public static void ServoOff()
{
for (ushort i = 0; i <= Instance.MaxAxis - 1; i++)
{
MCCL.MCC_SetServoOff(i, 0);
}
}
private void MainForm_Load(object sender, EventArgs e)
{
CBox_JOG.SelectedIndex = 0;
MCCL.MCC_EnableLimitSwitchCheck(0);
//連線EMP-Z
MCCLManager.ConnectEMPZ();
PB_PowerLight.Image = Image.FromFile(Application.StartupPath + "\\Picture\\Power_Light2.png");
//執行緒
bgwThred.RunWorkerAsync();
//將所有分頁加載入MainPanel
MainPanel.Controls.Add(coordinate);
MainPanel.Controls.Add(gCode);
MainPanel.Controls.Add(information);
MainPanel.Controls.Add(monitor);
MainPanel.Controls.Add(tool);
//顯示所有分頁
coordinate.Show();
gCode.Show();
information.Show();
monitor.Show();
tool.Show();
//僅先顯示coordinate頁面
coordinate.Visible = true;
gCode.Visible = false;
information.Visible = false;
monitor.Visible = false;
tool.Visible = false;
}
public void MCC_DefineMachining()
{
for (ushort i = 0; i < MaxAxis; i++)
{
MCCL.MCC_DefineOrigin(i, Group);
}
}
public static void ServoOff()
{
for (ushort i = 0; i <= 7; i++)
{
MCCL.MCC_SetServoOff(i, 0);
}
}
/// <summary>
/// 主軸鬆刀
/// </summary>
public static void UnClampTool()
{
short setValue = 0;
uint Size = 2;
IntPtr nTargetValue = Marshal.AllocHGlobal(2);
Marshal.WriteInt16(nTargetValue, setValue);
MCCL.MCC_EcatCoeSdoDownload(0, 0x2213, 0, nTargetValue, Size);
}
public void SpindleOff()
{
short setValue = 1;
uint Size = 2;
IntPtr nTargetValue = Marshal.AllocHGlobal(2);
Marshal.WriteInt16(nTargetValue, setValue);
MCCL.MCC_EcatCoeSdoDownload(0, 0x2215, 0, nTargetValue, Size);
}
public void DisConnectController()
{
try
{
MCCL.MCC_Close();
}
catch { }
}
public static void MCC_GoHome()
{
//只有XYZ需GOHOME
MCCL.MCC_EcatSetHomeAxis(1, 1, 1, 0, 0, 0, 0, 0);
for (int i = 0; i < 8; i++)
{
MCCL.MCC_EcatSetHomeMode(28, i);
MCCL.MCC_EcatSetHomeSwitchSpeed(1000, i);
MCCL.MCC_EcatSetHomeZeroSpeed(50, i);
}
MCCL.MCC_EcatHome();
}
public void ConnectController()
{
byte[] tmp = Encoding.ASCII.GetBytes(this.ControllerIP);
int result = MCCL.MCC_Init(ref tmp[0], ref cardIndex, 8);
if (result < 0)
{
Debug.WriteLine("Connect Error");
}
else if (result > 0)
{
Debug.WriteLine("Connect Sucessful");
}
else
{
Debug.WriteLine("result =" + result.ToString());
}
}
/// <summary>
/// 這函式是使用非同步方式檢查 MCCLManager 內，所有的 MCCL Function 回傳值
/// </summary>
/// <param name="returnValue"></param>
#region 控制器
public static void ConnectEMPZ()
{
string ip = "192.168.0.2";
byte[] tmp = Encoding.ASCII.GetBytes(ip);
int cardInx = 0;
int QQ = MCCL.MCC_Init(ref tmp[0], ref cardInx, 8);
if (QQ < 0)
{
MessageBox.Show("Connect Error!");
return;
}
else
{
MessageBox.Show(tmp[0].ToString());
}
}
private void LimitStatus()
{
//MCCL.MCC_EnableLimitSwitchCheck();
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.X, 0, 0, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.Y, 0, 1, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.Z, 0, 2, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.X, 1, 0, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.Y, 1, 1, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.Z, 1, 2, MCCL.CARDINDEX0);
Debug.Print("limit-:" + PositiveLimitSwitchStatus.X.ToString());
if (PositiveLimitSwitchStatus.X != 0)
{
PB_LimitX.Image = Image.FromFile(Application.StartupPath + "\\Picture\\Limit_Light2.png");
Debug.Print("Y");
}
else
{
PB_LimitX.Image = Image.FromFile(Application.StartupPath + "\\Picture\\Limit_Light.png");
Debug.Print("N");
}
}
public void SetParamSetMachineParameter()
{
MCCL.SYS_MAC_PARAM stMacParam = new MCCL.SYS_MAC_PARAM();
MCCL.SYS_ENCODER_CONFIG stENCConfig = new MCCL.SYS_ENCODER_CONFIG();
MCCL.SYS_HOME_CONFIG stHomeConfig = new MCCL.SYS_HOME_CONFIG();
//MCCL物件參數初始化_機構參數
stMacParam.wPosToEncoderDir = 0;
stMacParam.dwPPR = 1048576;
stMacParam.wRPM = 3000;
stMacParam.dfPitch = 8.23;
stMacParam.dfGearRatio = 1.0;
stMacParam.dfHighLimit = 50000.0;
stMacParam.dfLowLimit = -50000.0;
stMacParam.dfHighLimitOffset = 0;
stMacParam.dfLowLimitOffset = 0;
stMacParam.wPulseMode = MCCL.DDA_FMT_PD;
stMacParam.wPulseWidth = 100;
stMacParam.wCommandMode = 0;
stMacParam.wOverTravelUpSensorMode = 0;
stMacParam.wOverTravelDownSensorMode = 0;
for (ushort wChannel = 0; wChannel < MaxAxis; wChannel++)
{
MCCL.MCC_SetMacParam(ref stMacParam, wChannel, 0);
}
MCCL.MCC_CloseAllGroups();
Group = (ushort)MCCL.MCC_CreateGroup(0, 1, 2, -1, -1, -1, -1, -1, CardIndex);
if (Group < 0)
{
Debug.WriteLine("Create Group Fail");
MCCL.MCC_CloseAllGroups();
}
MCCL.MCC_SetSysMaxSpeed(MachineMaxSpeed);
}
public static void StartEMPZ()
{
//設定使用Card
MCCL.SYS_CARD_CONFIG stCardConfig = new MCCL.SYS_CARD_CONFIG();
stCardConfig.wCardType = 4;
MCCL.ErrorCode eRet;
eRet = MCCL.MCC_InitSystem(1, ref stCardConfig, 1);
if (eRet < 0)
{
MessageBox.Show("MCC_InitSystem Error :" + eRet.ToString());
return;
}
else
{
// CmdQueueSize設定
MCCL.MCC_SetCmdQueueSize(50000, 0);
int sixe = MCCL.MCC_GetCmdQueueSize(0);
MessageBox.Show("" + sixe.ToString());
//座標軸設定
//MCCL.MCC_SetIncrease(nGroupIndex); //相對
MCCL.MCC_SetAbsolute(nGroupIndex); //絕對
int eerocode = MCCL.MCC_GetCoordType(nGroupIndex);
if (eerocode == 0)
{
MessageBox.Show("IncreaseOpen");
}
else if (eerocode == 1)
{
MessageBox.Show("AbsoluteOpen");
}
//DryRun設定 DryRun可
//MCCL.MCC_EnableDryRun();
MCCL.MCC_DisableDryRun();
eerocode = MCCL.MCC_CheckDryRun();
if (eerocode == 0)
{
MessageBox.Show("dryrunopen");
}
else if (eerocode == 1)
{
MessageBox.Show("dryrunclose");
}
//其他設定
//MCCL.MCC_SetUnit(MCCL.UNIT_MM, 0); // coordinate unit : mm
// 4.過形成保護
//MCCL.MCC_EnableLimitSwitchCheck();
//MCCL.MCC_DisableLimitSwitchCheck();
//MCCL.MCC_SetOverTravelCheck();
//MCCL.MCC_GetOverTravelCheck();
//硬體極限
//MCCL.MCC_EnableLimitSwitchCheck(0);
//開關平滑模式
MCCL.MCC_EnableBlend(nGroupIndex);
//MCCL.MCC_DisableBlend(nGroupIndex);
MCCL.MCC_CheckBlend(nGroupIndex);
// set line, arc and circle motion's accleration time
MCCL.MCC_SetAccType('S', nGroupIndex); //ST兩種模式而已
MCCL.MCC_GetAccType(nGroupIndex);
MCCL.MCC_SetAccTime(200, nGroupIndex); // set accleration time to be 300 ms
MCCL.MCC_GetAccTime(nGroupIndex);
// set line, arc and circle motion's deceleration time
MCCL.MCC_SetDecType('S', nGroupIndex);
MCCL.MCC_GetDecType(0);
MCCL.MCC_SetDecTime(200, nGroupIndex); // set decleration time to be 300 ms
MCCL.MCC_GetDecTime(nGroupIndex);
MCCL.MCC_SetFeedSpeed(10, nGroupIndex); // set line, arc and circle motion's feed rate (unit : mm/sec)
MCCL.MCC_SetPtPAccType('S', 'S', 'S', 'S', 'S', 'S', 'S', 'S', nGroupIndex);
//MCCL.MCC_GetPtPAccType();
//MCCL.MCC_SetPtPAccTime();
//MCCL.MCC_GetPtPAccTime();
MCCL.MCC_SetPtPDecType('S', 'S', 'S', 'S', 'S', 'S', 'S', 'S', nGroupIndex);
//MCCL.MCC_GetPtPDecType();
//MCCL.MCC_SetPtPDecTime();
//MCCL.MCC_GetPtPDecTime();
MCCL.MCC_SetPtPSpeed(10, nGroupIndex); // set line, arc and circle motion's feed rate (unit : mm/sec)
MCCL.MCC_GetPtPSpeed(nGroupIndex);
//MCCL.MCC_SetPGain(60, 60, 60, 60, 60, 60, 60, 60, 0); // set appropriate P Gain
}
}
/// <summary>
/// 從MCCL獲取資訊
/// </summary>
/// <returns></returns>
public static void GetMCCLData()
{
MCCL.MCC_GetCurRefPos(ref CurRefPos.X, ref CurRefPos.Y, ref CurRefPos.Z,
ref CurRefPos.U, ref CurRefPos.V, ref CurRefPos.W,
ref CurRefPos.A, ref CurRefPos.B, 0);
MCCL.MCC_GetCurPos(ref CurPos.X, ref CurPos.Y, ref CurPos.Z,
ref CurPos.U, ref CurPos.V, ref CurPos.W,
ref CurPos.A, ref CurPos.B, 0);
MCCL.MCC_GetSpeed(ref speed.X, ref speed.Y, ref speed.Z,
ref speed.U, ref speed.V, ref speed.W,
ref speed.A, ref speed.B, 0);
MCCL.MCC_GetENCValue(ref ENCValue.X, 0, MCCL.CARDINDEX0);
MCCL.MCC_GetENCValue(ref ENCValue.Y, 1, MCCL.CARDINDEX0);
MCCL.MCC_GetENCValue(ref ENCValue.Z, 2, MCCL.CARDINDEX0);
MCCL.MCC_GetENCValue(ref ENCValue.U, 3, MCCL.CARDINDEX0);
MCCL.MCC_GetENCValue(ref ENCValue.V, 4, MCCL.CARDINDEX0);
MCCL.MCC_GetENCValue(ref ENCValue.W, 5, MCCL.CARDINDEX0);
MCCL.MCC_GetENCValue(ref ENCValue.A, 6, MCCL.CARDINDEX0);
MCCL.MCC_GetENCValue(ref ENCValue.B, 7, MCCL.CARDINDEX0);
MCCL.MCC_GetPulsePos(ref PulsePos.X, ref PulsePos.Y, ref PulsePos.Z,
ref PulsePos.U, ref PulsePos.V, ref PulsePos.W,
ref PulsePos.A, ref PulsePos.B, 0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.X, 0, 0, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.Y, 0, 1, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.Z, 0, 2, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.U, 0, 3, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.V, 0, 4, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.W, 0, 5, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.A, 0, 6, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref PositiveLimitSwitchStatus.B, 0, 7, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.X, 1, 0, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.Y, 1, 1, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.Z, 1, 2, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.U, 1, 3, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.V, 1, 4, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.W, 1, 5, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.A, 1, 6, MCCL.CARDINDEX0);
MCCL.MCC_GetLimitSwitchStatus(ref NegativeLimitSwitchStatus.B, 1, 7, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.X, 0, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.Y, 1, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.Z, 2, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.U, 3, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.V, 4, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.W, 5, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.A, 6, MCCL.CARDINDEX0);
MCCL.MCC_GetHomeSensorStatus(ref HomeSensorStatus.B, 7, MCCL.CARDINDEX0);
//進給率
CurFeedSpeed = MCCL.MCC_GetCurFeedSpeed(0);
MCCL.MCC_GetEmgcStopStatus(ref EmgcStopStatus, MCCL.CARDINDEX0);
Error = MCCL.MCC_GetErrorCode(0).ToString();
//MCCL.MCC_GetErrorCount();
UpdateCoordinateSystem();
}
public static void MCC_DefineMachining()
{
MCCL.MCC_DefineOrigin(0, nGroupIndex);
MCCL.MCC_DefineOrigin(1, nGroupIndex);
MCCL.MCC_DefineOrigin(2, nGroupIndex);
}
public void EndController()
{
MCCL.MCC_CloseAllGroups();
MCCL.MCC_CloseSystem();
}
public static void MCC_AbortMotionEx()
{
MCCL.MCC_AbortMotionEx(200, 0);
}
public static void JogConti(sbyte axis, sbyte direction)
{
MCCL.MCC_JogConti(direction, 10, (char)axis, 0);
}
/// <summary>
/// 主軸轉速改變
/// </summary>
/// <param name="num">改變參數</param>
public static void ToolRPMChange(float num)
{
//0~10?
MCCL.MCC_EcatSetDacOutputValue(4, 1, num);
}
public void JogSpace(sbyte axis, sbyte direction)
{
MCCL.MCC_JogSpace(direction, 10, (char)axis, 0);
}
public static void DisConnectEMPZ()
{
try { MCCL.MCC_Close(); }
catch { }
}
public static void SetMachineParameter()
{
// MotorBox
/*
* //MCCL使用所需物件
* MCCL.SYS_MAC_PARAM stMacParam = new MCCL.SYS_MAC_PARAM();
* MCCL.SYS_ENCODER_CONFIG stENCConfig = new MCCL.SYS_ENCODER_CONFIG();
* MCCL.SYS_HOME_CONFIG stHomeConfig = new MCCL.SYS_HOME_CONFIG();
*
* //MCCL物件參數初始化_機構參數
* stMacParam.wPosToEncoderDir = 0;
* stMacParam.dwPPR = 8192;
* stMacParam.wRPM = 6000;
* stMacParam.dfPitch = 1.0;
* stMacParam.dfGearRatio = 1.0;
* stMacParam.dfHighLimit = 50000.0;
* stMacParam.dfLowLimit = -50000.0;
* stMacParam.dfHighLimitOffset = 0;
* stMacParam.dfLowLimitOffset = 0;
* stMacParam.wPulseMode = MCCL.DDA_FMT_PD;
* stMacParam.wPulseWidth = 100;
* stMacParam.wCommandMode = 0;
* stMacParam.wOverTravelUpSensorMode = 0;
* stMacParam.wOverTravelDownSensorMode = 0;
*
* //MCCL物件參數初始化_編碼器參數
* stENCConfig.wType = MCCL.ENC_TYPE_AB;
* stENCConfig.wAInverse = MCCL._NO_;
* stENCConfig.wBInverse = MCCL._NO_;
* stENCConfig.wCInverse = MCCL._NO_;
* stENCConfig.wABSwap = MCCL._NO_;
* stENCConfig.wInputRate = 4;
* //set encoder input rate : x4
*
* //MCCL物件參數初始化_原點復歸參數
* stHomeConfig.wMode = 3;
* stHomeConfig.wDirection = 1;
* stHomeConfig.wSensorMode = MCCL.SL_NORMAL_CLOSE;
* stHomeConfig.nIndexCount = 2;
* stHomeConfig.dfAccTime = 300;
* stHomeConfig.dfDecTime = 300;
* stHomeConfig.dfHighSpeed = 10;
* stHomeConfig.dfLowSpeed = 2;
* stHomeConfig.dfOffset = 0;
* stHomeConfig.wPaddel0 = 0;
* stHomeConfig.nPaddel1 = 0;
*/
//---------------------------------------------------------------------------------------------
// CNC
MCCL.SYS_MAC_PARAM stMacParam = new MCCL.SYS_MAC_PARAM();
MCCL.SYS_ENCODER_CONFIG stENCConfig = new MCCL.SYS_ENCODER_CONFIG();
MCCL.SYS_HOME_CONFIG stHomeConfig = new MCCL.SYS_HOME_CONFIG();
//MCCL物件參數初始化_機構參數
stMacParam.wPosToEncoderDir = 0;
stMacParam.dwPPR = 1048576;
stMacParam.wRPM = 3000;
stMacParam.dfPitch = 8.23;
stMacParam.dfGearRatio = 1.0;
stMacParam.dfHighLimit = 50000.0;
stMacParam.dfLowLimit = -50000.0;
stMacParam.dfHighLimitOffset = 0;
stMacParam.dfLowLimitOffset = 0;
stMacParam.wPulseMode = MCCL.DDA_FMT_PD;
stMacParam.wPulseWidth = 100;
stMacParam.wCommandMode = 0;
stMacParam.wOverTravelUpSensorMode = 0;
stMacParam.wOverTravelDownSensorMode = 0;
//MCCL物件參數初始化_編碼器參數
stENCConfig.wType = MCCL.ENC_TYPE_AB;
stENCConfig.wAInverse = MCCL._NO_;
stENCConfig.wBInverse = MCCL._NO_;
stENCConfig.wCInverse = MCCL._NO_;
stENCConfig.wABSwap = MCCL._NO_;
stENCConfig.wInputRate = 4;
//set encoder input rate : x4
//MCCL物件參數初始化_原點復歸參數
stHomeConfig.wMode = 3;
stHomeConfig.wDirection = 1;
stHomeConfig.wSensorMode = MCCL.SL_NORMAL_CLOSE;
stHomeConfig.nIndexCount = 2;
stHomeConfig.dfAccTime = 300;
stHomeConfig.dfDecTime = 300;
stHomeConfig.dfHighSpeed = 0.1;
stHomeConfig.dfLowSpeed = 0.0001;
stHomeConfig.dfOffset = 0;
stHomeConfig.wPaddel0 = 0;
stHomeConfig.nPaddel1 = 0;
for (ushort wChannel = 0; wChannel <= 7; wChannel++)
{
MCCL.MCC_SetMacParam(ref stMacParam, wChannel, 0);
//MCCL.MCC_SetEncoderConfig(ref stENCConfig, wChannel, 0);
//MCCL.MCC_SetHomeConfig(ref stHomeConfig, wChannel, 0);
}
// 設定 Group
MCCL.MCC_CloseAllGroups();
nGroupIndex = (ushort)MCCL.MCC_CreateGroup(0, 1, 2, -1, -1, -1, -1, -1, MCCL.CARDINDEX0);
if (nGroupIndex < 0)
{
MessageBox.Show("Create GroupIndex Fail");
MCCL.MCC_CloseAllGroups();
return;
}
//設定最大速度
MCCL.MCC_SetSysMaxSpeed(100); // set max. feed rate
}
public static void EndEMPZ()
{
MCCL.MCC_CloseAllGroups();
MCCL.MCC_CloseSystem();
}
