private void btnNegativeJog_Click(object sender, EventArgs e)
{
byte iSlaveNo;
int nRtn;
uint lVelocity;
if (m_bConnected == false)
{
return;
}
if (textSlaveNo.Text.Length <= 0)
{
textSlaveNo.Focus();
return;
}
iSlaveNo = byte.Parse(textSlaveNo.Text);
lVelocity = uint.Parse(tbSpeed.Text);
nRtn = EziMOTIONPlusRLib.FAS_MoveVelocity(m_nPortNo, iSlaveNo, lVelocity, 0);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_MoveVelocity() \nReturned :" + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
/// <summary>
/// ALl axis return Origin
/// </summary>
public void Move_All_Axis_Origin()
{
int nRtn = EziMOTIONPlusRLib.FAS_AllMoveOriginSingleAxis(VarGlobal.PortNo);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_AllMoveOriginSingleAxis() \nReturned: " + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
do
{
int nRtn_3 = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, VarGlobal.iSLAVE_X, ref dwAxisStatus_x);
int nRtn_4 = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, VarGlobal.iSLAVE_Y, ref dwAxisStatus_y);
int nRtn_5 = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, VarGlobal.iSLAVE_Z, ref dwAxisStatus_z);
if (nRtn_3 != EziMOTIONPlusRLib.FMM_OK || nRtn_4 != EziMOTIONPlusRLib.FMM_OK || nRtn_5 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetAxisStatus() \nReturned: " + nRtn_3.ToString() + nRtn_4.ToString() + nRtn_5.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
if ((dwAxisStatus_x & 0x00000001) == 1 || (dwAxisStatus_y & 0x00000001) == 1 || (dwAxisStatus_z & 0x00000001) == 1) // FFLAG_ERRORALL is ON
{
string strMsg;
strMsg = "Error flag";
MessageBox.Show(strMsg, "AxisStatus");
return;
}
}while ((dwAxisStatus_x & 0x08000000) != 0 || (dwAxisStatus_y & 0x08000000) != 0 || (dwAxisStatus_z & 0x08000000) != 0); // FFLAG_MOTIONING is ON
}
private void btnResetAlarmZ_Click(object sender, EventArgs e)
{
if (VarGlobal.m_Connected)
{
if (EziMOTIONPlusRLib.FAS_IsSlaveExist(VarGlobal.PortNo, 3) != 0)
{
int nRnt_1 = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, 3, ref dwAxisStatus);
if (nRnt_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetAxisStatus() \nReturned: " + nRnt_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
if ((dwAxisStatus & 0x00000001) != 0) //FFLAG_ERRORALL is ON
{
int nRtn = EziMOTIONPlusRLib.FAS_StepAlarmReset(VarGlobal.PortNo, 3, 1);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoAlarmReset() \nReturned: " + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
}
}
else
{
MessageBox.Show("Not connect");
}
}
private void Move_Stop(object sender, MouseEventArgs e)
{
for (byte i = 1; i <= 3; i++)
{
EziMOTIONPlusRLib.FAS_MoveStop(VarGlobal.PortNo, i);
}
}
public void ResetAlarm()
{
if (VarGlobal.m_Connected == false)
{
return;
}
else
{
for (byte i = 1; i <= 3; i++)
{
if (EziMOTIONPlusRLib.FAS_IsSlaveExist(VarGlobal.PortNo, i) != 0)
{
int nRnt_1 = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, i, ref dwAxisStatus);
if (nRnt_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetAxisStatus() \nReturned: " + nRnt_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
if ((dwAxisStatus & 0x00000001) != 0) //FFLAG_ERRORALL is ON
{
int nRtn = EziMOTIONPlusRLib.FAS_StepAlarmReset(VarGlobal.PortNo, i, 1);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoAlarmReset() \nReturned: " + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
}
}
}
}
void ShowCoordinate()
{
if (VarGlobal.m_Connected)
{
try
{
while (true)
{
int nRtn_1 = EziMOTIONPlusRLib.FAS_GetCommandPos(VarGlobal.PortNo, 1, ref Calculate.CommandPosX);
if (nRtn_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_GetActualPos() \nreturned: " + nRtn_1.ToString();
MessageBox.Show(strmsg, "function failed");
}
int nRtn_2 = EziMOTIONPlusRLib.FAS_GetCommandPos(VarGlobal.PortNo, 2, ref Calculate.CommandPosY);
if (nRtn_2 != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_GetActualPos() \nreturned: " + nRtn_2.ToString();
MessageBox.Show(strmsg, "function failed");
}
int nRtn_3 = EziMOTIONPlusRLib.FAS_GetCommandPos(VarGlobal.PortNo, 3, ref Calculate.CommandPosZ);
if (nRtn_3 != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_GetActualPos() \nreturned: " + nRtn_3.ToString();
MessageBox.Show(strmsg, "function failed");
}
if (nRtn_1 != EziMOTIONPlusRLib.FMM_OK || nRtn_2 != EziMOTIONPlusRLib.FMM_OK || nRtn_3 != EziMOTIONPlusRLib.FMM_OK)
{
return;
}
VarGlobal.position_mm_x = Calculate.Calculate_Coordinate_mm(Calculate.CommandPosX, Calculate.STEP_X);
VarGlobal.position_mm_y = Calculate.Calculate_Coordinate_mm(Calculate.CommandPosY, Calculate.STEP_Y);
VarGlobal.position_mm_z = Calculate.Calculate_Coordinate_mm(Calculate.CommandPosZ, Calculate.STEP_Z);
//Invoke(new MethodInvoker(delegate
//{
bsiPosX.Caption = VarGlobal.position_mm_x.ToString("0.0000");
bsiPosY.Caption = VarGlobal.position_mm_y.ToString("0.0000");
bsiPosZ.Caption = VarGlobal.position_mm_z.ToString("0.0000");
//bsiMeasurement.Caption = VarGlobal.measurementvalue.ToString("0.0000");
//}));
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
else
{
MessageBox.Show("Not Connected");
}
}
private void fmMain_FormClosed(object sender, FormClosedEventArgs e)
{
if (VarGlobal.m_Connected)
{
EziMOTIONPlusRLib.FAS_Close(VarGlobal.PortNo);
}
if (VarGlobal.adam_Connected)
{
VarGlobal.adamCom.CloseComPort();
}
}
private void fmBoardList_Load(object sender, EventArgs e)
{
if (VarGlobal.m_Connected)
{
for (byte i = 1; i <= 3; i++)
{
int nRtn1 = EziMOTIONPlusRLib.FAS_GetSlaveInfo(VarGlobal.PortNo, i, ref _pType_ezi, ref _version);
int nRtn2 = EziMOTIONPlusRLib.FAS_GetMotorInfo(VarGlobal.PortNo, i, ref _pType_motor, ref _motor);
if (nRtn1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetSlaveInfo() \nReturned: " + nRtn1.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
if (nRtn2 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetMotorInfo() \nReturned: " + nRtn2.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
switch (_pType_ezi)
{
case 1:
_typeEzi = "Ezi-SERVO Plus-R ST";
break;
case 20:
_typeEzi = "Ezi-STEP Plus-R ST";
break;
case 50:
_typeEzi = "Ezi- SERVO Plus-R MINI";
break;
default:
break;
}
ListViewItem lvi = new ListViewItem("Port " + VarGlobal.PortNo + " Slave No " + i);
lvi.SubItems.Add(_typeEzi);
lvi.SubItems.Add(_motor);
lvi.SubItems.Add(_version);
lviBoardList.Items.Add(lvi);
}
}
else
{
MessageBox.Show("Not connect");
}
}
private void Move_Stop(object sender, MouseEventArgs e)
{
if (VarGlobal.m_Connected)
{
for (byte i = 1; i <= 3; i++)
{
EziMOTIONPlusRLib.FAS_MoveStop(VarGlobal.PortNo, i);
}
}
else
{
MessageBox.Show("Not connect");
}
}
private void btnDisconnect_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
EziMOTIONPlusRLib.FAS_Close(VarGlobal.PortNo);
VarGlobal.adamCom.CloseComPort();
VarGlobal.Reset();
bsiX.Caption = "...";
bsiY.Caption = "...";
bsiZ.Caption = "...";
bsiPosX.Caption = "---";
bsiPosY.Caption = "---";
bsiPosZ.Caption = "---";
bsiMeasurement.Caption = "---";
bsiAdam.Caption = "---";
}
/// <summary>
/// Stop all axis motioning
/// </summary>
public void All_Move_Stop()
{
if (!VarGlobal.m_Connected)
{
MessageBox.Show("not connect");
return;
}
int nRtn = EziMOTIONPlusRLib.FAS_AllMoveStop(VarGlobal.PortNo);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_AllMoveStop() \nReturned: " + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
/// <summary>
/// Move all axis with Abs Position
/// </summary>
/// <param name="x_pos_abs"></param>
/// <param name="y_pos_abs"></param>
public void Move_All_Axis_Abs_Pos(int x_pos_abs, int y_pos_abs)
{
if (VarGlobal.m_Connected == false)
{
return;
}
else
{
int nRtn_1 = EziMOTIONPlusRLib.FAS_MoveSingleAxisAbsPos(VarGlobal.PortNo, VarGlobal.iSLAVE_X, x_pos_abs, VarGlobal.speedJOG_X);
if (nRtn_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_MoveSingleAxisAbsPos() \nReturned: " + nRtn_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
int nRtn_2 = EziMOTIONPlusRLib.FAS_MoveSingleAxisAbsPos(VarGlobal.PortNo, VarGlobal.iSLAVE_Y, y_pos_abs, VarGlobal.speedJOG_Y);
if (nRtn_2 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_MoveSingleAxisAbsPos() \nReturned: " + nRtn_2.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
do
{
int nRtn_3 = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, VarGlobal.iSLAVE_X, ref dwAxisStatus_x);
int nRtn_4 = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, VarGlobal.iSLAVE_Y, ref dwAxisStatus_y);
if (nRtn_3 != EziMOTIONPlusRLib.FMM_OK || nRtn_4 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetAxisStatus() \nReturned: " + nRtn_3.ToString() + nRtn_4.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
if ((dwAxisStatus_x & 0x00000001) == 1 || (dwAxisStatus_y & 0x00000001) == 1) // FFLAG_ERRORALL is ON
{
string strMsg;
strMsg = "Error flag";
MessageBox.Show(strMsg, "AxisStatus");
return;
}
}while ((dwAxisStatus_x & 0x08000000) != 0 || (dwAxisStatus_y & 0x08000000) != 0); // FFLAG_MOTIONING is ON
}
private void btnSave_Click(object sender, EventArgs e)
{
this.Invoke(new Action(() =>
{
Coordinates.Xcoordinate.Instance().x_coor[VarGlobal.Point] = Calculate.CommandPosX;
Coordinates.Ycoordinate.Instance().y_coor[VarGlobal.Point] = Calculate.CommandPosY;
Coordinates.Zcoordinate.Instance().z_coor[VarGlobal.Point] = Calculate.CommandPosZ;
VarGlobal.Instance().node_item_x.lPosition = Calculate.CommandPosX;
int nRtn_1 = EziMOTIONPlusRLib.FAS_PosTableWriteItem(VarGlobal.PortNo, 1, VarGlobal.Point, VarGlobal.Instance().node_item_x);
if (nRtn_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_PosTableWriteItem() \nreturned: " + nRtn_1.ToString();
MessageBox.Show(strmsg, "function failed");
}
VarGlobal.Instance().node_item_y.lPosition = Calculate.CommandPosY;
int ntRn_2 = EziMOTIONPlusRLib.FAS_PosTableWriteItem(VarGlobal.PortNo, 2, VarGlobal.Point, VarGlobal.Instance().node_item_y);
if (ntRn_2 != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_PosTableWriteItem() \nreturned: " + ntRn_2.ToString();
MessageBox.Show(strmsg, "function failed");
}
VarGlobal.Instance().node_item_z.lPosition = Calculate.CommandPosZ;
int ntRn_3 = EziMOTIONPlusRLib.FAS_PosTableWriteItem(VarGlobal.PortNo, 2, VarGlobal.Point, VarGlobal.Instance().node_item_z);
if (ntRn_3 != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_PosTableWriteItem() \nreturned: " + ntRn_3.ToString();
MessageBox.Show(strmsg, "function failed");
}
if (!SQLite.Instance().CheckExistData("T24DefaultPointMeasurement", VarGlobal.Point + 1))
{
SQLite.Instance().InsertDefaultPointsCoordinate("T24DefaultPointMeasurement", VarGlobal.Point + 1,
"Point " + (VarGlobal.Point + 1), lblCoorX.Text, lblCoorY.Text, lblCoorZ.Text);
}
else
{
SQLite.Instance().UpdateDefaultPointsCoordinate("T24DefaultPointMeasurement", VarGlobal.Point + 1,
lblCoorX.Text, lblCoorY.Text, lblCoorZ.Text);
}
this.Close();
}));
}
/// <summary>
/// Move Stop of Z coor
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Move_Stop(object sender, MouseEventArgs e)
{
if (VarGlobal.m_Connected)
{
int nRtn = EziMOTIONPlusRLib.FAS_MoveStop(VarGlobal.PortNo, 3);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_MoveStop() \nreturned: " + nRtn.ToString();
MessageBox.Show(strmsg, "function failed");
}
}
else
{
MessageBox.Show("Not connect");
}
}
private void fmMain_FormClosing(object sender, FormClosingEventArgs e)
{
Thread.Sleep(500);
for (byte i = 0; i < EziMOTIONPlusRLib.MAX_SLAVE_NUMS; i++)
{
if (EziMOTIONPlusRLib.FAS_IsSlaveExist(VarGlobal.PortNo, i) != 0)
{
int nRtn = EziMOTIONPlusRLib.FAS_ServoEnable(VarGlobal.PortNo, i, 0);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoEnable() \nReturned: " + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
}
}
private void Jog_Manual(byte i, int j, uint speed)
{
if (VarGlobal.m_Connected == false)
{
return;
}
else
{
int nRtn = EziMOTIONPlusRLib.FAS_MoveVelocity(VarGlobal.PortNo, i, speed, j);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strmsg;
strmsg = "FAS_Movesingleaxisincpos() \nreturned: " + nRtn.ToString();
MessageBox.Show(strmsg, "function failed");
}
}
}
private void btnMoveOriginZ_Click(object sender, EventArgs e)
{
if (VarGlobal.m_Connected)
{
int nRtn_1 = EziMOTIONPlusRLib.FAS_MoveOriginSingleAxis(VarGlobal.PortNo, 3);
if (nRtn_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_MoveSingleAxisAbsPos() \nReturned: " + nRtn_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
Thread.Sleep(500);
}
else
{
MessageBox.Show("Not Connect");
}
}
private void btnMoveZ_Click(object sender, EventArgs e)
{
if (VarGlobal.m_Connected)
{
int nRtn_1 = EziMOTIONPlusRLib.FAS_MoveSingleAxisAbsPos(VarGlobal.PortNo, 3,
Calculate.Calculate_Coordinate_pulse(float.Parse(txtPositionZ.Text.Trim()), Calculate.STEP_Z),
VarGlobal.speedJOG_Z);
if (nRtn_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_MoveSingleAxisAbsPos() \nReturned: " + nRtn_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
}
else
{
MessageBox.Show("Not connect");
}
}
private void btnParameterList_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
int ROMPara = 0;
string temp = "";
if (VarGlobal.m_Connected)
{
for (byte i = 0; i < 30; i++)
{
EziMOTIONPlusRLib.FAS_GetROMParameter(VarGlobal.PortNo, 1, i, ref ROMPara);
temp += ROMPara.ToString() + "-";
}
}
else
{
MessageBox.Show("not connect");
}
MessageBox.Show(temp);
}
private void btnWritetoROM_ItemClick(object sender, DevExpress.XtraBars.ItemClickEventArgs e)
{
if (VarGlobal.m_Connected)
{
int ntRn_3 = EziMOTIONPlusRLib.FAS_PosTableWriteROM(VarGlobal.PortNo, 1);
int ntRn_4 = EziMOTIONPlusRLib.FAS_PosTableWriteROM(VarGlobal.PortNo, 2);
if (ntRn_3 != EziMOTIONPlusRLib.FMM_OK || ntRn_4 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_PosTableWriteROM() \nReturned: " + ntRn_3.ToString() + "And" + ntRn_4.ToString();
MessageBox.Show(strMsg, "Function Failed");
}
MessageBox.Show("Write Success!");
}
else
{
MessageBox.Show("Not connect");
}
}
/// <summary>
/// Move Z axis with Abs position
/// </summary>
/// <param name="z_pos_abs"></param>
public bool Move_Z_Axis_Abs_Pos(int z_pos_abs)
{
if (VarGlobal.m_Connected == false)
{
MessageBox.Show("Not Connect");
}
int nRtn_1 = EziMOTIONPlusRLib.FAS_MoveSingleAxisAbsPos(VarGlobal.PortNo, VarGlobal.iSLAVE_Z, z_pos_abs, VarGlobal.speedJOG_Z);
do
{
int nRtn = EziMOTIONPlusRLib.FAS_GetAxisStatus(VarGlobal.PortNo, VarGlobal.iSLAVE_Z, ref dwAxisStatus_z);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetAxisStatus() \nReturned: " + nRtn.ToString();
MessageBox.Show(strMsg, "Function Failed");
return(false);
}
if ((dwAxisStatus_z & 0x00000001) == 1) // FFLAG_ERRORALL is ON
{
string strMsg;
strMsg = "Error flag";
MessageBox.Show(strMsg, "AxisStatus");
return(false);
}
}while ((dwAxisStatus_z & 0x08000000) != 0);
if (nRtn_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_MoveSingleAxisAbsPos() \nReturned: " + nRtn_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
return(false);
}
else
{
return(true);
}
}
private void btnStop_Click(object sender, EventArgs e)
{
byte iSlaveno;
int nRtn;
if (m_bConnected == false)
{
return;
}
if (textSlaveNo.Text.Length <= 0)
{
textSlaveNo.Focus();
return;
}
iSlaveno = byte.Parse(textSlaveNo.Text);
nRtn = EziMOTIONPlusRLib.FAS_MoveStop(m_nPortNo, iSlaveno);
if (nRtn != EziMOTIONPlusRLib.FMM_OK)
{
string strMessage;
strMessage = "FAS_MoveStop() \nReturned:" + nRtn.ToString();
MessageBox.Show(strMessage, "Function Failed");
}
}
private void btnOpen_Click(object sender, EventArgs e)
{
SerialPropeties();
if (cbPortName.Text.Length <= 0)
{
cbPortName.Focus();
return;
}
if (m_bConnected == false)
{
uint dwBaud;
m_nPortNo = byte.Parse(cbPortName.Text);
dwBaud = uint.Parse(cbBaudRate.Text);
if (EziMOTIONPlusRLib.FAS_Connect(m_nPortNo, dwBaud) == 0)
{
MessageBox.Show("Failed");
}
else
{
m_bConnected = true;
for (byte i = 0; i < EziMOTIONPlusRLib.MAX_SLAVE_NUMS; i++)
{
if (EziMOTIONPlusRLib.FAS_IsSlaveExist(m_nPortNo, i) != 0)
{
textSlaveNo.Text = i.ToString();
break;
}
}
}
}
else
{
EziMOTIONPlusRLib.FAS_Close(m_nPortNo);
m_bConnected = false;
}
}
private void backgroundWorker1_DoWork(object sender, DoWorkEventArgs e)
{
var woker = sender as BackgroundWorker;
Invoke(new MethodInvoker(delegate
{
if (comboBoxPortNo.Text.Length <= 0)
{
comboBoxPortNo.Focus();
return;
}
if (comboBoxAdamCOM.Text.Length <= 0)
{
comboBoxAdamCOM.Focus();
return;
}
}));
//Connect ezi step plus R
while (_mConnected == false)
{
Invoke(new MethodInvoker(delegate
{
_portNo = byte.Parse(comboBoxPortNo.Text);
_adamCOM = int.Parse(comboBoxAdamCOM.Text);
dwBaud = uint.Parse(comboBaudrate.Text);
}));
if (EziMOTIONPlusRLib.FAS_Connect(_portNo, dwBaud) == 0)
{
//error connect
//MessageBox.Show("Error Connect!");
if (SuccessConnect != null)
{
//VarGlobal._portNo = 0;
SuccessConnect(CheckConnection.fail);
this.Close();
}
}
else
{
for (byte i = 1; i <= 3; i++)
{
if (EziMOTIONPlusRLib.FAS_IsSlaveExist(_portNo, i) != 0)
{
int nRnt_1 = EziMOTIONPlusRLib.FAS_GetAxisStatus(_portNo, i, ref dwAxisStatus);
if (nRnt_1 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_GetAxisStatus() \nReturned: " + nRnt_1.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
//reset alarm if there is alarm
if ((dwAxisStatus & 0x00000001) != 0) // FFLAG_ERRORALL is ON
{
int nRnt_2 = EziMOTIONPlusRLib.FAS_StepAlarmReset(_portNo, i, 1);
if (nRnt_2 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoAlarmReset() \nReturned: " + nRnt_2.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
}
//all servo on
int nRnt_3 = EziMOTIONPlusRLib.FAS_ServoEnable(_portNo, i, 1);
if (nRnt_3 != EziMOTIONPlusRLib.FMM_OK)
{
string strMsg;
strMsg = "FAS_ServoEnable() \nReturned: " + nRnt_3.ToString();
MessageBox.Show(strMsg, "Function Failed");
return;
}
}
VarGlobal._3AxisReady += 1;
}
if (VarGlobal._3AxisReady >= 3)
{
_mConnected = true;
while (_count <= 100 && _mConnected == true)
{
Thread.Sleep(100);
woker.ReportProgress(_count);
_count += 10;
}
}
else
{
MessageBox.Show("Error occur!");
}
}
}
if (SuccessConnect != null)
{
VarGlobal.PortNo = _portNo;
VarGlobal.m_Connected = _mConnected;
VarGlobal.AdamCOM = _adamCOM;
SuccessConnect(CheckConnection.success);
}
}
