public void SetOperationMode(string hostIp, int port, [FromBody] sbyte operationMode)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
ModesOfOperation modesOfOperation = new ModesOfOperation();
modesOfOperation.Write(s, (ModesOfOperation.ModesEnum)operationMode);
}
public bool Homing(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
ModesOfOperation modesOfOperation = new ModesOfOperation();
modesOfOperation.Write(s, ModesOfOperation.ModesEnum.Homing);
while (modesOfOperation.ReadDisplay(s) != ModesOfOperation.ModesEnum.Homing)
{
Thread.Sleep(100);
}
ControlWord controlWord = new ControlWord();
// Byte 19: 31
controlWord.Bit00 = true; // 1
controlWord.Bit01 = true; // 2
controlWord.Bit02 = true; // 4
controlWord.Bit03 = true; // 8
controlWord.Bit04 = true; // 16
controlWord.Write(s);
StatusWord statusWord = new StatusWord();
while (!(statusWord.Bit00 && statusWord.Bit01 && statusWord.Bit02 && statusWord.Bit05 && // 39
statusWord.Bit09 && statusWord.Bit10 && statusWord.Bit12)) // 22
{
statusWord.Read(s);
Thread.Sleep(100);
}
return(true);
}
public sbyte GetOperationModeDisplay(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
ModesOfOperation modesOfOperation = new ModesOfOperation();
var currentMode = modesOfOperation.ReadDisplay(s);
return((sbyte)currentMode);
}
public ControlWord GetControlWord(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
ControlWord controlWord = new ControlWord();
controlWord.Read(s);
return(controlWord);
}
public StatusWord GetStatusWord(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
StatusWord statusWord = new StatusWord();
statusWord.Read(s);
return(statusWord);
}
public bool Init(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
ShutDown(s);
SwitchOn(s);
EnableOperation(s);
return(true);
}
public void SetShaftRevolutions(string hostIp, int port, [FromBody] uint shaftRevolutions)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
byte[] data = BitConverter.GetBytes(shaftRevolutions);
var telegram = new Telegram();
telegram.Length = 23;
telegram.Set(1, AddressConst.ShaftRevolution, 4, data[0], data[1], data[2], data[3]);
var response = telegram.SendAndReceive(s);
}
public uint GetShaftRevolutions(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
var telegram = new Telegram();
telegram.Set(0, AddressConst.ShaftRevolution, 4);
var response = telegram.SendAndReceive(s);
var result = BitConverter.ToUInt32(new byte[] { response.Byte19, response.Byte20, response.Byte21, response.Byte22 }, 0);
return(result);
}
public void SetMethod(string hostIp, int port, [FromBody] sbyte homingMethod)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
byte[] data = BitConverter.GetBytes(homingMethod);
var telegram = new Telegram();
telegram.Length = 20;
telegram.Set(1, AddressConst.HomingMethod, 4, 0, data[0]);
var response = telegram.SendAndReceive(s);
}
public sbyte GetMethod(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
var telegram = new Telegram();
telegram.Set(0, AddressConst.HomingMethod, 4);
var response = telegram.SendAndReceive(s);
var result = (sbyte)response.Byte19;
return(result);
}
public void SetZeroSearchVelocity(string hostIp, int port, [FromBody] uint zeroSearchVelocity)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
byte[] data = BitConverter.GetBytes(zeroSearchVelocity);
var telegram = new Telegram();
telegram.Length = 23;
telegram.Set(1, AddressConst.HomingZeroSearchVelocity, 4, data[0], data[1], data[2], data[3]);
var response = telegram.SendAndReceive(s);
}
public int GetActualPosition(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
var telegram = new Telegram();
telegram.Set(0, AddressConst.PositionActualValue, 4);
var response = telegram.SendAndReceive(s);
var result = BitConverter.ToInt32(new byte[] { response.Byte19, response.Byte20, response.Byte21, response.Byte22 }, 0);
return(result);
}
public void SetTargetPosition(string hostIp, int port, [FromBody] int targetPosition)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
byte[] data = BitConverter.GetBytes(targetPosition);
var telegram = new Telegram();
telegram.Length = 23;
telegram.Set(1, AddressConst.TargetPosition, 4, data[0], data[1], data[2], data[3]);
var response = telegram.SendAndReceive(s);
}
public ushort GetPositionWindowTime(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
var telegram = new Telegram();
telegram.Set(0, AddressConst.PositionWindowTime, 2);
var response = telegram.SendAndReceive(s);
var result = BitConverter.ToUInt16(new byte[] { response.Byte19, response.Byte20 }, 0);
return(result);
}
public void SetControlWord(string hostIp, int port, [FromBody] ControlWord controlWord)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
controlWord.Write(s);
}
