/// <summary>
/// 1 运行 2待机 3报警 4急停
/// </summary>
/// <param name="handle"></param>
/// <param name="error"></param>
/// <returns></returns>
private int GetStatus(ushort handle, out string error)
{
error = "";
Focas1.ODBST statbuf = new Focas1.ODBST();
short nRet = Focas1.cnc_statinfo(handle, statbuf);
if (nRet != Focas1.EW_OK)
{
error = $"读取错误！错误代号[{nRet}]";
return(-1);
}
int iState = 0;
if (statbuf.emergency > 0) //急停 1 : EMerGency 2 : ReSET
{
iState = 4;
}
else if (statbuf.alarm > 0) //故障 3报警 1 : ALarM
{
iState = 3;
}
//运行中 1 : STOP 2 : HOLD 3 : STaRT 4 : MSTR(during retraction and re-positioning of tool retraction and recovery, and operation of JOG MDI)
else if (statbuf.run > 0)
{
iState = 1;
}
else //待机
{
iState = 2;
}
return(iState);
}
/// <summary>
/// Read Machine Status Data (MachineMode, MachineStatus, MachineAlarmStatus)
/// </summary>
private void CallStatInfo()
{
try
{
Focas1.ODBST odbSt = new Focas1.ODBST();
focasReturn = Focas1.cnc_statinfo(fanucHandle, odbSt);
if (focasReturn == EW_OK)
{
base.MODE = GetDescription(machineType, "MODE", odbSt.aut.ToString());
base.STATUS = GetDescription(machineType, "STATUS", odbSt.run.ToString());
base.ALARM = GetDescription(machineType, "ALARM", odbSt.alarm.ToString());
LogHandler.WriteLog(base.division, string.Format("{0} :: CallStatInfo() Success :: MODE = {1}", this.ToString(), base.MODE));
LogHandler.WriteLog(base.division, string.Format("{0} :: CallStatInfo() Success :: STATUS = {1}", this.ToString(), base.STATUS));
LogHandler.WriteLog(base.division, string.Format("{0} :: CallStatInfo() Success :: ALARM = {1}", this.ToString(), base.ALARM));
}
else if (focasReturn == EW_SOCKET)
{
base.isConnect = false;
LogHandler.WriteLog(base.division, string.Format("{0} :: CallStatInfo() Fail :: SocketError", this.ToString()));
}
else
{
LogHandler.WriteLog(base.division, string.Format("{0} :: CallStatInfo() Fail :: ReturnCode = {1}", this.ToString(), focasReturn));
}
}
catch (Exception ex)
{
LogHandler.WriteLog(base.division, string.Format("{0} :: CallStatInfo() Exception :: Message = {1}", this.ToString(), ex.Message));
}
}
/// <summary>
/// 获得机床相对坐标
/// </summary>
public double GetRelativeCorX(ushort Flibhndl) //获得相对X轴
{
Focas1.ODBST odbst = new Focas1.ODBST();
Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();
short ret2 = Focas1.cnc_relative2(Flibhndl, 1, 16, odbaxis);
string relative2X = odbaxis.data[0].ToString();
double x = Convert.ToDouble(relative2X) / 1000;
return(x);
}
public static void connectToFanucDevice(string ip, string port, int timeout)
{
int ret;
int status;
Focas1.ODBST fanbuf; // CNC Status
ret = Focas1.cnc_allclibhndl3(ip, Convert.ToUInt16(port), timeout, out handleFanuc);
if (ret != Focas1.EW_OK)
{
Console.WriteLine("Fanuc lathe connection error£¡");
return;
}
//coordination of the arm
Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();
for (short i = 0; i < 3; i++)
{
ret = Focas1.cnc_machine(handleFanuc, (short)(i + 1), 8, odbaxis);
Console.WriteLine(odbaxis.data[0] * Math.Pow(10, -4));
}
fanbuf = new Focas1.ODBST();
ret = Focas1.cnc_statinfo(handleFanuc, fanbuf);
if (ret == Focas1.EW_OK)
{
status = fanbuf.run;
switch (status)
{
case 0:
Console.WriteLine("Fanuc lathe in shutdown mode£¡");
break;
case 1:
Console.WriteLine("Fanuc lathe in standby mode£¡");
break;
case 2:
Console.WriteLine("Fanuc lathe in hold mode£¡");
break;
case 3:
Console.WriteLine("Fanuc lathe in start mode£¡");
break;
case 4:
Console.WriteLine("Fanuc lathe in manual mode, retraction and re-positioning of tools");
break;
}
}
}
private void button1_Click(object sender, EventArgs e)
{
Fanuc.ODBST odbst = new Focas1.ODBST();
int ret = Fanuc.cnc_statinfo(Fanuc.h, odbst);
if (ret == Fanuc.EW_OK)
{
}
else
{
MessageBox.Show(ret + "");
}
}
//获取状态信息
#region cnc_statinfo
short IMachineFanuc.GetMachineStateInfo(short[] stateInfo)
{
Focas1.ODBST odbst_StateInfo = new Focas1.ODBST(); //状态信息
short ret = Focas1.cnc_statinfo(mFlibhndl, odbst_StateInfo);
stateInfo[0] = odbst_StateInfo.tmmode; //* T/M mode
stateInfo[1] = odbst_StateInfo.aut; //selected automatic mode
stateInfo[2] = odbst_StateInfo.run; //running status
stateInfo[3] = odbst_StateInfo.motion; //axis, dwell status
stateInfo[4] = odbst_StateInfo.mstb; //m, s, t, b status
stateInfo[5] = odbst_StateInfo.emergency; //emergency stop status
stateInfo[6] = odbst_StateInfo.alarm; //alarm status
stateInfo[7] = odbst_StateInfo.edit; //editting status
return(ret);
}
public Status GetStatusInfo()
{
Focas1.ODBST odbst = new Focas1.ODBST();
Status statusInfo = new Status();
var statusReturnCode = (ReturnCodes.Code)Focas1.cnc_statinfo(focasHandle, odbst);
statusInfo.returnCode = statusReturnCode;
statusInfo.Auto = odbst.aut;
statusInfo.Emergency = odbst.emergency;
statusInfo.Run = odbst.run;
statusInfo.Motion = odbst.motion;
statusInfo.Edit = odbst.edit;
return(statusInfo);
}
public string GetStatus()
{
if (_handle == 0)
{
return("UNAVAILABLE");
}
Focas1.ODBST status = new Focas1.ODBST();
_ret = Focas1.cnc_statinfo(_handle, status);
if (_ret == Focas1.EW_OK)
{
return(GetModeString(status.aut));
}
return("UNAVAILABLE");
}
public void TestConnection(string cncAdress, ushort portNumber)
{
Focas1.ODBST buf = new Focas1.ODBST();
ComReturnValue = Focas1.cnc_allclibhndl3(cncAdress, portNumber, TimeOut, out Handle);
if (ComReturnValue == Focas1.EW_OK)
{
ErrorCode = "None";
// Get CNC info
Focas1.cnc_statinfo(Handle, buf);
// Close COM handle
Focas1.cnc_freelibhndl(Handle);
}
else
{
Console.WriteLine("ERROR!({0})", ComReturnValue);
ErrorCode = $"({ComReturnValue})";
}
}
//获得状态
/// <summary>
/// 获取CNC运行状态
/// </summary>
/// <param name="deviceAddress"></param>
/// <param name="error"></param>
/// <returns>1 运行 2报警 3急停 4 待机</returns>
private static int GetStatus(string deviceAddress, out string error)
{
error = "";
Focas1.ODBST statbuf = new Focas1.ODBST();
ushort m_handle;
short nRet = Focas1.cnc_allclibhndl3(deviceAddress, 8193, 2, out m_handle);
if (nRet == Focas1.EW_OK)
{
nRet = Focas1.cnc_statinfo(m_handle, statbuf);
}
if (nRet == Focas1.EW_OK)
{
int iState = 0;
if (statbuf.run > 0) //运行中
{
iState = 1;
}
else if (statbuf.alarm > 0) //故障
{
iState = 2;
}
else if (statbuf.emergency > 0) //急停
{
iState = 3;
}
else //待机
{
iState = 4;
}
Focas1.cnc_freelibhndl(m_handle); //释放连接
return(iState);
}
error = "连接失败";
return(-1);
}
public string GetMode()
{
// Check we have a valid handle
if (_handle == 0)
{
return("UNAVAILABLE");
}
// Creat an instance of our stucture
Focas1.ODBST mode = new Focas1.ODBST();
// Ask Fanuc for the status information
_ret = Focas1.cnc_statinfo(_handle, mode);
// Check to make sure the call was successfull
// and convert the mode to a string and return it.
if (_ret == Focas1.EW_OK)
{
return(GetModeString(mode.aut));
}
return("UNAVAILABLE");
}
//-------------------------------------------------------------------------------------------------------------------//
//----------------------------- CNC Connect & Test ------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//
public void cncConnect()
{
// Open a Cndex Session
int result = Focas1.cnc_allclibhndl3(fanucIP, 8193, 6, out hFanucConn);
//int result = Focas1.cnc_allclibhndl(out hFanucLib);
fanucStatus = new Focas1.ODBST();
// Check to see if the session was successful. If it was, enter a loop to continually test for connection.
if (result == 0)
{
while (Focas1.cnc_statinfo(hFanucConn, fanucStatus) == Focas1.EW_OK && halt == false)
{
connected = true;
Thread.Sleep(1000);
}
// If the loop was not halted on purpose (Stop Button was not clicked), then display tbe error
if (halt == false)
{
//MessageBox.Show("Cndex Disconnected!");
Focas1.cnc_freelibhndl(hFanucConn);
connected = false;
return;
}
//Focas1.cnc_freelibhndl(hFanucLib);
return;
}
else
{
// If we did not enter the loop at all then the connection was not successful, so display an error
Focas1.cnc_freelibhndl(hFanucConn);
MessageBox.Show("Error connecting to CNC at: " + fanucIP + ":8193");
return;
}
}
public string read()
{
if (!isOpened)
{
throw new Exception("Must open cnc connection first!");
}
// logger.Info("Target ip: " + host + "; port: " + port);
JObject resp = new JObject();
resp["systemtime"] = DateTime.Now.ToString() + "." + DateTime.Now.Millisecond.ToString();
resp["centername"] = "加工中心";
resp["txtip"] = host;
resp["machinename"] = "FANUC Series 32i";
resp["spec"] = "5505";
resp["x_relative"] = null;
resp["z_relative"] = null;
resp["c_relative"] = null;
resp["v_relative"] = null;
resp["x_absolute"] = null;
resp["z_absolute"] = null;
resp["c_absolute"] = null;
resp["v_absolute"] = null;
resp["x_machine"] = null;
resp["z_machine"] = null;
resp["c_machine"] = null;
resp["v_machine"] = null;
resp["x_distancetogo"] = null;
resp["z_distancetogo"] = null;
resp["c_distancetogo"] = null;
resp["v_distancetogo"] = null;
resp["spindle_name"] = null;
resp["spindlenumber"] = 1;
resp["spindleload"] = null;
resp["spindlespeed"] = null;
resp["sv1_load"] = null;
resp["sv2_load"] = null;
resp["sv3_load"] = null;
resp["sv4_load"] = null;
resp["cnc_status"] = null;
resp["runningmode"] = null;
resp["currentrunningprogramnum"] = null;
resp["mainprogramnumber"] = null;
resp["currentrunningncprogram"] = null;
resp["currenttoolgroupnum"] = null;
resp["currenttoolnum"] = null;
resp["svnum"] = null;
resp["cnc_versionnum"] = "3C7B5D01";
resp["relfeedrate"] = null;
resp["alarm_status"] = null;
resp["alarmnum"] = null;
resp["alarmtype"] = null;
resp["alarmmessage"] = null;
resp["operatingtime"] = null;
resp["circlingtime"] = null;
resp["cuttingtime"] = null;
resp["powerontime"] = null;
resp["totalparts"] = null;
resp["cnc_turn_on"] = "开机";
short code;
{
short number = Focas1.MAX_AXIS;
Focas1.ODBPOS pos = new Focas1.ODBPOS();
code = Focas1.cnc_rdposition(pHdl, -1, ref number, pos);
if (code == 0)
{
resp["x_relative"] = pos.p1.rel.data * Math.Pow(10, -pos.p1.rel.dec);
resp["z_relative"] = pos.p2.rel.data * Math.Pow(10, -pos.p2.rel.dec);
resp["c_relative"] = pos.p4.rel.data * Math.Pow(10, -pos.p4.rel.dec);
resp["v_relative"] = pos.p5.rel.data * Math.Pow(10, -pos.p5.rel.dec);
resp["x_absolute"] = pos.p1.abs.data * Math.Pow(10, -pos.p1.abs.dec);
resp["z_absolute"] = pos.p2.abs.data * Math.Pow(10, -pos.p2.abs.dec);
resp["c_absolute"] = pos.p4.abs.data * Math.Pow(10, -pos.p4.abs.dec);
resp["v_absolute"] = pos.p5.abs.data * Math.Pow(10, -pos.p5.abs.dec);
resp["x_machine"] = pos.p1.mach.data * Math.Pow(10, -pos.p1.mach.dec);
resp["z_machine"] = pos.p2.mach.data * Math.Pow(10, -pos.p2.mach.dec);
resp["c_machine"] = pos.p4.mach.data * Math.Pow(10, -pos.p4.mach.dec);
resp["v_machine"] = pos.p5.mach.data * Math.Pow(10, -pos.p5.mach.dec);
resp["x_distancetogo"] = pos.p1.dist.data * Math.Pow(10, -pos.p1.dist.dec);
resp["z_distancetogo"] = pos.p2.dist.data * Math.Pow(10, -pos.p2.dist.dec);
resp["c_distancetogo"] = pos.p4.dist.data * Math.Pow(10, -pos.p4.dist.dec);
resp["v_distancetogo"] = pos.p5.dist.data * Math.Pow(10, -pos.p5.dist.dec);
}
}
{
short number = 32;
Focas1.ODBEXAXISNAME spindleName = new Focas1.ODBEXAXISNAME();
code = Focas1.cnc_exaxisname(pHdl, 1, ref number, spindleName);
if (code == 0)
{
resp["spindle_name"] = spindleName.axname1;
}
}
{
Focas1.ODBSVLOAD sv = new Focas1.ODBSVLOAD();
Focas1.ODBSPLOAD sp = new Focas1.ODBSPLOAD();
short a = 6;
short code0 = Focas1.cnc_rdsvmeter(pHdl, ref a, sv);
short code1 = Focas1.cnc_rdspmeter(pHdl, 1, ref a, sp);
if (code0 == 0)
{
resp["sv1_load"] = sv.svload1.data;
resp["sv2_load"] = sv.svload2.data;
resp["sv3_load"] = sv.svload3.data;
resp["sv4_load"] = sv.svload4.data;
}
if (code1 == 0)
{
resp["spindleload"] = sp.spload1.spload.data;
}
}
{
Focas1.ODBACT pindle = new Focas1.ODBACT();
code = Focas1.cnc_acts(pHdl, pindle);
if (code == 0)
{
resp["spindlespeed"] = pindle.data;
}
}
{
Focas1.ODBST obst = new Focas1.ODBST();
code = Focas1.cnc_statinfo(pHdl, obst);
if (code == 0)
{
resp["cnc_status"] = obst.run;
resp["runningmode"] = obst.tmmode;
resp["alarm_status"] = obst.alarm;
}
}
{
Focas1.ODBDY2_1 dynadata = new Focas1.ODBDY2_1();
Focas1.ODBPRO pro = new Focas1.ODBPRO();
Focas1.ODBSEQ seqnum = new Focas1.ODBSEQ();
code = Focas1.cnc_rdprgnum(pHdl, pro);
if (code == 0)
{
resp["currentrunningprogramnum"] = pro.data;
resp["mainprogramnumber"] = pro.mdata;
}
code = Focas1.cnc_rdseqnum(pHdl, seqnum);
if (code == 0)
{
resp["currentrunningncprogram"] = seqnum.data;
}
}
{
Focas1.ODBTG btg = new Focas1.ODBTG();
Focas1.ODBUSEGRP grp = new Focas1.ODBUSEGRP();
code = Focas1.cnc_rdtlusegrp(pHdl, grp);
short a = Convert.ToInt16(grp.use);
code = Focas1.cnc_rdtoolgrp(pHdl, a, 20 + 20 * 1, btg);
resp["currenttoolgroupnum"] = a;
resp["currenttoolnum"] = btg.data.data1.tool_num;
}
{
Focas1.ODBSYS odbsys = new Focas1.ODBSYS();
code = Focas1.cnc_sysinfo(pHdl, odbsys);
if (code == 0)
{
resp["svnum"] = odbsys.axes[1];
}
}
{
Focas1.ODBACT odbact = new Focas1.ODBACT();
code = Focas1.cnc_actf(pHdl, odbact);
if (code == 0)
{
resp["relfeedrate"] = odbact.data;
}
}
{
short b = 8;
Focas1.ODBALMMSG2 msg = new Focas1.ODBALMMSG2();
code = Focas1.cnc_rdalmmsg2(pHdl, -1, ref b, msg);
if (code == 0)
{
resp["alarmnum"] = msg.msg2.alm_no;
resp["alarmmessage"] = msg.msg2.alm_msg;
}
}
{
int alarm = 0;
code = Focas1.cnc_alarm2(pHdl, out alarm);
if (code == 0)
{
resp["alarmtype"] = alarmTypeMapper.ContainsKey(alarm) ? alarmTypeMapper[alarm] : null;
}
}
{
Focas1.IODBPSD_1 param6751 = new Focas1.IODBPSD_1();
Focas1.IODBPSD_1 param6752 = new Focas1.IODBPSD_1();
code = Focas1.cnc_rdparam(pHdl, 6751, 0, 8, param6751);
if (code == 0)
{
int workingTimeSec = param6751.ldata / 1000;
code = Focas1.cnc_rdparam(pHdl, 6752, 0, 8, param6752);
if (code == 0)
{
int workingTimeMin = param6752.ldata;
int workingTime = workingTimeMin * 60 + workingTimeSec;
resp["operatingtime"] = workingTime;
}
}
}
{
Focas1.IODBPSD_1 param6757 = new Focas1.IODBPSD_1();
Focas1.IODBPSD_1 param6758 = new Focas1.IODBPSD_1();
code = Focas1.cnc_rdparam(pHdl, 6757, 0, 8, param6757);
if (code == 0)
{
int circlingTimeSec = param6757.ldata / 1000;
code = Focas1.cnc_rdparam(pHdl, 6758, 0, 8, param6758);
if (code == 0)
{
int circlingTimeMin = param6758.ldata;
int workingTime = circlingTimeMin * 60 + circlingTimeSec;
resp["circlingtime"] = workingTime;
}
}
}
{
Focas1.IODBPSD_1 param6753 = new Focas1.IODBPSD_1();
Focas1.IODBPSD_1 param6754 = new Focas1.IODBPSD_1();
code = Focas1.cnc_rdparam(pHdl, 6753, 0, 8 + 32, param6753);
if (code == 0)
{
int cuttingTimeSec = param6753.ldata / 1000;
code = Focas1.cnc_rdparam(pHdl, 6754, 0, 8 + 32, param6754);
if (code == 0)
{
int cuttingTimeMin = param6754.ldata;
int workingTime = cuttingTimeMin * 60 + cuttingTimeSec;
resp["cuttingtime"] = workingTime;
}
}
}
{
Focas1.IODBPSD_1 param6750 = new Focas1.IODBPSD_1();
code = Focas1.cnc_rdparam(pHdl, 6750, 0, 8 + 32, param6750);
if (code == 0)
{
int powerOnTime = param6750.ldata * 60;
resp["powerontime"] = powerOnTime;
}
}
{
Focas1.IODBPSD_1 param6712 = new Focas1.IODBPSD_1();
code = Focas1.cnc_rdparam(pHdl, 6712, 0, 8, param6712);
if (code == 0)
{
resp["totalparts"] = param6712.ldata;
}
}
return(resp.ToString());
}
//-------------------------------------------------------------------------------------------------------------------//
//----------------------------- CNC Connect & Test ------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------------------//
public void cncConnect()
{
// Open a Cndex Session
int result = Focas1.cnc_allclibhndl3(fanucIP, 8193, 6, out hFanucConn);
//int result = Focas1.cnc_allclibhndl(out hFanucLib);
fanucStatus = new Focas1.ODBST();
// Check to see if the session was successful. If it was, enter a loop to continually test for connection.
if (result == 0)
{
while (Focas1.cnc_statinfo(hFanucConn, fanucStatus) == Focas1.EW_OK && halt == false)
{
connected = true;
Thread.Sleep(1000);
}
// If the loop was not halted on purpose (Stop Button was not clicked), then display tbe error
if (halt == false)
{
//MessageBox.Show("Cndex Disconnected!");
Focas1.cnc_freelibhndl(hFanucConn);
connected = false;
return;
}
//Focas1.cnc_freelibhndl(hFanucLib);
return;
}
else
{
// If we did not enter the loop at all then the connection was not successful, so display an error
Focas1.cnc_freelibhndl(hFanucConn);
MessageBox.Show("Error connecting to CNC at: " + fanucIP + ":8193");
return;
}
}