public void SendCommandToRunAxis(Axis axis, ControlerCommandCode Code, AxisDir Dir)
{
int BoardIndex = 0;
int AxisIndex = 0;
GetMotorBoardAndAxisIndexByAxisType(axis, ref BoardIndex, ref AxisIndex);
if (!IsControlerConnected((Board)BoardIndex))
{
return;
}
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
temp[CommunicationProtocol.MessageCommandIndex + 1] = (byte)AxisIndex;
if (Dir == AxisDir.Forward)
{
temp[CommunicationProtocol.MessageCommandIndex + 2] = 0x00;
}
else
{
temp[CommunicationProtocol.MessageCommandIndex + 2] = 0x01;
}
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, Code, ref temp);
}
public void SendCommandToRunAxisByTransportType(Axis axis, TransportType type, int steps)
{
int BoardIndex = 0;
int AxisIndex = 0;
GetMotorBoardAndAxisIndexByAxisType(axis, ref BoardIndex, ref AxisIndex);
if (!IsControlerConnected((Board)BoardIndex))
{
return;
}
byte TransportTypeCode = (byte)ControlerCommandCode.SetAxisStepsRef;
if (type == TransportType.Absolute)
{
TransportTypeCode = (byte)ControlerCommandCode.SetAxisStepsAbs;
}
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode(TransportTypeCode, ref temp);
int DataIndex = CommunicationProtocol.MessageCommandIndex + 1;
temp[DataIndex] = (byte)AxisIndex;
temp[DataIndex + 1] = (byte)(steps & 0xffU);
temp[DataIndex + 2] = (byte)((steps >> 8) & 0xffU);
temp[DataIndex + 3] = (byte)((steps >> 16) & 0xffU);
temp[DataIndex + 4] = (byte)((steps >> 24) & 0xffU);
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, (ControlerCommandCode)TransportTypeCode, ref temp);
}
public void SendCommandToControler(Board BoardIndex, ControlerCommandCode Code)
{
if (IsControlerConnected(BoardIndex))
{
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
AddCommandMessageToQueue(BoardIndex, Code, ref temp);
}
}
public bool SendCommandToSetSpeedParam(Axis axis, int velLow, int velHigh, int acc, int dec, bool Default)
{
int BoardIndex = 0;
int AxisIndex = 0;
GetMotorBoardAndAxisIndexByAxisType(axis, ref BoardIndex, ref AxisIndex);
if (!IsControlerConnected((Board)BoardIndex))
{
return(false);
}
ControlerCommandCode Code = Default ? ControlerCommandCode.SetAxisParametersDefault : ControlerCommandCode.SetAxisParameters;
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
int DataIndex = CommunicationProtocol.MessageCommandIndex + 1;
temp[DataIndex] = (byte)AxisIndex;
temp[DataIndex + 1] = (byte)(velLow & 0xffU);
temp[DataIndex + 2] = (byte)((velLow >> 8) & 0xffU);
temp[DataIndex + 3] = (byte)((velLow >> 16) & 0xffU);
temp[DataIndex + 4] = (byte)((velLow >> 24) & 0xffU);
temp[DataIndex + 5] = (byte)(velHigh & 0xffU);
temp[DataIndex + 6] = (byte)((velHigh >> 8) & 0xffU);
temp[DataIndex + 7] = (byte)((velHigh >> 16) & 0xffU);
temp[DataIndex + 8] = (byte)((velHigh >> 24) & 0xffU);
temp[DataIndex + 9] = (byte)(acc & 0xffU);
temp[DataIndex + 10] = (byte)((acc >> 8) & 0xffU);
temp[DataIndex + 11] = (byte)((acc >> 16) & 0xffU);
temp[DataIndex + 12] = (byte)((acc >> 24) & 0xffU);
temp[DataIndex + 13] = (byte)(dec & 0xffU);
temp[DataIndex + 14] = (byte)((dec >> 8) & 0xffU);
temp[DataIndex + 15] = (byte)((dec >> 16) & 0xffU);
temp[DataIndex + 16] = (byte)((dec >> 24) & 0xffU);
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, ControlerCommandCode.SetAxisParametersDefault, ref temp);
return(true);
}
public void SendCommandToSetControlBoardOutput(IO_OUT_Type Io, IOValue Value)
{
int BoardIndex = 0;
int IoOutIndex = 0;
GetIoOutBoardAndAxisIndexByIO_OUT_Type(Io, ref BoardIndex, ref IoOutIndex);
if (!IsControlerConnected((Board)BoardIndex))
{
return;
}
uint outputBuffer = 0; //输出口数据
uint outputEnable = 0; //输出口使能
if (Value == IOValue.High)
{
outputBuffer |= ((uint)1 << IoOutIndex);
}
outputEnable |= ((uint)1 << IoOutIndex);
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)ControlerCommandCode.SetOutput, ref temp);
const int DataIndex = CommunicationProtocol.MessageCommandIndex + 1;
temp[DataIndex + 0] = (byte)(outputEnable & 0xffU);
temp[DataIndex + 1] = (byte)((outputEnable >> 8) & 0xffU);
temp[DataIndex + 2] = (byte)((outputEnable >> 16) & 0xffU);
temp[DataIndex + 3] = (byte)((outputEnable >> 24) & 0xffU);
temp[DataIndex + 4] = (byte)(outputBuffer & 0xffU);
temp[DataIndex + 5] = (byte)((outputBuffer >> 8) & 0xffU);
temp[DataIndex + 6] = (byte)((outputBuffer >> 16) & 0xffU);
temp[DataIndex + 7] = (byte)((outputBuffer >> 24) & 0xffU);
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, ControlerCommandCode.SetOutput, ref temp);
}
public void SendCommandToSetControlBoardOutputByInput(IO_IN_Type Io_In, int Value, IO_OUT_Type Io_Out1, int Out1_Value, IO_OUT_Type Io_Out2, int Out2_Value)
{
int BoardIndex = 0;
int IoInIndex = 0;
GetIoInBoardAndAxisIndexByIO_IN_Type(Io_In, ref BoardIndex, ref IoInIndex);
int indexBoardOut1 = 0;
int IoOut1Index = 0;
GetIoOutBoardAndAxisIndexByIO_OUT_Type(Io_Out1, ref indexBoardOut1, ref IoOut1Index);
int indexBoardOut2 = 0;
int IoOut2Index = 0;
GetIoOutBoardAndAxisIndexByIO_OUT_Type(Io_Out2, ref indexBoardOut2, ref IoOut2Index);
if (!IsControlerConnected((Board)BoardIndex))
{
return;
}
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)ControlerCommandCode.SetOutputByInput, ref temp);
const int DataIndex = CommunicationProtocol.MessageCommandIndex + 1;
temp[DataIndex + 0] = (byte)IoInIndex;
temp[DataIndex + 1] = (byte)Value;
temp[DataIndex + 2] = (byte)IoOut1Index;
temp[DataIndex + 3] = (byte)Out1_Value;
temp[DataIndex + 4] = (byte)IoOut2Index;
temp[DataIndex + 5] = (byte)Out2_Value;
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, ControlerCommandCode.SetOutputByInput, ref temp);
}
public void SendCommandToControlerWithAxis(Axis axis, ControlerCommandCode Code)
{
if (axis >= Axis.Total)
{
return;
}
int BoardIndex = 0;
int AxisIndex = 0;
GetMotorBoardAndAxisIndexByAxisType(axis, ref BoardIndex, ref AxisIndex);
if (IsControlerConnected((Board)BoardIndex))
{
byte[] temp = new byte[CommunicationProtocol.MessageLength];
CommunicationProtocol.MakeSendArrayByCode((byte)Code, ref temp);
temp[CommunicationProtocol.MessageCommandIndex + 1] = (byte)AxisIndex;
temp[CommunicationProtocol.MessageSumCheck] = 0x00;
temp[CommunicationProtocol.MessageSumCheck] = MyMath.CalculateSum(temp, CommunicationProtocol.MessageLength);
AddCommandMessageToQueue((Board)BoardIndex, Code, ref temp);
}
}
