public uint VGetAxisAlm(ushort CardNo, ushort NodeID)
{
uint alm_code = 0;
CPCI_DMC.CS_DMC_01_get_alm_code(CardNo, NodeID, 0, ref alm_code);
return(alm_code);
}
public uint GetAlarmStatus(ushort NodeID)
{
uint alm_code = 0;
if (CardNo.Count == 0)
{
return(alm_code);
}
CPCI_DMC.CS_DMC_01_get_alm_code(CardNo[0], NodeID, 0, ref alm_code);
return(alm_code);
}
private void showMotorState()
{
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node1, 0, ref cmd1);
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node2, 0, ref cmd2);
//Command
if (rc == 0)
{
txtcommand1.Text = cmd1.ToString();
txtcommand2.Text = cmd2.ToString();
}
//Feedback
rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, node1, 0, ref pos1);
rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, node2, 0, ref pos2);
if (rc == 0)
{
txtfeedback1.Text = pos1.ToString();
txtfeedback2.Text = pos2.ToString();
}
//Speed
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node1, 0, ref spd1);
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node2, 0, ref spd2);
if (rc == 0)
{
txtspeed1.Text = spd1.ToString();
txtspeed2.Text = spd2.ToString();
}
//Torque
rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node1, 0, ref toe1);
rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node2, 0, ref toe2);
if (rc == 0)
{
//扭矩是千分比
txtTorque1.Text = ((double)toe1 / 1000 * 7.16).ToString();
txtTorque2.Text = ((double)toe2 / 1000 * 7.16).ToString();
}
//err
rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, node1, 0, ref err1);
rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, node1, 0, ref err2);
if (rc == 0)
{
txtERR1.Text = err1.ToString();
txtERR2.Text = err2.ToString();
}
}
private void timer1_Tick(object sender, EventArgs e)
{
//Motion status
int cmd = 0, pos = 0;
short spd = 0;
ushort i, MC_done = 0;
uint MC_status = 0, err = 0;
gnodeid = ushort.Parse(cmbNodeID.Text);
if (chktimer.Checked)
{
//Status
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, gnodeid, 0, ref cmd); //Command
if (rc == 0)
{
txtcommand.Text = cmd.ToString();
}
rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, gnodeid, 0, ref pos); //Feedback
if (rc == 0)
{
txtfeedback.Text = pos.ToString();
}
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, gnodeid, 0, ref spd); //Speed
if (rc == 0)
{
txtspeed.Text = spd.ToString();
}
rc = CPCI_DMC.CS_DMC_01_motion_status(gCardNo, gnodeid, 0, ref MC_status); //Motion done
if (rc == 0)
{
txtmotion.Text = "&H" + Convert.ToString(MC_status, 16);
}
rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, gnodeid, 0, ref err);
if (rc == 0)
{
txtERR.Text = err.ToString();
}
}
}
