public bool GetLocation(ref string location)
{
SDOUpload upload = new SDOUpload(0x2103, 0);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
if (null != upload.Data)
{
location = Encoding.UTF8.GetString(upload.Data);
}
}
return (actionResult);
}
public bool GetDeviceNodeId(ref byte deviceId)
{
SDOUpload upload = new SDOUpload(0x2101, 0);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
if (null != upload.Data)
{
deviceId = upload.Data[0];
}
}
return (actionResult);
}
public bool GetTimeout(ref UInt16 timeout)
{
SDOUpload upload = new SDOUpload(0x2102, 0);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
if (null != upload.Data)
{
timeout = BitConverter.ToUInt16(upload.Data, 0);
}
}
return (actionResult);
}
public bool GetDeviceType(ref UInt32 deviceType)
{
SDOUpload upload = new SDOUpload(0x1000, 0);
this.pendingAction = upload;
bool actionResult = this.ExchangeCommAction(this.pendingAction);
if (false != actionResult)
{
if ((null != upload.Data) && (upload.Data.Length >= 4))
{
deviceType = BitConverter.ToUInt32(upload.Data, 0);
}
else
{
actionResult = false;
}
}
return (actionResult);
}
public int GetDeviceBaudRate()
{
int result = 0;
SDOUpload upload = new SDOUpload(0x2100, 0);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
if (null != upload.Data)
{
byte baudCode = upload.Data[0];
if (0 == baudCode)
{
result = 10000;
}
else if (1 == baudCode)
{
result = 20000;
}
else if (3 == baudCode)
{
result = 50000;
}
else if (4 == baudCode)
{
result = 125000;
}
else if (5 == baudCode)
{
result = 250000;
}
else if (6 == baudCode)
{
result = 500000;
}
else if (7 == baudCode)
{
result = 1000000;
}
}
}
return (result);
}
public bool GetDrillServoDerivativeControlConstant(ref UInt32 derivativeControlConstant)
{
bool result = false;
SDOUpload upload = new SDOUpload(0x233F, 0);
this.pendingAction = upload;
bool actionResult = this.ExchangeCommAction(this.pendingAction);
if ((false != actionResult) && (null != upload.Data) && (upload.Data.Length >= 4))
{
derivativeControlConstant = BitConverter.ToUInt32(upload.Data, 0);
result = true;
}
return (result);
}
public bool ReadDeviceVersion(ref string deviceVersion)
{
bool result = true;
SDOUpload upload = new SDOUpload(0x100A, 0);
result &= this.ExchangeCommAction(upload);
if ((false != result) &&
(null != upload.Data))
{
deviceVersion = Encoding.UTF8.GetString(upload.Data);
}
return (result);
}
public virtual byte[] SDOUpLoad(UInt16 index, byte subIndex)
{
byte[] result = null;
SDOUpload upload = new SDOUpload(index, subIndex);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
this.commEvent.Reset();
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
result = upload.Data;
}
return (result);
}
public bool Read(UInt16 index, byte subIndex, ref UInt16 value)
{
bool result = true;
SDOUpload upload = new SDOUpload(index, subIndex);
result &= this.ExchangeCommAction(upload);
if ((false != result) &&
(null != upload.Data) &&
(2 >= upload.Data.Length))
{
value = BitConverter.ToUInt16(upload.Data, 0);
}
return (result);
}
public bool GetDeviceNodeOffset(ref byte nodeOffset)
{
SDOUpload upload = new SDOUpload(0x2102, 0);
this.pendingAction = upload;
bool actionResult = this.ExchangeCommAction(this.pendingAction);
if (false != actionResult)
{
if (null != upload.Data)
{
nodeOffset = upload.Data[0];
}
}
return (actionResult);
}
protected bool ReadSDO(UInt16 index, byte subIndex, ref UInt32 value)
{
bool result = false;
if (null == this.FaultReason)
{
SDOUpload upload = new SDOUpload(index, subIndex);
result = this.ExchangeCommAction(upload);
if ((false != result) &&
(null != upload.Data) &&
(4 >= upload.Data.Length))
{
value = BitConverter.ToUInt32(upload.Data, 0);
result = true;
}
else
{
result = false;
}
}
return (result);
}
public bool GetDrillServoErrorLimit(ref UInt16 errorLimit)
{
bool result = false;
SDOUpload upload = new SDOUpload(0x2344, 0);
this.pendingAction = upload;
bool actionResult = this.ExchangeCommAction(this.pendingAction);
if ((false != actionResult) && (null != upload.Data) && (upload.Data.Length >= 2))
{
errorLimit = BitConverter.ToUInt16(upload.Data, 0);
result = true;
}
return (result);
}
public bool GetDrillServoTravelVelocity(ref UInt32 travelVelocity)
{
bool result = false;
SDOUpload upload = new SDOUpload(0x2343, 0);
this.pendingAction = upload;
bool actionResult = this.ExchangeCommAction(this.pendingAction);
if ((false != actionResult) && (null != upload.Data) && (upload.Data.Length >= 4))
{
travelVelocity = BitConverter.ToUInt32(upload.Data, 0);
result = true;
}
return (result);
}
public bool GetDrillServoHomingBackoffCount(ref UInt32 backoffCount)
{
bool result = false;
SDOUpload upload = new SDOUpload(0x2342, 0);
this.pendingAction = upload;
bool actionResult = this.ExchangeCommAction(this.pendingAction);
if ((false != actionResult) && (null != upload.Data) && (upload.Data.Length >= 4))
{
backoffCount = BitConverter.ToUInt32(upload.Data, 0);
result = true;
}
return (result);
}
public bool GetPowerUpState(ref byte powerUpState)
{
SDOUpload upload = new SDOUpload(0x2001, 2);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
if (null != upload.Data)
{
powerUpState = upload.Data[0];
}
}
return (actionResult);
}
public bool ReadDeviceType(ref UInt32 deviceType)
{
bool result = true;
SDOUpload upload = new SDOUpload(0x1000, 0);
result &= this.ExchangeCommAction(upload);
if ((false != result) &&
(null != upload.Data) &&
(4 >= upload.Data.Length))
{
deviceType = BitConverter.ToUInt32(upload.Data, 0);
}
return (result);
}
public bool GetTimeoutIntensity(ref byte timeoutIntensity)
{
SDOUpload upload = new SDOUpload(0x2002, 3);
this.pendingAction = upload;
this.ScheduleAction(this.pendingAction);
bool actionResult = this.commEvent.WaitOne(500);
if (false != actionResult)
{
if (null != upload.Data)
{
timeoutIntensity = upload.Data[0];
}
}
return (actionResult);
}
public bool GetRearDrillServoStatus(ref byte status)
{
bool result = false;
SDOUpload upload = new SDOUpload(0x2347, 0);
this.pendingAction = upload;
bool actionResult = this.ExchangeCommAction(this.pendingAction);
if ((false != actionResult) && (null != upload.Data) && (upload.Data.Length >= 1))
{
status = upload.Data[0];
result = true;
}
return (result);
}
