public void VStepMove(ushort CardNo, ushort NodeID, double Dist, int speed)
{
double acc = 0.2;
double Tdec = 0.2;
int StrVel = speed / 10;
Int32 dist;
dist = (Int32)(ScaleAxis[NodeID] * Dist);
//rc = CPCI_DMC.CS_DMC_01_start_tr_move(0, 2, 0, -1280000, 0, 1280000, 0.3, 0.3);
rc = CPCI_DMC.CS_DMC_01_start_tr_move(CardNo, NodeID, 0, dist, StrVel, speed, acc, Tdec);
if (rc != 0)
{
MessageBox.Show("not ok");
}
}
public void ManHoming(ushort nodeid, ushort home_mode)
{
ResetAlarm(nodeid);
CPCI_DMC.CS_DMC_01_speed_continue(CardNo[0], nodeid, 0, (ushort)1);
int speed = GetPara(nodeid).HomeSpeed;
int StrVel = speed / 10;
Int32 dist = (int)(GetPara(nodeid).MotorScale *0.005);//pulse
if (dist < 5)
{
dist = 5;
}
//if (home_mode ==2)
//{
StepMove(nodeid, -10);
WaitAxisStop(nodeid);
CPCI_DMC.CS_DMC_01_speed_continue(CardNo[0], nodeid, 0, (ushort)0);
do
{
ResetAlarm(nodeid);
CPCI_DMC.CS_DMC_01_start_tr_move(CardNo[0], nodeid, 0, dist, StrVel, speed, 0.2, 0.2);
WaitAxisStop(nodeid);
} while (NEL(nodeid));
//}
//else
//{
// StepMove(nodeid, 10);
// WaitAxisStop(nodeid);
// CPCI_DMC.CS_DMC_01_speed_continue(CardNo[0], nodeid, 0, (ushort)1);
// do
// {
// ResetAlarm(nodeid);
// CPCI_DMC.CS_DMC_01_start_tr_move(CardNo[0], nodeid, 0, -dist, StrVel, speed, 0.2, 0.2);
// WaitAxisStop(nodeid);
// } while (PEL(nodeid));
//}
}
public int StepMove(ushort NodeID, double Dist)
{
ResetAlarm(NodeID);
if (CardNo.Count == 0)
{
return((int)DM_ErrorList.NoCardFound);
}
double acc = 0.2;
double Tdec = 0.2;
int speed = GetPara(NodeID).RunSpeed;
int StrVel = speed / 10;
Int32 dist;
dist = (Int32)(GetPara(NodeID).MotorScale *Dist);
short rc = CPCI_DMC.CS_DMC_01_start_tr_move(CardNo[0], NodeID, 0, dist, StrVel, speed, acc, Tdec);
if (rc != 0)
{
return((int)DM_ErrorList.MotionError);
}
Thread.Sleep(motionCmdDly);
return((int)DM_ErrorList.NoError);
}
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;
}
}
}
}
