static public bool OpenDevice(out short _nModuleIP)
{
_nModuleIP = m_nModuleIP;
if (bOpened)
{
return(true);
}
short nRet;
if (NMC2.nmc_PingCheck(m_nModuleIP, 200) != 0)
{
Log.ShowMessage("PAIX", "Ping Test Error 192.168.0." + m_nModuleIP.ToString());
return(false);
}
nRet = NMC2.nmc_OpenDevice(m_nModuleIP);
if (nRet == 0)
{
bOpened = true;
}
else
{
Log.ShowMessage("PAIX", "NMC2 Open Failed");
return(false);
}
return(bOpened);
}
public bool SetOut(int _iNo, bool _bOn, bool _bDirect = false)
{
//Check Error.
if (_iNo >= m_iMaxOut || _iNo < 0)
{
return(false);
}
//Get Addr.
int iBitAddr;
int iModule;
int iModuleDp;
GetInfoOutput(_iNo, out iModule, out iModuleDp, out iBitAddr);
short nOn = _bOn ? (short)1 : (short)0;
if (_bDirect)
{
NMC2.nmc_SetDIOOutPin(m_aModuleInfo[iModule].nNmcNo, (short)iBitAddr, nOn);
}
else
{
m_aModuleInfo[iModule].nDataOutSet[iBitAddr] = nOn;
}
return(true);
}
/// <summary>
/// 홈을 수행한다.
/// </summary>
/// <returns>수행 성공여부.</returns>
public bool GoHome(double _dHomeVelFirst, double _dHomeVelLast, double _dHomeAccFirst)
{
SetServo(true);
short nRet;
bool bRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)Para.iPhysicalNo, 200, _dHomeAccFirst, _dHomeAccFirst, _dHomeVelFirst);
nRet = NMC2.nmc_SetAccSpeed(m_nDevId, (short)Para.iPhysicalNo, _dHomeAccFirst);
nRet = NMC2.nmc_SetDecSpeed(m_nDevId, (short)Para.iPhysicalNo, _dHomeAccFirst);
nRet = NMC2.nmc_SetHomeSpeed(m_nDevId, (short)Para.iPhysicalNo, _dHomeVelFirst, _dHomeVelFirst, _dHomeVelLast);
// 1. 0번 축의 원점 이동 모드 : +Near
// 2. 원점 검색후(3차이동 까지 완료) CW회전으로 Z상 검출
// 3. 지령/엔코더 위치 0으로 초기화
// 4. Offset 300위치로 이동
// 5. Offset이동후 지령/엔코더 위치 0으로 초기화
//nRet = nmc_HomeMove(11, 0, 0x82 | 3, 0xF, 300);
const short nHomeEndMode = NMC2.NMC_END_CMD_CLEAR_A_OFFSET |
NMC2.NMC_END_ENC_CLEAR_A_OFFSET |
NMC2.NMC_END_CMD_CLEAR_B_OFFSET |
NMC2.NMC_END_ENC_CLEAR_B_OFFSET;
//메뉴얼과 샘플이 달라서 샘플 방식으로 함...eHomeMethode 여기다 0x80을 덮어 씌워야 된다고
//메뉴얼에 나와 있었는데 잘 모르겠음...
nRet = NMC2.nmc_HomeMove(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eHomeMode, nHomeEndMode, Para.dHomeOffset * m_dPulsePerUnit, 0);
bRet = nRet == 0;
return(bRet);
}
/// <summary>
/// Command Encoder Target포지션 세팅.
/// </summary>
/// <param name="_dPos">세팅할 펄스</param>
public void SetPos(double _dPos)
{
short nRet;
nRet = NMC2.nmc_SetCmdPos(m_nDevId, (short)Para.iPhysicalNo, _dPos);
nRet = NMC2.nmc_SetEncPos(m_nDevId, (short)Para.iPhysicalNo, _dPos);
}
public bool GetIn(int _iNo)
{
//Check Error.
if (_iNo >= m_iMaxIn || _iNo < 0)
{
return(false);
}
bool _bOn;
//Controller 추가 연결시 사용 되는거 같다.
//NMC2.nmc_GetDIOInput(m_nDevId, ReadStat);
NMC2.nmc_GetMDIOInput(m_nDevId, ReadStat);
if (ReadStat[_iNo] == 0)
{
_bOn = false;
}
else
{
_bOn = true;
}
return(_bOn);
}
public bool Init()
{
short nRet;
if (!MotionNMC2.CModule.OpenDevice(out m_nDevId))
{
return(false);
}
// DIO 입/출력 개수 정보 가져오기 ========================
short nMotionType, nIOType, nExtIo, nMDio;
nRet = NMC2.nmc_GetDeviceInfo(m_nDevId, out nMotionType, out nIOType, out nExtIo, out nMDio);
//nIOType은 IO Controller 사용시.
//switch (nIOType)
//{
// case 1: m_iMaxIn = 16; m_iMaxOut = 16; break;
// case 2: m_iMaxIn = 32; m_iMaxOut = 32; break;
// case 3: m_iMaxIn = 48; m_iMaxOut = 48; break;
// case 4: m_iMaxIn = 64; m_iMaxOut = 64; break;
// default: m_iMaxIn = 0 ; m_iMaxOut = 0 ; break;
//}
//기본 Motion Controller 사용시는 NMDio사용.
switch (nMDio)
{
case 1: m_iMaxIn = 8; m_iMaxOut = 8; break;
default: m_iMaxIn = 0; m_iMaxOut = 0; break;
}
return(true);
}
/// <summary>
/// -방향 조그 이동
/// </summary>
/// <param name="_dVel">초당 구동 속도 펄스</param>
/// <param name="_dAcc">구동 가속율 펄스</param>
/// <param name="_dDec">감속율 펄스</param>
public void JogN(double _dVel, double _dAcc, double _dDec)
{
short nRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)Para.iPhysicalNo, 200, _dAcc, _dDec, _dVel);
nRet = NMC2.nmc_JogMove(m_nDevId, (short)Para.iPhysicalNo, 1);
}
public bool GetOut(int _iNo)
{
//Check Error.
if (_iNo >= m_iMaxOut || _iNo < 0)
{
return(false);
}
bool _bOn;
short nRet;
//Controller 추가 연결시 사용 되는거 같다.
//nRet = NMC2.nmc_GetDIOOutput(m_nDevId, ReadStat);
nRet = NMC2.nmc_GetMDIOOutput(m_nDevId, ReadStat);
//OutPut
if (ReadStat[_iNo] == 0)
{
_bOn = false;
}
else
{
_bOn = true;
}
return(_bOn);
}
/// <summary>
/// 홈센서 기준 절대 위치로 이동.
/// </summary>
/// <param name="_dPos">이동할 위치 펄스단위</param>
/// <param name="_dVel">이동할 속도 펄스단위</param>
/// <param name="_dAcc">이동할 가속 펄스단위</param>
/// <param name="_dDec">이동할 감속 펄스단위</param>
/// <returns>성공여부</returns>
public void GoAbs(double _dPos, double _dVel, double _dAcc, double _dDec)
{
short nRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)Para.iPhysicalNo, 200, _dAcc, _dDec, _dVel);
nRet = NMC2.nmc_AbsMove(m_nDevId, (short)Para.iPhysicalNo, _dPos);
}
/// <summary>
/// 홈센서 기준 절대 위치로 다축 이동.
/// </summary>
/// <param name="Para.iPhysicalNos">이동할축들 0번이 마스터</param>
/// <param name="_dPoses">이동할 위치 펄스단위</param>
/// <param name="_dVel">이동할 속도 펄스단위</param>
/// <param name="_dAcc">이동할 가속 펄스단위</param>
/// <param name="_dDec">이동할 감속 펄스단위</param>
/// <returns>성공여부</returns>
/// 일단 2축만 구현한다.
/// 축번호는 오름차순으로 배열 해야함.
public void GoMultiAbs(int [] _iPhysicalNos, double [] _dPoses, double _dVel, double _dAcc, double _dDec)
{
if (_iPhysicalNos.Count() > 3 || _dPoses.Count() > 3)
{
return;
}
if (_iPhysicalNos.Count() < 2 || _dPoses.Count() < 2)
{
return;
}
if (_iPhysicalNos.Count() != _dPoses.Count())
{
return;
}
short nRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)_iPhysicalNos[0], 200, _dAcc, _dDec, _dVel);
if (_iPhysicalNos.Count() == 2)
{
nRet = NMC2.nmc_Interpolation2Axis(m_nDevId, (short)_iPhysicalNos[0], (double)_dPoses[0], (short)_iPhysicalNos[1], (double)_dPoses[1], 1);
}
if (_iPhysicalNos.Count() == 3)
{
nRet = NMC2.nmc_Interpolation3Axis(m_nDevId, (short)_iPhysicalNos[0], (double)_dPoses[0], (short)_iPhysicalNos[1], (double)_dPoses[1], (short)_iPhysicalNos[2], (double)_dPoses[2], 1);
}
}
/// <summary>
/// 현재 파라미터들을 아진 함수를 이용하여 세팅함.
/// </summary>
public void ApplyPara(double _dPulsePerUnit)
{
m_dPulsePerUnit = _dPulsePerUnit;
short nRet;
//이머전시 로직은 한모듈에서 그룹별로 나눠놨는데
//4축 이하는 그룹이 무조건 1개 이다.
//왜 이렇게 만들었는지 이해가 안됨...
nRet = NMC2.nmc_SetEmgLogic(m_nDevId, 0, 0);
nRet = NMC2.nmc_SetUnitPerPulse(m_nDevId, (short)Para.iPhysicalNo, 1); //1펄스당 1펄스로 세팅.
nRet = NMC2.nmc_SetNearLogic(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eHomeLogic);
nRet = NMC2.nmc_SetMinusLimitLogic(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eMinusLimitLogic);
nRet = NMC2.nmc_SetPlusLimitLogic(m_nDevId, (short)Para.iPhysicalNo, (short)Para.ePlusLimitLogic);
nRet = NMC2.nmc_SetAlarmLogic(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eAlarmLogic);
nRet = NMC2.nmc_SetEncoderZLogic(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eZLogic);
nRet = NMC2.nmc_SetEncoderCount(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eEncMulti);
nRet = NMC2.nmc_SetEncoderDir(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eEncInputMode); //진입점이 없다고 뻑남... 메뉴얼 샘플 과 DLL버전이 다른듯.
nRet = NMC2.nmc_SetPulseLogic(m_nDevId, (short)Para.iPhysicalNo, (short)Para.ePulseLogic);
nRet = NMC2.nmc_SetSReadyLogic(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eServoLogic);
//nRet = NMC2
}
/// <summary>
/// 서보 온오프
/// </summary>
/// <param name="_bOn">온오프</param>
public void SetServo(bool _bOn)
{
short nRet;
short nSignal = _bOn ? (short)0 : (short)1; //이지서보 다이렉트 케이블일 경우 접점이 반대라서 우선 뒤집어 놓는다.
nRet = NMC2.nmc_SetServoOn(m_nDevId, (short)Para.iPhysicalNo, nSignal);
}
/// <summary>
/// 홈이 지원 안되는 보드 같은경우 돌려주고 Update 함수 내부에서 처리 해야 한다.
/// 파익스는 네트워크 타입이라 너무 느려서 업데이트에서 한번만 스캔하여 담아두고
/// </summary>
public void Update()
{
if (Para.iPhysicalNo != 0)
{
return;
}
short nRet;
nRet = NMC2.nmc_GetAxesExpress(m_nDevId, out NmcAxesExpr);
nRet = NMC2.nmc_GetAxesMotionOut(m_nDevId, out NmcAxesMotionOut);
nRet = NMC2.nmc_GetHomeStatus(m_nDevId, out NmcHomeFlag);
if (nRet != 0)
{
if (!m_bNeededReopen)
{
Log.ShowMessage("PAIX", "Needed Reopen 192.168.0." + m_nDevId.ToString());
}
m_bNeededReopen = true;
}
if (m_bNeededReopen)
{
if (CModule.ReOpenDevice())
{
m_bNeededReopen = false;
}
}
}
static public void CloseDevice()
{
if (!bOpened)
{
return;
}
NMC2.nmc_CloseDevice(m_nModuleIP);
bOpened = false;
}
public bool SetOut(int _iNo, bool _bOn)
{
//Check Error.
if (_iNo >= m_iMaxOut || _iNo < 0)
{
return(false);
}
//OutPut
short nOn = _bOn ? (short)1 : (short)0;
short nRet;
//Controller 추가 연결시 사용 되는거 같다.
//nRet = NMC2.nmc_SetDIOOutPin(m_nDevId, (short)_iNo, nOn);
nRet = NMC2.nmc_SetMDIOOutPin(m_nDevId, (short)_iNo, nOn);
return(true);
}
/// <summary>
/// 리셑 시그널 온오프 제어
/// </summary>
/// <param name="_bOn">온오프</param>
public void SetReset(bool _bOn)
{
short nRet;
short nSignal = _bOn ? (short)1 : (short)0;
nRet = NMC2.nmc_SetAlarmResetOn(m_nDevId, (short)Para.iPhysicalNo, nSignal);
//이상하게 이머진시 오래 유지 되고 난후에 이머전시 풀르면 A접점들이 안살아나면서
//병신이 되서 프로그램 껏따 켜야되는데...
//밑에 테스트 결과 안됌.
//전기 문제 혹은 파익스 문제 인듯.
//if (!_bOn)
//{
// bool bRet = CModule.ReOpenDevice();
//}
}
private void Btn_Disital_Output_Click(object sender, EventArgs e)
{
Button btn = (Button)sender;
short bitno = -1;
if (btn != null)
{
bitno = Convert.ToInt16(btn.Tag);
if (MultiMotion.OutStatus[bitno] == 1)
{
NMC2.nmc_SetDIOOutputBit(DeviceManager.g_ndevIdC_4, bitno, 0);
}
else
{
NMC2.nmc_SetDIOOutputBit(DeviceManager.g_ndevIdC_4, bitno, 1);
}
}
}
static public bool ReOpenDevice()
{
NMC2.nmc_CloseDevice(m_nModuleIP);
if (NMC2.nmc_PingCheck(m_nModuleIP, 200) != 0)
{
Log.Trace("PAIX", "ReOpen Ping Test Error 192.168.0." + m_nModuleIP.ToString());
return(false);
}
short nRet = NMC2.nmc_OpenDevice(m_nModuleIP);
if (nRet == 0)
{
Log.ShowMessage("PAIX", "ReOpen Success! 192.168.0." + m_nModuleIP.ToString());
return(true);
}
Log.Trace("PAIX", "ReOpen Failed! 192.168.0." + m_nModuleIP.ToString());
return(false);
}
/// <summary>
/// 초기화 함수.
/// </summary>
/// <returns>초기화 성공여부</returns>
public bool Init()
{
if (m_bInit == false)
{
m_bInit = true;
//통합 보드 초기화 부분.
if (!MotionNMC2.CModule.OpenDevice(out m_nDevId))
{
return(false);
}
//Motor 개수 정보 가져오기 ========================
short nRet;
short nMotionType, nIOType, nExtIo, nMDio;
nRet = NMC2.nmc_GetDeviceInfo(m_nDevId, out nMotionType, out nIOType, out nExtIo, out nMDio);
m_iMaxMotor = nMotionType;
}
return(true);
}
/*
* public void Update()
* {
* //NMC2.nmc_GetMDIOOutput(m_nDevId, ReadStatOut);
* //NMC2.nmc_GetMDIOInput (m_nDevId, ReadStatIn );
* for(int i=0; i < m_iModuleCnt; i++)
* {
* NMC2.nmc_SetDIOOutPins(m_aModuleInfo[i].nNmcNo, (short)m_aModuleInfo[i].nDataOutSet.Length , m_aModuleInfo[i].nDataOutNo, m_aModuleInfo[i].nDataOutSet);
*
* //short s = m_aModuleInfo[i].nDataOutSet[0] ;
* //NMC2.nmc_SetDIOOutPin(m_aModuleInfo[i].nNmcNo , 0 , s);
*
* //NMC2.nmc_GetDIOOutput (m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataOutGet);
* //NMC2.nmc_GetDIOInput (m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataIn );
* NMC2.nmc_GetDIOOutput128 (m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataOutGet);
* NMC2.nmc_GetDIOInput128 (m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataIn );
*
*
* }
*
*
*
* }
*/
public void Update()
{
//NMC2.nmc_GetMDIOOutput(m_nDevId, ReadStatOut);
//NMC2.nmc_GetMDIOInput (m_nDevId, ReadStatIn );
bool bDisconnected = false;
for (int i = 0; i < m_iModuleCnt; i++)
{
if (NMC2.nmc_SetDIOOutPins(m_aModuleInfo[i].nNmcNo, (short)m_aModuleInfo[i].nDataOutSet.Length, m_aModuleInfo[i].nDataOutNo, m_aModuleInfo[i].nDataOutSet) == NMC2.NMC_NOTCONNECT)
{
bDisconnected = true;
}
//short s = m_aModuleInfo[i].nDataOutSet[0] ;
//NMC2.nmc_SetDIOOutPin(m_aModuleInfo[i].nNmcNo , 0 , s);
//NMC2.nmc_GetDIOOutput (m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataOutGet);
//NMC2.nmc_GetDIOInput (m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataIn );
if (NMC2.nmc_GetDIOOutput128(m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataOutGet) == NMC2.NMC_NOTCONNECT)
{
bDisconnected = true;
}
if (NMC2.nmc_GetDIOInput128(m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataIn) == NMC2.NMC_NOTCONNECT)
{
bDisconnected = true;
}
}
//이건 아예 첨부터 장비 파워 안들어갔을때. 중간에 장비 전원 껐다켰을때.
if (m_iModuleCnt == 0 || bDisconnected)
{
short[] nIp = new short[] { 192, 168, 0, 255 }; // 192.168.0.XXX로 되는 모든 주소로 장치 검색
int nCount = NMC2.nmc_GetEnumList(nIp, out NMC2.NMCEQUIPLIST NmcEquipList);
if (nCount != 0)
{
Init();
}
}
}
public bool Init()
{
short[] nIp = new short [] { 192, 168, 0, 255 }; // 192.168.0.XXX로 되는 모든 주소로 장치 검색
//무조건 첫모듈은 1번이여야 하고 순서대로 설정해야 함. 1,2,3,4,5,6,
//이함수에서 모듈을 선착순 순서로 리턴해서 순서가 렌덤임.
int nCount = NMC2.nmc_GetEnumList(nIp, out NMC2.NMCEQUIPLIST NmcEquipList);
if (nCount <= 0)
{
Log.ShowMessage("Dio", "Module Count is 0, plz Check IP Add");
return(false);
}
for (int i = 0; i < nCount; i++)
{
if (NmcEquipList.nDioType[i] != 0)
{
m_iModuleCnt++;
}
}
m_aModuleInfo = new TModuleInfo[m_iModuleCnt];
m_iModuleCnt = 0;
//string sTemp = "";
for (int j = 1; j < nCount + 1; j++)
{
for (int i = 0; i < nCount; i++)//2개이상 모듈을 사용할때 IP작은순으로 들어오지 않고 선착순으로 들어옴....
{
if (NmcEquipList.lModelType[i] == NMC2.NMC2_UDIO)
{
//int i1 = NmcEquipList.lIp[0] & 0xff;
//int i2 = NmcEquipList.lIp[0]>>8 & 0xff;
//int i3 = NmcEquipList.lIp[0]>>16 & 0xff;
int i4 = NmcEquipList.lIp[i] >> 24 & 0xff;
if (i4 != j)
{
continue;
}
//sTemp = sTemp + i4.ToString();
m_aModuleInfo[m_iModuleCnt].nNmcNo = (short)i4;
if (NMC2.nmc_OpenDevice(m_aModuleInfo[m_iModuleCnt].nNmcNo) != 0)
{
Log.ShowMessage("Dio", "Paiz NMC2 IO Module Port Open Fail");
return(false);
}
NMC2.nmc_GetDIOInfo(m_aModuleInfo[m_iModuleCnt].nNmcNo, out short iCntIn, out short iCntOut);
m_aModuleInfo[m_iModuleCnt].iCntIn = iCntIn;
m_aModuleInfo[m_iModuleCnt].iCntOut = iCntOut;
m_aModuleInfo[m_iModuleCnt].nDataIn = new short[128];
m_aModuleInfo[m_iModuleCnt].nDataOutGet = new short[128];
m_aModuleInfo[m_iModuleCnt].nDataOutSet = new short[128]; //new short[iCntOut]; 16개나 128개나 시간상 똑같아서 128
m_aModuleInfo[m_iModuleCnt].nDataOutNo = new short[128]; //new short[iCntOut];
m_iMaxIn += iCntIn;
m_iMaxOut += iCntOut;
for (int k = 0; k < 128; k++)
{
m_aModuleInfo[m_iModuleCnt].nDataOutNo[k] = (short)k;
}
m_iModuleCnt++;
}
}
}
//for(int y = 0; y < m_iMaxOut; y++)
//{
// SetOut(y,GetOut(y));
//}
for (int i = 0; i < m_iModuleCnt; i++)
{
NMC2.nmc_GetDIOOutput128(m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataOutSet);
NMC2.nmc_GetDIOOutput128(m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataOutGet);
NMC2.nmc_GetDIOInput128(m_aModuleInfo[i].nNmcNo, m_aModuleInfo[i].nDataIn);
}
//Log.ShowMessage(sTemp, sTemp);
/*
* short nRet;
* // DIO 입/출력 개수 정보 가져오기 ========================
* short nMotionType, nIOType, nExtIo, nMDio;
* nRet = NMC2.nmc_GetDeviceInfo(m_nDevId, out nMotionType, out nIOType, out nExtIo, out nMDio);
* //nIOType은 IO Controller 사용시.
* //switch (nIOType)
* //{
* // case 1: m_iMaxIn = 16; m_iMaxOut = 16; break;
* // case 2: m_iMaxIn = 32; m_iMaxOut = 32; break;
* // case 3: m_iMaxIn = 48; m_iMaxOut = 48; break;
* // case 4: m_iMaxIn = 64; m_iMaxOut = 64; break;
* // default: m_iMaxIn = 0 ; m_iMaxOut = 0 ; break;
* //}
* //기본 Motion Controller 사용시는 NMDio사용.
* switch(nMDio)
* {
* case 1: m_iMaxIn = 8 ; m_iMaxOut = 8 ; break;
* default: m_iMaxIn = 0 ; m_iMaxOut = 0 ; break;
* }
*/
//NMC2E-UDIO-CPU, NMC2E-UD16&UDO16 사용시
//int plDeviceType;
//NMC2.nmc_GetDeviceType(m_nDevId, out plDeviceType);
//short pnInCount, pnOutCount ;
//int iRet = NMC2.nmc_GetDIOInfo(m_nDevId, out pnInCount, out pnOutCount);
//m_iMaxIn = pnInCount ;
//m_iMaxOut = pnOutCount;
//if(iRet != 0) {
// m_iMaxIn = 0 ; m_iMaxOut = 0 ;
//}
//ReadStatIn = new short[m_iMaxIn ];
//ReadStatOut = new short[m_iMaxOut];
return(true);
}
public void Update()
{
NMC2.nmc_GetMDIOOutput(m_nDevId, ReadStat);
NMC2.nmc_GetMDIOInput(m_nDevId, ReadStat);
}
/// <summary>
/// 모터 감속 무시 긴급정지.
/// </summary>
public void EmgStop()
{
short nRet;
nRet = NMC2.nmc_SuddenStop(m_nDevId, (short)Para.iPhysicalNo);
}
//Motion Functions.
/// <summary>
/// 모터 정지 명령.
/// </summary>
public void Stop()
{
short nRet;
nRet = NMC2.nmc_DecStop(m_nDevId, (short)Para.iPhysicalNo);
}
public static short SetPin(short nNmfNo, short nPinNo, short nOutStatus)
{
//SubForm.SmallLog.Instance.LogReport(string.Format("핀번호={0} 상태값={1}", nPinNo, nOutStatus));
return(NMC2.nmc_SetDIOOutputBit(nNmfNo, nPinNo, nOutStatus));
}
