private void btnNmove_Click(object sender, EventArgs e)
{
double m_Tacc = Double.Parse(txtTacc.Text), m_Tdec = Double.Parse(txtTdec.Text);
int m_Rpm = Int16.Parse(txtRpm.Text);
gnodeid = ushort.Parse(cmbNodeID.Text);
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, gnodeid, 0, m_Tacc, m_Tdec);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, gnodeid, 0, 0 - m_Rpm);
}
private void btnWork_Click(object sender, EventArgs e)
{
btnWork.Enabled = false;
btnFinish.Enabled = true;
bool check_para = true;
if (IfTime.Checked)
{
try
{
timer1.Interval = int.Parse(TimeValue.Text) * 1000;
timer1.Tick += new EventHandler(btnFinish_Click);
timer1.Enabled = true;
LogOutput("定時功能啟動");
}
catch (Exception)
{
timer1.Enabled = false;
LogOutput("時間設定錯誤");
}
}
if (int.Parse(txtRpm2.Text) > ServoMaxSpeed)
{
check_para = false;
}
if (check_para)
{
LogOutput("實驗開始");
ServoON(true);
SetChartType();
CleanChart();
Set_Chart();
ThWorking_PLC = new Thread(working_PLC);
ThWorking_PLC.Start();
double m_Tacc = Double.Parse(txtTacc.Text), m_Tdec = Double.Parse(txtTdec.Text);
int m_Rpm = Int16.Parse(txtRpm2.Text) * 10;
gnodeid = ushort.Parse(cmbNodeID.Text);
/* Set up Velocity mode parameter */
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, m_Tacc, m_Tdec);
//* Start Velocity move: rpm > 0 move forward , rpm < 0 move negative */
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, m_Rpm);
//ThUpdateChart = new Thread(Update_Chart);
//ThUpdateChart.Start();
}
else
{
LogOutput("設定有誤");
}
}
private void btnNmove_Click_1(object sender, EventArgs e)
{
double m_Tacc = Double.Parse(txtTacc.Text), m_Tdec = Double.Parse(txtTdec.Text);
int m_Rpm = Int16.Parse(txtRpm1.Text);
gnodeid = ushort.Parse(cmbNodeID.Text);
/* Set up Velocity mode parameter */
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node2, 0, m_Tacc, m_Tdec);
//* Start Velocity move: rpm > 0 move forward , rpm < 0 move negative */
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node2, 0, -1 * m_Rpm);
}
private void AutoHome()
{
while (true)
{
homeSend("000000000006" + "010204000001");
homeListen();
showMotorState();
if (label31.Text == "01-02-01-01")
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node2, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node2, 0, 1300);
}
else
{
rc = CPCI_DMC.CS_DMC_01_sd_stop(gCardNo, node2, 0, 0.01);
CPCI_DMC.CS_DMC_01_set_position(gCardNo, node2, 0, 0);
CPCI_DMC.CS_DMC_01_set_command(gCardNo, node2, 0, 0);
break;
}
}
}
public void working()
{
int Amount = Convert.ToInt32(txtAmount.Text);
for (int i = 0; i < Amount; i++)
{
//ktrRpm1.Clear();
//ktrRpm2.Clear();
//ktrTorque1.Clear();
//ktrTorque2.Clear();
//motorRpm1.Clear();
//motorRpm2.Clear();
//motorTorque1.Clear();
//motorTorque2.Clear();
chart1.Series[0].Points.Clear();
chart2.Series[0].Points.Clear();
chart3.Series[0].Points.Clear();
chart4.Series[0].Points.Clear();
chart5.Series[0].Points.Clear();
chart6.Series[0].Points.Clear();
chart7.Series[0].Points.Clear();
chart8.Series[0].Points.Clear();
bool boolGo = true;
newturn = true;
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node2, 0, ref cmd1);
rc = CPCI_DMC.CS_DMC_01_start_tr_move(gCardNo, node2, 0, (int)(OneCirclePluse * TransmissionRate), 0, Convert.ToInt32(2133.3333 * -Int16.Parse(txtRpm1.Text)), 0.1, 0.1);
while (true)
{
showMotorState();
saveMotorData();
showChart();
limitSend("000000000006" + "010204000001");
limitX0Listen();
limitSend("000000000006" + "010204010001");
limitX1Listen();
label30.Text = X0Message;
if (X1Message == "01-02-01-01" & boolGo)
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, Int32.Parse(txtRpm2.Text));
}
else if (X1Message == "01-02-01-00")
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, 0);
boolGo = false;
}
else if (X1Message == "01-02-01-01" & !boolGo & X0Message != "01-02-01-00")
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, -Int32.Parse(txtRpm2.Text));
}
else if (X0Message == "01-02-01-00" & !boolGo)
{
KtrBoolClear = true;
label29.Text = "in";
showMotorState();
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, 0);
Thread.Sleep(500);
CPCI_DMC.CS_DMC_01_set_position(gCardNo, node1, 0, 0);
CPCI_DMC.CS_DMC_01_set_command(gCardNo, node1, 0, 0);
//CPCI_DMC.CS_DMC_01_set_position(gCardNo, node2, 0, 0);
//CPCI_DMC.CS_DMC_01_set_command(gCardNo, node2, 0, 0);
break;
}
}
}
}
