/// <summary>
/// 초기화 함수.
/// </summary>
/// <returns>초기화 성공여부</returns>
public bool Init()
{
Para = new CParaMotorAxl();
//통합 보드 초기화 부분.
if (CAXL.AxlIsOpened() == 0)
{ // 통합 라이브러리가 사용 가능하지 (초기화가 되었는지) 확인
if (CAXL.AxlOpenNoReset(7) != 0) //초기화 사용 하지 않는 오픈.
{ // 통합 라이브러리 초기화
Log.ShowMessage("Motor", "AJIN AXL Lib Loading Error");
return(false);
}
}
uint uStatus = 0;
uint uRet = CAXM.AxmInfoIsMotionModule(ref uStatus);
if (uRet != 0)
{
Log.ShowMessage("Motor", "AJIN AXL Motion Module Loading Error");
return(false);
}
//public static extern uint AxmInfoIsMotionModule(ref uint upStatus);
return(true);
}
public void AxtClose()
{
#if PROGRAM_RUNNING
CAXL.AxlClose();
#endif
return;
}
public void Close()
{
// Ajinextek 시스템 초기화 되었는가?
if (CAXL.AxlIsOpened() != 0)
{
CAXL.AxlClose();
}
}
//상속된것들.
public bool Init()
{
//통합 보드 초기화 부분.
if (CAXL.AxlIsOpened() == 0)
{ // 통합 라이브러리가 사용 가능하지 (초기화가 되었는지) 확인
if (CAXL.AxlOpenNoReset(7) != 0)
{ // 통합 라이브러리 초기화
Log.ShowMessage("Dio", "AJIN AXL Lib Loading Error");
return(false);
}
}
uint uiStatus = 0;
uint uiRet = CAXD.AxdInfoIsDIOModule(ref uiStatus);
if (uiRet != 0)
{
if (uiStatus == 0)
{
Log.ShowMessage("Dio", "AJIN AXL No Exist IO Module");
}
else
{
Log.ShowMessage("Dio", "AJIN AXL Init Failed");
}
return(false);
}
//모듈 정보 확인 부분.
//InPut OutPut Count Set
CAXD.AxdInfoGetModuleCount(ref m_iModuleCnt);
//Get Max I Module , O Module Count.
int iInputCnt = 0, iOutputCnt = 0;
m_aModuleInfo = new TModuleInfo[m_iModuleCnt];
for (int i = 0; i < m_iModuleCnt; i++)
{
CAXD.AxdInfoGetInputCount(i, ref iInputCnt);
CAXD.AxdInfoGetOutputCount(i, ref iOutputCnt);
m_iMaxIn += iInputCnt;
m_iMaxOut += iOutputCnt;
m_aModuleInfo[i].iCntIn = iInputCnt;
m_aModuleInfo[i].iCntOut = iOutputCnt;
//m_aModuleInfo[i].uData = 0 ;
}
return(true);
}
private void CloseWindow()
{
if (EventThread != null)
{
bThread = false;
SetEvent(hInterrupt);
EventThread.Abort();
EventThread = null;
}
CAXL.AxlClose();
}
public void Initialize()
{
// Ajinextek 시스템 초기화 되었는가?
if (CAXL.AxlIsOpened() != 0)
{
return;
}
// Ajinextek 시스템 초기화
Validate(CAXL.AxlOpen(0));
InitializeDIO();
InitializeAxes();
}
public void deactivate(out bool b, out string s)
{
try
{
if (dev.NotExistHW.AXT)
{
b = true; s = ""; return;
}
CAXL.AxlClose();
b = true; s = "";
isActivate = false;
}
catch
{
b = false; s = "Exception Error";
}
}
private void checkInterrupt_CheckedChanged(object sender, System.EventArgs e)
{
int nModuleCount = 0;
CAXD.AxdInfoGetModuleCount(ref nModuleCount);
if (nModuleCount > 0)
{
int nBoardNo = 0;
int nModulePos = 0;
uint uModuleID = 0;
CAXD.AxdInfoGetModule(comboModule.SelectedIndex, ref nBoardNo, ref nModulePos, ref uModuleID);
switch ((AXT_MODULE)uModuleID)
{
case AXT_MODULE.AXT_SIO_DI32:
case AXT_MODULE.AXT_SIO_DB32P:
case AXT_MODULE.AXT_SIO_DB32T:
if (checkInterrupt.Checked)
{
CAXL.AxlInterruptEnable();
CAXD.AxdiInterruptSetModuleEnable(comboModule.SelectedIndex, (uint)AXT_USE.ENABLE);
}
else
{
IntPtr pEvent = (IntPtr)0;
CAXD.AxdiInterruptSetModuleEnable(comboModule.SelectedIndex, (uint)AXT_USE.DISABLE);
CAXL.AxlInterruptDisable();
}
break;
case AXT_MODULE.AXT_SIO_DO32P:
case AXT_MODULE.AXT_SIO_DO32T:
case AXT_MODULE.AXT_SIO_RDB128MLII:
checkInterrupt.Checked = false;
break;
}
}
}
public bool IsEmergency()
{
if (CAXL.AxlIsOpened() == 1)
{
uint value = 0;
CAXD.AxdiReadInportBit(0, 0, ref value);
if (value == 1)
{
return(false);
}
else
{
return(true);
}
}
else
{
return(false);
}
}
public void initLibrary()
{
try
{
if ((CAXL.AxlIsOpened() == (int)AXT_FUNC_RESULT.AXT_RT_OPEN_ALREADY))
{
return;
}
if (CAXL.AxlOpen(7) != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
msgBox.ShowMessage("아젠보드 오류", "아젠 보드 초기화 오류", "현재 아젠 보드가 시스템에 장착되어 있지 않거나 정상적으로 인스톨되어 있지 않습니다.\r\n\r\n제어판에서 확인하십시요!");//("Intialize Fail..!!");
return;
}
if (this.DigitalIO_Open() == false)
{
msgBox.ShowMessage("AT 보드 오류", "AT 보드 DIO 오류",
"현재 DIO 보드가 시스템에 장착되어 있지 않거나 정상적으로 인스톨되어 있지 않습니다.\r\n\r\n제어판에서 확인하십시요!");
}
int uAxisCount = 0;
uint upStatus = 0;
upStatus = CAXM.AxmInfoGetAxisCount(ref uAxisCount);
if (CAXM.AxmInfoIsMotionModule(ref upStatus) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
if (upStatus != (uint)AXT_EXISTENCE.STATUS_EXIST)
{
msgBox.ShowMessage("모션 모듈", "모션 모듈 에러.", "현재 모션 모듈을 찾지 못했습니다. 시스템을 확인해 주십시요!");
}
}
}
catch (System.Exception ex)
{
msgBox.ShowMessage("AT Main Control Board", "AT Main Control Board Initializing Error", "System에서 AT Main Control Board를 찾지 못했습니다. System의 내용을 \r\n\r\n제어판에서 확인하십시요!");
}
}
private bool OpenDevice()
{
//++
// Initialize library
if (CAXL.AxlOpen(7) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
uint uStatus = 0;
if (CAXD.AxdInfoIsDIOModule(ref uStatus) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
if ((AXT_EXISTENCE)uStatus == AXT_EXISTENCE.STATUS_EXIST)
{
int nModuleCount = 0;
if (CAXD.AxdInfoGetModuleCount(ref nModuleCount) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
short i = 0;
int nBoardNo = 0;
int nModulePos = 0;
uint uModuleID = 0;
string strData = "";
for (i = 0; i < nModuleCount; i++)
{
if (CAXD.AxdInfoGetModule(i, ref nBoardNo, ref nModulePos, ref uModuleID) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
switch ((AXT_MODULE)uModuleID)
{
case AXT_MODULE.AXT_SIO_DI32:
strData = String.Format("[{0:D2}:{1:D2}] SIO-DI32", nBoardNo, i);
break;
case AXT_MODULE.AXT_SIO_DO32P:
strData = String.Format("[{0:D2}:{1:D2}] SIO-DO32P", nBoardNo, i);
break;
case AXT_MODULE.AXT_SIO_DB32P:
strData = String.Format("[{0:D2}:{1:D2}] SIO-DB32P", nBoardNo, i);
break;
case AXT_MODULE.AXT_SIO_DO32T:
strData = String.Format("[{0:D2}:{1:D2}] SIO-DO32T", nBoardNo, i);
break;
case AXT_MODULE.AXT_SIO_DB32T:
strData = String.Format("[{0:D2}:{1:D2}] SIO-DB32T", nBoardNo, i);
break;
case AXT_MODULE.AXT_SIO_RDI32:
strData = String.Format("[{0:D2}:{1:D2}] SIO_RDI32", nBoardNo, i);
break;
case AXT_MODULE.AXT_SIO_RDO32:
strData = String.Format("[{0:D2}:{1:D2}] SIO_RDO32", nBoardNo, i);
break;
case AXT_MODULE.AXT_SIO_RDB128MLII:
strData = String.Format("[{0:D2}:{1:D2}] SIO_RDO32", nBoardNo, i);
break;
}
//comboModule.Items.Add(strData);
}
}
//comboModule.SelectedIndex = 0;
}
}
else
{
MessageBox.Show("Module not exist.");
return(false);
}
}
}
else
{
MessageBox.Show("Open Error!");
}
return(true);
}
public void InitDIO()
{
try
{
// Initialize library
uint result = CAXL.AxlOpen(7);
if (result == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS || result == (uint)AXT_FUNC_RESULT.AXT_RT_OPEN_ALREADY)
{
uint uStatus = 0;
if (CAXD.AxdInfoIsDIOModule(ref uStatus) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
if ((AXT_EXISTENCE)uStatus == AXT_EXISTENCE.STATUS_EXIST)
{
int nModuleCount = 0;
if (CAXD.AxdInfoGetModuleCount(ref nModuleCount) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
short i = 0;
int nBoardNo = 0;
int nModulePos = 0;
uint uModuleID = 0;
string strData = "";
for (i = 0; i < nModuleCount; i++)
{
if (CAXD.AxdInfoGetModule(i, ref nBoardNo, ref nModulePos, ref uModuleID) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
switch ((AXT_MODULE)uModuleID)
{
case AXT_MODULE.AXT_SIO_RDI32MLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-DI32", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDI32MSMLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-DO32P", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDI32PMLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-DB32P", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDI32RTEX: strData = String.Format("[{0:D2}:{1:D2}] SIO-DO32T", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_DI32_P: strData = String.Format("[{0:D2}:{1:D2}] SIO-DB32T", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDI32: strData = String.Format("[{0:D2}:{1:D2}] SIO_RDI32", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_DI32: strData = String.Format("[{0:D2}:{1:D2}] SIO_RDO32", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDO32MLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDB128MLII", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDO32AMSMLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RSIMPLEIOMLII", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDO32PMLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDO16AMLII", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDO16AMLII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDO16BMLII", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDO16BMLII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDB96MLII", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDO32RTEX: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDO32RTEX", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_DO32T_P: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDI32RTEX", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDO32: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDB32RTEX", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_DO32P: strData = String.Format("[{0:D2}:{1:D2}] SIO-DI32_P", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_DO32T: strData = String.Format("[{0:D2}:{1:D2}] SIO-DO32T_P", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDB32MLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDB32T", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDB32PMLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-DI32", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDB128MLIIIAI: strData = String.Format("[{0:D2}:{1:D2}] SIO-DO32P", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDB96MLII: strData = String.Format("[{0:D2}:{1:D2}] SIO-DB32P", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDB32RTEX: strData = String.Format("[{0:D2}:{1:D2}] SIO-DO32T", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDB128MLII: strData = String.Format("[{0:D2}:{1:D2}] SIO-DB32T", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_DB32P: strData = String.Format("[{0:D2}:{1:D2}] SIO_RDI32", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RDB32T: strData = String.Format("[{0:D2}:{1:D2}] SIO_RDO32", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_DB32T: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDB128MLII", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_UNDEFINEMLIII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RSIMPLEIOMLII", nBoardNo, i); break;
case AXT_MODULE.AXT_SIO_RSIMPLEIOMLII: strData = String.Format("[{0:D2}:{1:D2}] SIO-RDO16AMLII", nBoardNo, i); break;
}
int inpCnt = 0, outCnt = 0;
CAXD.AxdInfoGetInputCount(i, ref inpCnt);
CAXD.AxdInfoGetOutputCount(i, ref outCnt);
int inStartIndex = m_nInputCount;
int outStartIndex = m_nOutputCount;
m_nInputCount += inpCnt;
m_nOutputCount += outCnt;
int inEndIndex = m_nInputCount - 1;
int outEndIndex = m_nOutputCount - 1;
switch ((AXT_MODULE)uModuleID)
{
case AXT_MODULE.AXT_SIO_DB32P:
case AXT_MODULE.AXT_SIO_RDB32T:
case AXT_MODULE.AXT_SIO_DB32T:
case AXT_MODULE.AXT_SIO_UNDEFINEMLIII:
{
outStartIndex += 16;
outEndIndex += 16;
}
break;
}
ModuleInfo modInfo = new ModuleInfo(i, strData, inpCnt, outCnt, uModuleID, "none", inStartIndex, inEndIndex, outStartIndex, outEndIndex);
m_listModules.Add(modInfo);
}
}
m_nModuleCount = nModuleCount;
}
}
}
}
m_listInNames = new List <string>(m_nInputCount);
for (int i = 0; i < m_nInputCount; i++)
{
m_listInNames.Add("");
}
m_listOutNames = new List <string>(m_nOutputCount);
for (int i = 0; i < m_nOutputCount; i++)
{
m_listOutNames.Add("");
}
}
catch (Exception E)
{
throw E;
}
}
//상속된것들.
public bool Init()
{
//통합 보드 초기화 부분.
if (CAXL.AxlIsOpened() == 0)
{ // 통합 라이브러리가 사용 가능하지 (초기화가 되었는지) 확인
if (CAXL.AxlOpenNoReset(7) != 0)
{ // 통합 라이브러리 초기화
Log.ShowMessage("Aio", "AJIN AXL Lib Loading Error");
return(false);
}
}
uint uiStatus = 0;
uint uiRet = CAXA.AxaInfoIsAIOModule(ref uiStatus);
if (uiRet != 0)
{
if (uiStatus == 0)
{
Log.ShowMessage("Dio", "AJIN AXL No Exist IO Module");
}
else
{
Log.ShowMessage("Dio", "AJIN AXL Init Failed");
}
return(false);
}
//모듈 정보 확인 부분.
//InPut OutPut Count Set
CAXA.AxaInfoGetModuleCount(ref m_iModuleCnt);
//Get Max I Module , O Module Count.
int iInputCnt = 0, iOutputCnt = 0;
m_aModuleInfo = new TModuleInfo[m_iModuleCnt];
for (int i = 0; i < m_iModuleCnt; i++)
{
CAXA.AxaInfoGetInputCount(i, ref iInputCnt);
CAXA.AxaInfoGetOutputCount(i, ref iOutputCnt);
m_iMaxIn += iInputCnt;
m_iMaxOut += iOutputCnt;
m_aModuleInfo[i].iCntIn = iInputCnt;
m_aModuleInfo[i].iCntOut = iOutputCnt;
}
//Range Setting
if (dMin < -10 || dMin > 10)
{
dMin = 0;
}
if (dMax < -10 || dMax > 10)
{
dMax = 0;
}
for (int i = 0; i < m_iMaxIn; i++)
{
CAXA.AxaiSetRange(i, dMin, dMax);
CAXA.AxaiSetTriggerMode(i, 1); //1 - Normal Trigger , 2 - Timer Trigger , 3 - External Trigger
//CAXA.AxaiHwSetBufferOverflowMode(i, 0);
//CAXA.AxaiHwSetSamplePeriod(i, 100);
//CAXA.AxaiHwSetSampleFreq(i, 10);
//CAXA.AxaiHwGetSampleFreq(0, ref d1);
}
for (int i = 0; i < m_iMaxOut; i++)
{
CAXA.AxaoSetRange(i, dMin, dMax);
}
return(true);
}
public void InitMotion()
{
try
{
uint result = CAXL.AxlOpen(7);
if (result != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS && result != (uint)AXT_FUNC_RESULT.AXT_RT_OPEN_ALREADY)
{
return;
}
CAXM.AxmInfoGetAxisCount(ref m_nAxisCount);
if (m_nAxisCount > 0)
{
m_listAxis = new List <AxisAjin>(m_nAxisCount);
for (int i = 0; i < m_nAxisCount; i++)
{
AxisAjin axis = new AxisAjin();
m_listAxis.Add(axis);
}
for (int i = 0; i < m_nAxisCount; i++)
{
int boardNum = 0, modulePos = 0;
uint moduleID = 0;
CAXM.AxmInfoGetAxis(i, ref boardNum, ref modulePos, ref moduleID);
m_listAxis[i].AxisNumber = i;
m_listAxis[i].SetBoardNum(boardNum);
m_listAxis[i].SetModuleId(moduleID);
switch (moduleID)
{
case (uint)AXT_MODULE.AXT_SMC_4V04: m_listAxis[i].DevName = String.Format("{0:00}-[PCIB-QI4A]", i); break;
case (uint)AXT_MODULE.AXT_SMC_2V04: m_listAxis[i].DevName = String.Format("{0:00}-[PCIB-QI2A]", i); break;
case (uint)AXT_MODULE.AXT_SMC_R1V04: m_listAxis[i].DevName = String.Format("{0:00}-(RTEX-PM)", i); break;
case (uint)AXT_MODULE.AXT_SMC_R1V04A4: m_listAxis[i].DevName = String.Format("{0:00}-[RTEX-A4N]", i); break;
case (uint)AXT_MODULE.AXT_SMC_R1V04A5: m_listAxis[i].DevName = String.Format("{0:00}-[RTEX-A5N]", i); break;
case (uint)AXT_MODULE.AXT_SMC_R1V04MLIISV: m_listAxis[i].DevName = String.Format("{0:00}-[MLII-SGDV]", i); break;
case (uint)AXT_MODULE.AXT_SMC_R1V04MLIIPM: m_listAxis[i].DevName = String.Format("{0:00}-(MLII-PM)", i); break;
case (uint)AXT_MODULE.AXT_SMC_R1V04MLIICL: m_listAxis[i].DevName = String.Format("{0:00}-[MLII-CSDL]", i); break;
case (uint)AXT_MODULE.AXT_SMC_R1V04MLIICR: m_listAxis[i].DevName = String.Format("{0:00}-[MLII-CSDH]", i); break;
default: m_listAxis[i].SetModuleName(String.Format("{0:00}-[Unknown]", i)); break;
}
}
m_bIsInitMotion = true;
}
}
catch (Exception E)
{
LogFile.LogExceptionErr(E.ToString());
throw E;
}
}
public void activate(AXT_MODULE sub1, AXT_MODULE sub2, AXT_MODULE sub3, AXT_MODULE sub4, out bool b, out string s)
{
try
{
if (dev.NotExistHW.AXT)
{
b = true; s = "OK"; return;
}
isActivate = false;
try
{
CAXL.AxlClose();
}
catch
{
b = false; s = "Cannot find AXL.DLL"; return;
}
int lIrqNo = 19;
uint uStatus = 0;
int nDIOModule = 0;
int nAIOModule = 0;
DI_ModulCount = 0;
DO_ModulCount = 0;
AIO_ModulCount = 0;
if (sub1 == AXT_MODULE.AXT_SIO_DI32)
{
DI_ModulCount++;
}
if (sub2 == AXT_MODULE.AXT_SIO_DI32)
{
DI_ModulCount++;
}
if (sub3 == AXT_MODULE.AXT_SIO_DI32)
{
DI_ModulCount++;
}
if (sub4 == AXT_MODULE.AXT_SIO_DI32)
{
DI_ModulCount++;
}
if (sub1 == AXT_MODULE.AXT_SIO_DO32P)
{
DO_ModulCount++;
}
if (sub2 == AXT_MODULE.AXT_SIO_DO32P)
{
DO_ModulCount++;
}
if (sub3 == AXT_MODULE.AXT_SIO_DO32P)
{
DO_ModulCount++;
}
if (sub4 == AXT_MODULE.AXT_SIO_DO32P)
{
DO_ModulCount++;
}
if (sub1 == AXT_MODULE.AXT_SIO_AI8AO4HB)
{
AIO_ModulCount++;
}
if (sub2 == AXT_MODULE.AXT_SIO_AI8AO4HB)
{
AIO_ModulCount++;
}
if (sub3 == AXT_MODULE.AXT_SIO_AI8AO4HB)
{
AIO_ModulCount++;
}
if (sub4 == AXT_MODULE.AXT_SIO_AI8AO4HB)
{
AIO_ModulCount++;
}
uint uResult = CAXL.AxlOpen(lIrqNo);
AXT_FUNC_RESULT enReult;
if (uResult != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
enReult = (AXT_FUNC_RESULT)uResult; // convert int to enum
b = false; s = String.Format("AxlOpen Fail : IRQ[{0}], Error Code[{1}] - {2}", lIrqNo, uResult, enReult); return;
}
#region DIO Modul Check
uResult = CAXD.AxdInfoIsDIOModule(ref uStatus);
if (uResult != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
enReult = (AXT_FUNC_RESULT)uResult; // convert int to enum
b = false; s = String.Format("DIO Module Exist Check Fail : Error Code[{0}] - {1}", uResult, enReult); return;
}
if ((AXT_EXISTENCE)uStatus != AXT_EXISTENCE.STATUS_EXIST)
{
if (DI_ModulCount + DO_ModulCount > 0)
{
b = false; s = "CANNOT Find DIO Module!"; return;
}
}
//uResult = CAXD.AxdInfoGetModuleCount(ref nDIOModule);
//if (uResult != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
//{
// enReult = (AXT_FUNC_RESULT)uResult; // convert int to enum
// b = false; s = String.Format("DIO Module Count Check Fail : Error Code[{0}] - {1}", uResult, enReult); return;
//}
//if (DI_ModulCount + DO_ModulCount != nDIOModule)
//{
// b = false; s = String.Format("DIO Module Count Mismatch : Find[{0}] Need[{1}]", nDIOModule, (DI_ModulCount + DO_ModulCount)); return;
//}
int nBoardNo = 0;
int nModulePos = 0;
uint uModuleID = 0;
for (int i = 0; i < nDIOModule; i++)
{
uResult = CAXD.AxdInfoGetModule(i, ref nBoardNo, ref nModulePos, ref uModuleID);
if (uResult != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
enReult = (AXT_FUNC_RESULT)uResult; // convert int to enum
b = false; s = "DIO Module[" + i.ToString() + "] Check Fail : Error Code[" + uResult.ToString() + "] - " + enReult.ToString(); return;
}
if (nBoardNo == 0)
{
if (nModulePos == 0)
{
if (sub1 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub1 modul " + sub1.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else if (nModulePos == 1)
{
if (sub2 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub2 modul " + sub2.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else
{
b = false; s = "nBoardNo[0] uModuleID : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else if (nBoardNo == 1)
{
if (nModulePos == 0)
{
if (sub3 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub3 modul " + sub3.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else if (nModulePos == 1)
{
if (sub4 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub4 modul " + sub4.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else
{
b = false; s = "nBoardNo[1] uModuleID : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
//if (nBoardNo != 0) { b = false; s = "Fail : DIO nBoardNo " + nBoardNo.ToString(); return; }
//if (nModulePos == 0)
//{
// if (sub1 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub1 modul " + sub1.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
//if (nModulePos == 1)
//{
// if (sub2 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub2 modul " + sub2.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
//if (nModulePos == 2)
//{
// if (sub3 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub3 modul " + sub3.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
//if (nModulePos == 3)
//{
// if (sub4 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub4 modul " + sub4.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
}
#endregion
#region AIO Modul Check
uResult = CAXA.AxaInfoIsAIOModule(ref uStatus);
if (uResult != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
enReult = (AXT_FUNC_RESULT)uResult; // convert int to enum
b = false; s = "DIO Module Exist Check Fail : Error Code[" + uResult.ToString() + "] - " + enReult.ToString(); return;
}
if ((AXT_EXISTENCE)uStatus != AXT_EXISTENCE.STATUS_EXIST)
{
if (AIO_ModulCount > 0)
{
b = false; s = "CANNOT Find AIO Module!"; return;
}
}
uResult = CAXA.AxaInfoGetModuleCount(ref nAIOModule);
if (uResult != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
enReult = (AXT_FUNC_RESULT)uResult; // convert int to enum
b = false; s = "AIO Module Count Check Fail : Error Code[" + uResult.ToString() + "] - " + enReult.ToString(); return;
}
if (AIO_ModulCount != nAIOModule)
{
b = false; s = "AIO Module Count Mismatch : Find[" + nAIOModule.ToString() + "] Need[" + (AIO_ModulCount).ToString() + "]"; return;
}
for (int i = 0; i < nAIOModule; i++)
{
uResult = CAXA.AxaInfoGetModule(i, ref nBoardNo, ref nModulePos, ref uModuleID);
if (uResult != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
enReult = (AXT_FUNC_RESULT)uResult; // convert int to enum
b = false; s = "Analog Module[" + i.ToString() + "] Check Fail : Error Code[" + uResult.ToString() + "] - " + enReult.ToString(); return;
}
if (nBoardNo == 0)
{
if (nModulePos == 0)
{
if (sub1 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub1 modul " + sub1.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else if (nModulePos == 1)
{
if (sub2 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub2 modul " + sub2.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else
{
b = false; s = "nBoardNo[0] uModuleID : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else if (nBoardNo == 1)
{
if (nModulePos == 0)
{
if (sub3 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub3 modul " + sub1.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else if (nModulePos == 1)
{
if (sub4 != (AXT_MODULE)uModuleID)
{
b = false; s = "Fail : sub4 modul " + sub2.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
else
{
b = false; s = "nBoardNo[1] uModuleID : " + ((AXT_MODULE)uModuleID).ToString(); return;
}
}
//if (nBoardNo != 1) { b = false; s = "AIO nBoardNo " + nBoardNo.ToString() + " : Fail"; return; }
//if (nModulePos == 0)
//{
// if (sub1 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub1 modul " + sub1.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
//if (nModulePos == 1)
//{
// if (sub2 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub2 modul " + sub2.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
//if (nModulePos == 2)
//{
// if (sub3 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub3 modul " + sub3.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
//if (nModulePos == 3)
//{
// if (sub4 != (AXT_MODULE)uModuleID) { b = false; s = "Fail : sub4 modul " + sub4.ToString() + " : " + ((AXT_MODULE)uModuleID).ToString(); return; }
//}
}
CAXA.AxaoInfoGetChannelCount(ref AO_ChannelCount);
if (AO_ChannelCount != nAIOModule * 4)
{
b = false; s = "Anlog Output Channel Count Check Fail : " + (nAIOModule * 4).ToString() + " : " + AO_ChannelCount.ToString(); return;
}
for (int i = 0; i < AO_ChannelCount; ++i)
{
// 출력 Channel에 0V를 출력한다.
CAXA.AxaoWriteVoltage(i, 0);
}
CAXA.AxaiInfoGetChannelCount(ref AI_ChannelCount);
if (AI_ChannelCount != nAIOModule * 8)
{
b = false; s = "Analog Input Channel Count Check Fail : " + (nAIOModule * 8).ToString() + " : " + AI_ChannelCount.ToString(); return;
}
#endregion
b = true; s = "OK";
isActivate = true;
}
catch
{
b = false; s = "Exception Error";
isActivate = false;
}
}
/// <summary>
/// 종료 함수
/// </summary>
/// <returns>종료 성공여부</returns>
public bool Close()
{
int iRet = CAXL.AxlClose();
return(iRet != 0);
}
public bool Init(double YOneCycleToPulse, double ZOneCycleToPulse, double XOneCycleToPulse, float YOneCycleToStroke, float ZOneCycleToStroke, float XOneCycleToStroke)
{
#if PROGRAM_RUNNING
//++
// 라이브러리 초기화
this.YOneCycleToPulse = YOneCycleToPulse;
this.ZOneCycleToPulse = ZOneCycleToPulse;
this.XOneCycleToPulse = XOneCycleToPulse;
this.YOneCycleToStroke = YOneCycleToStroke;
this.ZOneCycleToStroke = ZOneCycleToStroke;
this.XOneCycleToStroke = XOneCycleToStroke;
if (CAXL.AxlOpen(7) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) // 통합 라이브러리가 사용 가능하지 (초기화가 되었는지)를 확인한다
{
//if (CAXL.AxlOpenNoReset(7) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS) // 통합 라이브러리를 초기화 한다
//{
// MessageBox.Show("라이브러리 초기화 실패 입니다. 프로그램을 다시 실행 시켜 주세요");
// return false;
//}
uint uStatus = 0;
if (CAXM.AxmInfoIsMotionModule(ref uStatus) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)// 모션 모듈이 있는지 확인한다.
{
if (uStatus != (uint)AXT_EXISTENCE.STATUS_EXIST)
{
MessageBox.Show("모션 모듈을 찾을수 없습니다.");
return(false);
}
if (CAXM.AxmInfoGetAxisCount(ref IAxisCount) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)// 모터가 몇개 연결되어 있는지 읽어 온다.
{
if (IAxisCount == 0)
{
MessageBox.Show("연결되어 있는 서보 모터를 찾을 수 없습니다.");
return(false);
}
}
else
{
MessageBox.Show("연결되어 있는 서보모터 정보를 읽어 오는 동안 오류가 발생 하였습니다.");
return(false);
}
}
else
{
MessageBox.Show("모션 모듈 정보를 읽어 오는 동안 오류가 발생하였습니다.");
return(false);
}
}
else
{
MessageBox.Show("라이브러리 초기화 실패 입니다. 프로그램을 다시 실행 시켜 주세요");
return(false);
}
// 사용하시는 베이스보드에 맞추어 Device를 Open하면 됩니다.
// BUSTYPE_ISA : 0
// BUSTYPE_PCI : 1
// BUSTYPE_VME : 2
// BUSTYPE_CPCI(Compact PCI) : 3
//if (CAXL.AxlIsOpened() != 0) // 지정한 버스(PCI)가 초기화 되었는지를 확인한다
//{
// uint uStatus = 0;
// CAXM.AxmInfoIsMotionModule(ref uStatus);// 모션 모듈이 있는지 확인한다.
// if (uStatus != (uint)AXT_EXISTENCE.STATUS_EXIST)
// {
// MessageBox.Show("모션 모듀을 찾을수 없습니다.");
// return false;
// }
//}
//CAXM.AxmInfoGetAxisCount(ref IAxisCount);// 모터가 몇개 연결되어 있는지 읽어 온다.
//if (0 < IAxisCount)
//{
// if (CAxtCAMCFS20.InitializeCAMCFS20(1) == 0) // 모듈을 초기화한다. 열려있는 모든베이스보드에서 모듈을 검색하여 초기화한다
// {
// MessageBox.Show("모듈 초기화 실패 입니다. 확인 후 다시 실행 시켜 주세요");
// return false;
// }
//}
//else
//{
// MessageBox.Show("연결되어 있는 서보 모터를 찾을 수 없습니다.");
// return false;
//}
m_stDeviceInfo.nFirstAxisNo = 0;
if (CAXM.AxmInfoGetAxis(
m_stDeviceInfo.nFirstAxisNo,
ref m_stDeviceInfo.nAxtBoardNo,
ref m_stDeviceInfo.nModulePos,
ref m_stDeviceInfo.uModuleID) == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
if (CAXM.AxmInfoGetBoardFirstAxisNo(m_stDeviceInfo.nAxtBoardNo, m_stDeviceInfo.nModulePos, ref m_stDeviceInfo.nAxisPos) != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
MessageBox.Show("모션 보드 사용준비중 에러가 발생하였습니다.");
return(false);
}
}
#endif
return(true);
}
public bool Close()
{
CAXL.AxlClose();
return(true);
}
public void InitAjinModule()
{
CAXL.AxlOpen();
}
