()
{
for (int i = 0; i < motParameterdataTable.Rows.Count; i++)
{
//
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)i))
{
continue;
}
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.VEL] = Math.Round(mc_Acs.fn_GetParameterVelocity(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.JERK] = Math.Round(mc_Acs.fn_GetParameterJerk(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.ACC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.DEC] = Math.Round(mc_Acs.fn_GetParameterDeceleration(i), 3);
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.KDEC] = Math.Round(mc_Acs.fn_GetParameterKillDeceleration(i), 3);
if (mc_Acs.fn_GetStateSoftwareRightLimit(i))
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWPOT] = "ON";
motParameterdataTable.Rows[i]["POTBACK"] = "Red";
}
else
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWPOT] = "OFF";
motParameterdataTable.Rows[i]["POTBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateSoftwareLeftLimit(i))
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWNOT] = "ON";
motParameterdataTable.Rows[i]["NOTBACK"] = "Red";
}
else
{
motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWNOT] = "OFF";
motParameterdataTable.Rows[i]["NOTBACK"] = "LightGray";
}
}
}
//---------------------------------------------------------------------------
private void fn_tmUpdate(object sender, EventArgs e)
{
//
m_UpdateTimer.Stop();
if (m_bDrngDown)
{
DownBtn.PerformClick();
}
m_nSelMotr = cbMotr.SelectedIndex;
if (m_nSelMotr >= 0)
{
lbCmdPos.Content = MOTR.GetCmdPos((EN_MOTR_ID)m_nSelMotr);
lbEncPos.Content = MOTR.GetEncPos((EN_MOTR_ID)m_nSelMotr);
}
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nSelMotr)) //JUNG/200608
{
btMoveN01.IsEnabled = false;
btMoveN10.IsEnabled = false;
btMoveP01.IsEnabled = false;
btMoveP10.IsEnabled = false;
}
else
{
btMoveN01.IsEnabled = true;
btMoveN10.IsEnabled = true;
btMoveP01.IsEnabled = true;
btMoveP10.IsEnabled = true;
}
m_UpdateTimer.Start();
}
//-------------------------------------------------------------------------------------------------
private void fn_UpdateMotorStatus()
{
for (int j = 0; j < motStatusdataTable.Rows.Count; j++)
{
//
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = MOTR[j].GetServo() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["SBACK"] = MOTR[j].GetServo() ? "Green" : "LightGray";
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd() ? "Green" : "LightGray";
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = MOTR[j].GetAlarm() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["ABACK"] = MOTR[j].GetAlarm() ? "Red" : "LightGray";
continue;
}
if (mc_Acs.fn_GetStateEnabled(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "ON";
motStatusdataTable.Rows[j]["SBACK"] = "Green";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "OFF";
motStatusdataTable.Rows[j]["SBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateAlarmAll(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "ON";
motStatusdataTable.Rows[j]["ABACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "OFF";
motStatusdataTable.Rows[j]["ABACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateMove(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "ON";
motStatusdataTable.Rows[j]["MBACK"] = "Green";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "OFF";
motStatusdataTable.Rows[j]["MBACK"] = "LightGray";
}
//
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd()? "Green" : "LightGray";
if (mc_Acs.fn_GetStateHardwareLeftLimit(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "ON";
motStatusdataTable.Rows[j]["PBACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "OFF";
motStatusdataTable.Rows[j]["PBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateHardwareRightLimit(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "ON";
motStatusdataTable.Rows[j]["NBACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "OFF";
motStatusdataTable.Rows[j]["NBACK"] = "LightGray";
}
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_R] = Math.Round(mc_Acs.fn_GetTargetPosition(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_F] = Math.Round(mc_Acs.fn_GetEncoderPosition(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.JERK] = Math.Round(mc_Acs.fn_GetParameterJerk(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.VELOCITY_F] = Math.Round(mc_Acs.fn_GetParameterVelocity(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ACC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.DEC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3);
}
}