private void button1_Click(object sender, EventArgs e)
{
for (int i = 0; i < mSlaveCnt; i++)
{
NexCoeMotion.NEC_CoE402Home(mAxisId[i], 0);
}
}
private void ServoOn(int ID)
{
if (btn_StartNetwork.BackColor != Color.YellowGreen)
{
MessageBox.Show("Please start network first!!");
return;
}
int ret = 0;
Button btn_startMove;
Button btn_move;
if (ID == 0)
{
btn_startMove = btn_ServoOn_0;
btn_move = btn_Move_0;
}
else
{
btn_startMove = btn_ServoOn_1;
btn_move = btn_Move_1;
}
if (btn_startMove.Text == "Servo on")
{
ret = NexCoeMotion.NEC_CoE402SetOperationMode(mAxisId[ID], 1, 5000);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402SetOperationMode failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402ServoOn(mAxisId[ID], 1);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402ServoOn failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402Halt(mAxisId[ID], 0);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402Halt failed" + ret.ToString()); return;
}
btn_startMove.Text = "Servo off";
}
else
{
ret = NexCoeMotion.NEC_CoE402ServoOn(mAxisId[ID], 0);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402ServoOn failed" + ret.ToString()); return;
}
btn_startMove.Text = "Servo on";
btn_move.Text = "Move";
}
}
private void RunLoop(int a, int b)
{
int ret = 0;
mTargetPos[0] = a;
mVelocity[0] = Convert.ToUInt32(tb_Vel_0.Text);
mAccDec[0] = Convert.ToUInt32(tb_AccDec_0.Text);
mTargetPos[1] = b;
mVelocity[1] = Convert.ToUInt32(tb_Vel_1.Text);
mAccDec[1] = Convert.ToUInt32(tb_AccDec_1.Text);
int[] actualPos = new int[TOTAL_AXIS];
ret = NexCoeMotion.NEC_CoE402GetActualPosition(mAxisId[0], ref actualPos[0]);//讀取馬達實際位置
if (ret != 0)
{
MessageBox.Show("transform failed");
}
ret = NexCoeMotion.NEC_CoE402GetActualPosition(mAxisId[1], ref actualPos[1]);//讀取馬達實際位置
if (ret != 0)
{
MessageBox.Show("transform failed");
}
int realactualPos0 = actualPos[0];
int realactualPos1 = actualPos[1];
if (actualPos[0] >= 0)
{
actualPos[0] = ((actualPos[0] % 129600) / 360);
}
else
{
actualPos[0] = ((actualPos[0] % 129600) / 360) + 360;
}
mTargetPos[0] = (mTargetPos[0] - actualPos[0]) * 360 + realactualPos0;
if (actualPos[1] >= 0)
{
actualPos[1] = ((actualPos[1] % 129600) / 360);
}
else
{
actualPos[1] = ((actualPos[1] % 129600) / 360) + 360;
}
mTargetPos[1] = (mTargetPos[1] - actualPos[1]) * 360 + realactualPos1;
if (button3.Text == "Move")
{
ret = NexCoeMotion.NEC_CoE402Halt(mAxisId[0], 0);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402Halt failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402PtpA(mAxisId[0], 0, mTargetPos[0], mVelocity[0], mAccDec[0], mAccDec[0]);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402PtpA failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402Halt(mAxisId[1], 0);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402Halt failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402PtpA(mAxisId[1], 0, mTargetPos[1], mVelocity[1], mAccDec[1], mAccDec[1]);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402PtpA failed" + ret.ToString()); return;
}
}
else
{
ret = NexCoeMotion.NEC_CoE402Halt(mAxisId[0], 1);//移動終止
if (ret != 0)
{
MessageBox.Show("NEC_CoE402Halt failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402Halt(mAxisId[1], 1);//移動終止
if (ret != 0)
{
MessageBox.Show("NEC_CoE402Halt failed" + ret.ToString()); return;
}
button3.Text = "Move";
}
}
private void MoveFunc(int ID)
{
int ret = 0;
TextBox tb_targetPos;
TextBox tb_velocity;
TextBox tb_acc;
Button btn_move;
Button btn_startMove;
if (ID == 0)
{
tb_targetPos = tb_TargetPos_0;
tb_velocity = tb_Vel_0;
tb_acc = tb_AccDec_0;
btn_move = btn_Move_0;
btn_startMove = btn_ServoOn_0;
}
else
{
tb_targetPos = tb_TargetPos_1;
tb_velocity = tb_Vel_1;
tb_acc = tb_AccDec_1;
btn_move = btn_Move_1;
btn_startMove = btn_ServoOn_1;
}
if (btn_startMove.Text == "Servo on")
{
MessageBox.Show("Please Servo on first!!");
return;
}
mTargetPos[ID] = Convert.ToInt32(tb_targetPos.Text);
mVelocity[ID] = Convert.ToUInt32(tb_velocity.Text);
mAccDec[ID] = Convert.ToUInt32(tb_acc.Text);
int[] actualPos = new int[TOTAL_AXIS];
ret = NexCoeMotion.NEC_CoE402GetActualPosition(mAxisId[ID], ref actualPos[ID]);//讀取馬達實際位置
if (ret != 0)
{
MessageBox.Show("transform failed");
}
int realactualPos = actualPos[ID];
if (actualPos[ID] >= 0)
{
actualPos[ID] = ((actualPos[ID] % 129600) / 360);
}
else
{
actualPos[ID] = ((actualPos[ID] % 129600) / 360) + 360;
}
mTargetPos[ID] = (mTargetPos[ID] - actualPos[ID]) * 360 + realactualPos;
if (btn_move.Text == "Move")
{
ret = NexCoeMotion.NEC_CoE402Halt(mAxisId[ID], 0);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402Halt failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402PtpA(mAxisId[ID], 0, mTargetPos[ID], mVelocity[ID], mAccDec[ID], mAccDec[ID]);
if (ret != 0)
{
MessageBox.Show("NEC_CoE402PtpA failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402WaitTargetReached(mAxisId[ID]);
btn_move.Text = "Stop";
}
else
{
ret = NexCoeMotion.NEC_CoE402Halt(mAxisId[ID], 1);//移動終止
if (ret != 0)
{
MessageBox.Show("NEC_CoE402Halt failed" + ret.ToString()); return;
}
btn_move.Text = "Move";
}
}
private void Timer1_Tick(object sender, EventArgs e)
{
int ret = 0;
int[] actualPos = new int[TOTAL_AXIS];
ushort[] actualState = new ushort[TOTAL_AXIS];
ushort[] actualStatusWord = new ushort[TOTAL_AXIS];
for (int i = 0; i < mSlaveCnt; i++)
{
ret = NexCoeMotion.NEC_CoE402GetActualPosition(mAxisId[i], ref actualPos[i]);//讀取馬達實際位置
if (ret != 0)
{
Timer1.Enabled = false;
return;
}
ret = NexCoeMotion.NEC_CoE402GetState(mAxisId[i], ref actualState[i]);//讀取馬達狀態
if (ret != 0)
{
Timer1.Enabled = false;
return;
}
ret = NexCoeMotion.NEC_CoE402GetStatusWord(mAxisId[i], ref actualStatusWord[i]);//讀取CIA402狀態
if (ret != 0)
{
Timer1.Enabled = false;
return;
}
}
for (int i = 0; i < mSlaveCnt; i++)
{
if (actualPos[i] >= 0)
{
actualPos[i] = ((actualPos[i] % 129600) / 360);
}
else
{
actualPos[i] = ((actualPos[i] % 129600) / 360) + 360;
}
}
theta1 = (double)actualPos[0];
theta2 = (double)actualPos[1];
tb_ActualPos_0.Text = Convert.ToString(actualPos[0]);
tb_SlaveState_0.Text = Convert.ToString(actualState[0]);
tb_ActualPos_1.Text = Convert.ToString(actualPos[1]);
tb_SlaveState_1.Text = Convert.ToString(actualState[1]);
if ((actualStatusWord[0] & 1024) == 1024)
{
btn_Move_0.Text = "Move";
}
if ((actualStatusWord[1] & 1024) == 1024)
{
btn_Move_1.Text = "Move";
}
}
private void btn_startNetwork_Click(object sender, EventArgs e)
{
int ret = 0;
if ((tb_EniPath.Text == null) || (tb_EniPath.Text == ""))
{
MessageBox.Show("Please load ENI first");
return;
}
if (btn_StartNetwork.BackColor != Color.YellowGreen)
{
ret = NexECM.NEC_StartDriver();//初始化函式庫
if (ret != 0)
{
MessageBox.Show("NEC_StartDriver failed" + ret.ToString()); return;
}
ret = NexECM.NEC_ResetEcMaster(MASTER_ID);//重置EC-Master
if (ret != 0)
{
MessageBox.Show("NEC_ResetEcMaster failed" + ret.ToString()); return;
}
ret = NexECM.NEC_SetParameter(MASTER_ID, 0, 1000);//設定EC-Master參數
if (ret != 0)
{
MessageBox.Show("NEC_SetParameter failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402Reset();//重置函式庫
if (ret != 0)
{
MessageBox.Show("NexCoeMotion failed" + ret.ToString()); return;
}
ret = NexECM.NEC_StartNetworkEx(MASTER_ID, mEniPath, 1, 5000);//啟動EC-Master
if (ret != 0)
{
MessageBox.Show("NEC_StartNetworkEx failed" + ret.ToString()); return;
}
ret = NexECM.NEC_GetSlaveCount(MASTER_ID, ref mSlaveCnt);//讀取線上EC-Slaves數量(2)
if (ret != 0)
{
MessageBox.Show("NEC_GetSlaveCount failed" + ret.ToString()); return;
}
if (TOTAL_AXIS != mSlaveCnt)
{
MessageBox.Show("Please check ENI file and TOTAL_AXIS value!!");
return;
}
for (ushort i = 0; i < mSlaveCnt; i++)
{
ret = NexCoeMotion.NEC_CoE402GetAxisId(MASTER_ID, i, ref mAxisId[i]);//讀取驅動器ID
if (ret != 0)
{
MessageBox.Show("NEC_CoE402GetAxisId failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402UpdatePdoMapping(mAxisId[i]);//更新PDO設定
if (ret != 0)
{
MessageBox.Show("NEC_CoE402UpdatePdoMapping failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402FaultReset(mAxisId[i], 5000);//清除重製驅動器錯誤
if (ret != 0)
{
MessageBox.Show("NEC_CoE402FaultReset failed" + ret.ToString()); return;
}
}
btn_StartNetwork.BackColor = Color.YellowGreen;
Timer1.Enabled = true; //?
btn_StartNetwork.Text = "Stop Network";
btn_Browse.Enabled = false; //?
}
else
{
Timer1.Enabled = false;//?
for (int i = 0; i < mSlaveCnt; i++)
{
ret = NexCoeMotion.NEC_CoE402ServoOn(mAxisId[i], 0);//設定驅動器消磁(disable)
if (ret != 0)
{
MessageBox.Show("NEC_CoE402ServoOn diaable failed" + ret.ToString()); return;
}
}
btn_ServoOn_0.Text = "Servo on";
btn_Move_0.Text = "Move";
btn_ServoOn_1.Text = "Servo on";
btn_Move_1.Text = "Move";
ret = NexECM.NEC_StopNetwork(MASTER_ID, 5000);
if (ret != 0)
{
MessageBox.Show("NEC_StopNetwork failed" + ret.ToString()); return;
}
ret = NexECM.NEC_StopDriver();
if (ret != 0)
{
MessageBox.Show("NEC_StopDriver failed" + ret.ToString()); return;
}
btn_StartNetwork.Text = "Start Network";
btn_StartNetwork.BackColor = Color.WhiteSmoke;
btn_Browse.Enabled = true;
}
}
