//Assy1에 있는 모션 상태 그리드 표시를 업데이트한다.
public void Axis_Status_Read()
{
uint duStatus = 0, duRetCode = 0;
bool SignalOutput = false;
for (int i = 0; i < 9; i++)
{
this.AxisStatusData[i].Clear();
//Column 0
this.AxisStatusData[i].Add(i.ToString("00"));
duRetCode = CAXM.AxmSignalIsServoOn(i, ref duStatus);
if (duRetCode == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
SignalOutput = (Convert.ToBoolean(duStatus));
}
//Column 1
this.AxisStatusData[i].Add(SignalOutput);
duRetCode = CAXM.AxmSignalReadServoAlarm(i, ref duStatus);
if (duRetCode == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
SignalOutput = (Convert.ToBoolean(duStatus));
}
//Column 2
this.AxisStatusData[i].Add(SignalOutput);
duRetCode = CAXM.AxmStatusReadInMotion(i, ref duStatus);
if (duRetCode == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
SignalOutput = (Convert.ToBoolean(duStatus));
}
//Column 3
this.AxisStatusData[i].Add(SignalOutput);
duRetCode = CAXM.AxmHomeReadSignal(i, ref duStatus);
if (duRetCode == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
SignalOutput = (Convert.ToBoolean(duStatus));
}
//Column 4
this.AxisStatusData[i].Add(SignalOutput);
uint uPositiveStatus = 0, uNegativeStatus = 0;
CAXM.AxmSignalReadLimit(i, ref uPositiveStatus, ref uNegativeStatus);
//Column 5
this.AxisStatusData[i].Add(uPositiveStatus);
//Column 6
this.AxisStatusData[i].Add(uNegativeStatus);
double locationData = 0;
duRetCode = CAXM.AxmStatusGetActPos(i, ref locationData);
if (duRetCode == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
//Column 7
this.AxisStatusData[i].Add(locationData.ToString());
}
double speedData = 0;
duRetCode = CAXM.AxmStatusReadVel(i, ref speedData);
if (duRetCode == (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
//Column 8
this.AxisStatusData[i].Add(speedData.ToString("0.000"));
}
}
}