public int GetAxisStatus(int id, int axis, out int sts)
{
sts = 0;
int pSts, homeSts;
uint clock;
var ret = mc.GT_GetSts((short)id, (short)axis, out pSts, 1, out clock);
if (ret != 0)
{
return(-1);
}
ret = mc.GT_GetDi((short)id, mc.MC_HOME, out homeSts);
if (ret != 0)
{
return(-1);
}
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_ALM, BitOperateHelper.GetBit(pSts, (int)GtsAxisDefine.ALARM));
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_PEL, BitOperateHelper.GetBit(pSts, (int)GtsAxisDefine.LMTP));
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_MEL, BitOperateHelper.GetBit(pSts, (int)GtsAxisDefine.LMTN));
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_ORG, BitOperateHelper.GetBit(homeSts, 0x01 << axis - 1));
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_EMG, BitOperateHelper.GetBit(pSts, (int)GtsAxisDefine.EmgStop));
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_SVON, BitOperateHelper.GetBit(pSts, (int)GtsAxisDefine.ENABLE));
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_STS_MDN, BitOperateHelper.GetBit(pSts, (int)GtsAxisDefine.PRFMOVEING));
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_STS_ASTP, BitOperateHelper.GetBit(pSts, (int)GtsAxisDefine.EmgStop));
return(ret);
}
public int GetAxisStatus(int id, int axis, out int sts)
{
lock (this)
{
Thread.Sleep(1);
sts = 0;
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_ALM, AxisStatus[axis].Alarm);
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_PEL, AxisStatus[axis].Pel);
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_MEL, AxisStatus[axis].Mel);
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_ORG, AxisStatus[axis].Org);
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_EMG, AxisStatus[axis].Astp);
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_IO_SVON, AxisStatus[axis].Servo);
BitOperateHelper.SetBit(ref sts, MotionAxisDefine.MOTION_STS_MDN, AxisStatus[axis].Mdn);
return(0);
}
}
