public object ReadKidValue(int axisNum, string ColumnName, ADSClient Mom, bool trysql = true)
{
object currentValue;
if (ColumnName.ToUpper() == "TARGETPOSITION")
{
currentValue = Mom.Kids[axisNum].TargetPosition;
}
else if (ColumnName.ToUpper() == "CURRENTPOSITION")
{
currentValue = Mom.Kids[AxisNum].CurrentPosition;
}
else if (ColumnName.ToUpper() == "FAULTED")
{
currentValue = Mom.ReadValue(Mom.GlobalEstop);
}
else if (ColumnName.ToUpper() == "ACCELERATION")
{
currentValue = Mom.Kids[AxisNum].ModeAccel;
}
else if (ColumnName.ToUpper() == "VELOCITY")
{
currentValue = Mom.Kids[AxisNum].ModeVel;
}
else
{
currentValue = ADSQL.SqlReadAxis(axisNum, ColumnName);
}
return(currentValue);
}
void ADSQLScan(ADSClient Mom)
{
do
{
Thread.Sleep(10);
if (ReadTimer.ElapsedMilliseconds > ReadInterval)
{
ReadTimer = Stopwatch.StartNew();
ReadTimer.Stop();
currentValue = ADSQL.SqlReadAxis(AxisNum, ColumnName);
if (currentValue != WriteValue && WriteValue != null)
{
WriteKidValue(AxisNum, ColumnName, WriteValue, Mom);
}
ADSQL.SqlWriteAxis(AxisNum, ColumnName, ReadKidValue(AxisNum, ColumnName, Mom, false));
ReadTimer = Stopwatch.StartNew();
}
} while (Running);
}
public AdSqlAxis(int AxisNum, ADSClient Mom)
{
//AxisParam ID = new AxisParam(AxisNum, "ID", 1000, 0);
//AxisParam AxisNumber = new AxisParam(AxisNum, "AxisNumber", 1000, 0);
//AxisParam AxisName = new AxisParam(AxisNum, "AxisName", 1000, 0);
// AxisParam AxisType = new AxisParam(AxisNum, "AxisType", 1000, 0);
// AxisParam AdminMax = new AxisParam(AxisNum, "AdminMax", 1000, 0);
//AxisParam AdminMin = new AxisParam(AxisNum, "AdminMin", 1000, 0);
//AxisParam UserMax = new AxisParam(AxisNum, "UserMax", 1000, 0);
//AxisParam UserMin = new AxisParam(AxisNum, "UserMin", 1000, 0);
AxisParam CurrentPosition = new AxisParam(AxisNum, "CurrentPosition", 1000, 0, Mom);
AxisParam TargetPosition = new AxisParam(AxisNum, "TargetPosition", 1000, 0, Mom);
// AxisParam Acceleration = new AxisParam(AxisNum, "Acceleration", 1000, 0);
//AxisParam Velocity = new AxisParam(AxisNum, "Velocity", 1000, 0);
//AxisParam AxisGroup = new AxisParam(AxisNum, "AxisGroup", 1000, 0);
//AxisParam AxisGroupName = new AxisParam(AxisNum, "AxisGroupName", 1000, 0);
// AxisParam IpAddress = new AxisParam(AxisNum, "IpAddress", 1000, 0);
// AxisParam NetID = new AxisParam(AxisNum, "NetID", 1000, 0);
// AxisParam AxisStatus = new AxisParam(AxisNum, "AxisStatus", 1000, 0);
// AxisParam Faulted = new AxisParam(AxisNum, "Faulted", 1000, 0);
// AxisParam FaultCode = new AxisParam(AxisNum, "FaultCode", 1000, 0);
//AxisParam UserCanEdit = new AxisParam(AxisNum, "UserCanEdit", 1000, 0);
}
public object WriteKidValue(int axisNum, string ColumnName, object newValue, ADSClient Mom)
{
if (ColumnName.ToUpper() == "TARGETPOSITION")
{
Mom.Kids[axisNum].TargetPosition = (int)newValue;
}
else if (ColumnName.ToUpper() == "ACCELERATION")
{
Mom.Kids[AxisNum].ModeAccel = (int)newValue;
}
else if (ColumnName.ToUpper() == "VELOCITY")
{
Mom.Kids[AxisNum].ModeVel = (int)newValue;
}
else
{
currentValue = ADSQL.SqlReadAxis(axisNum, ColumnName);
}
return(currentValue);
}
public AxisParam(int axisNum, string columnName, int readInterval, int writeInterval, ADSClient Mom, Object InitValue = null)
{
AxisNum = axisNum;
ReadInterval = readInterval;
ColumnName = columnName;
ReadTimer = Stopwatch.StartNew();
if (writeInterval != 0)
{
WriteTimer = Stopwatch.StartNew();
}
// ScanTask = new Task(() => ADSQLScan(Mom));
if (InitValue == null)
{
ADSQL.SqlWriteAxis(AxisNum, ColumnName, ReadKidValue(AxisNum, ColumnName, Mom, false));
currentValue = ReadKidValue(axisNum, columnName, Mom);
}
//ADSQLScan();
// ScanTask.Start();
}
public static void Main(string[] args)
{
bool[] isActive = new bool[6];
int[] DeadCounter = new int[6];
try
{
int InstanceCount = Process.GetProcessesByName(Process.GetCurrentProcess().ProcessName).Length;
if (InstanceCount > 2)
{
return;
}
if (InstanceCount > 1)
{
do
{
InstanceCount = Process.GetProcessesByName(Process.GetCurrentProcess().ProcessName).Length; Thread.Sleep(200);
} while (InstanceCount > 1);
}
if (InstanceCount > 1)
{
Thread.Sleep(5000);
}
Console.Write("STARTING CONNECTION TO MOM...");
ADSClient Mom = new ADSClient(new TwinCAT.Ads.AmsAddress("10.99.1.1.1.1", 851).NetId.ToString(), true, 6);
Console.Write("DONE");
Stopwatch j = Stopwatch.StartNew();
int loopCount = 0;
do
{
loopCount++; Debug.Print(loopCount.ToString());
if (loopCount > 0)
{
Console.WriteLine(loopCount.ToString() + " " + j.ElapsedMilliseconds.ToString()); j = Stopwatch.StartNew();
}
Mom.WriteValue(Mom.TimeOutSwitch, false);
AxisRows = (DataRowCollection)ADSQL.SqlPullAxis();
Thread.Sleep(50);
bool GlobalReset = (string)ADSQL.SqlReadAxis(1, "AxisStatus") == "RESET";
if ((string)ADSQL.SqlReadAxis(1, "AxisStatus") == "FAULT")
{
Mom.WriteValue(Mom.GlobalEstop, true);
}
if (GlobalReset)
{
Mom.WriteValue(Mom.FaultReset, true);
}
bool GlobalEstop = (int)Mom.ReadValue(Mom.GlobalEstop) > 0;
for (int x = 1; x <= 6; x++)
{
if (GlobalReset)
{
ADSQL.SqlWriteAxis(x, "AxisStatus", "OK");
}
string FaultStatus = (string)ADSQL.SqlReadAxis(x, "AxisStatus");
if (loopCount > 200)
{
loopCount = 0;
}
bool QueStarted = (bool)ADSQL.SqlReadAxis(x, "QueStarted");
if (QueStarted)
{
Mom.Kids[x - 1].MomControl = 0; ADSQL.SqlWriteAxis(x, "QueStarted", false);
}
bool thisActive = (bool)ADSQL.SqlReadAxis(x, "IsActive");
int KidCurrent = Mom.Kids[x - 1].CurrentPosition;
ADSQL.SqlWriteAxis(x, "CurrentPosition", KidCurrent);
int KidTarget;
if (thisActive)
{
ADSQL.SqlWriteAxis(x, "IsActive", 0);
Mom.Kids[x - 1].DeadManPressed = 1;
KidTarget = Mom.Kids[x - 1].TargetPosition;
int KidSqlTarget = (int)ADSQL.SqlReadAxis(x, "TargetPosition");
int scaler = Math.Abs(KidCurrent - KidSqlTarget) / 5;
Debug.Print(scaler.ToString());
Mom.Kids[x - 1].ScalingInt = (int)ADSQL.SqlReadAxis(x, "TrimFactor");;
if (KidSqlTarget != KidTarget)
{
Mom.Kids[x - 1].TargetPosition = KidSqlTarget;
}
}
if (isActive[x - 1] == thisActive && !thisActive)
{
DeadCounter[x - 1]++;
if (DeadCounter[x - 1] > 3 && DeadCounter[x - 1] < 5)
{
Mom.Kids[x - 1].DeadManPressed = 0;
}
}
else
{
DeadCounter[x - 1] = 0;
}
int KidAccel = Mom.Kids[x - 1].ModeAccel;
int KidDecel = Mom.Kids[x - 1].ModeDecel;
int KidVel = Mom.Kids[x - 1].ModeVel;
int KidSqlDecel = (int)ADSQL.SqlReadAxis(x, "Deceleration");
int KidSqlAccel = (int)ADSQL.SqlReadAxis(x, "Acceleration");
int KidSqlVel = (int)ADSQL.SqlReadAxis(x, "Velocity");
bool JogMode = (bool)ADSQL.SqlReadAxis(x, "JogMode");
if (JogMode)
{
int accelRate = (int)((int)ADSQL.SqlReadAxis(x, "JogSpeed") / (double)ADSQL.SqlReadAxis(x, "JogAccel"));
KidSqlAccel = accelRate;
if (accelRate < 400)
{
accelRate = 400;
}
KidSqlDecel = accelRate;
KidSqlVel = (int)ADSQL.SqlReadAxis(x, "JogSpeed");
}
if (KidSqlAccel != KidAccel)
{
Mom.Kids[x - 1].ModeAccel = KidSqlAccel;
}
if (KidSqlDecel != KidDecel)
{
Mom.Kids[x - 1].ModeDecel = KidSqlDecel;
}
if (KidSqlVel != KidVel)
{
Mom.Kids[x - 1].ModeVel = KidSqlVel;
}
if (isActive[x - 1])
{
}
else
{
KidTarget = KidCurrent;
Mom.Kids[x - 1].TargetPosition = Mom.Kids[x - 1].CurrentPosition;
}
if (Mom.Kids[x - 1].MomControl == 0)
{
ADSQL.SqlWriteAxis(x, "AxisStatus", "OFFLINE");
}
else if (GlobalEstop && !GlobalReset)
{
ADSQL.SqlWriteAxis(x, "AxisStatus", "FAULT");
}
if (QueStarted)
{
Mom.Kids[x - 1].MomControl = 1;
}
isActive[x - 1] = thisActive;
}
} while (true);
}
catch
{
Thread.Sleep(20000); Console.WriteLine("Error");
Environment.Exit(0);
}
}
