private void btnreset_Click(object sender, EventArgs e) { gnodeid = ushort.Parse(cmbNodeID.Text); CPCI_DMC.CS_DMC_01_set_position(gCardNo, gnodeid, 0, 0); CPCI_DMC.CS_DMC_01_set_command(gCardNo, gnodeid, 0, 0); }
public void SetPosition(ushort NodeID, int Pos) { if (CardNo.Count == 0) { return; } CPCI_DMC.CS_DMC_01_set_position(CardNo[0], NodeID, 0, Pos); CPCI_DMC.CS_DMC_01_set_command(CardNo[0], NodeID, 0, Pos); }
public void ServoRST() { LogOutput("伺服馬達歸零"); gnodeid = ushort.Parse(cmbNodeID.Text); CPCI_DMC.CS_DMC_01_set_position(gCardNo, node1, 0, 0); CPCI_DMC.CS_DMC_01_set_command(gCardNo, node1, 0, 0); rc = CPCI_DMC.CS_DMC_01_set_rm_04pi_ipulser_mode(gCardNo, node1, 0, 1); rc = CPCI_DMC.CS_DMC_01_set_rm_04pi_opulser_mode(gCardNo, node1, 0, 1); btnstop.Enabled = true; btnNmove.Enabled = true; btnPmove.Enabled = true; }
private void btnreset1_Click(object sender, EventArgs e) { gnodeid = ushort.Parse(cmbNodeID.Text); CPCI_DMC.CS_DMC_01_set_position(gCardNo, node1, 0, 0); CPCI_DMC.CS_DMC_01_set_command(gCardNo, node1, 0, 0); // btnralm.Enabled = true; btnstop.Enabled = true; // btnreset1.Enabled = true; btnNmove.Enabled = true; btnPmove.Enabled = true; // chksvon.Checked = false; // chksvon.Enabled = true; excelTime = 0; }
private void AutoHome() { while (true) { homeSend("000000000006" + "010204000001"); homeListen(); showMotorState(); if (label31.Text == "01-02-01-01") { rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node2, 0, 0.1, 0.1); rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node2, 0, 1300); } else { rc = CPCI_DMC.CS_DMC_01_sd_stop(gCardNo, node2, 0, 0.01); CPCI_DMC.CS_DMC_01_set_position(gCardNo, node2, 0, 0); CPCI_DMC.CS_DMC_01_set_command(gCardNo, node2, 0, 0); break; } } }
public void working() { int Amount = Convert.ToInt32(txtAmount.Text); for (int i = 0; i < Amount; i++) { //ktrRpm1.Clear(); //ktrRpm2.Clear(); //ktrTorque1.Clear(); //ktrTorque2.Clear(); //motorRpm1.Clear(); //motorRpm2.Clear(); //motorTorque1.Clear(); //motorTorque2.Clear(); chart1.Series[0].Points.Clear(); chart2.Series[0].Points.Clear(); chart3.Series[0].Points.Clear(); chart4.Series[0].Points.Clear(); chart5.Series[0].Points.Clear(); chart6.Series[0].Points.Clear(); chart7.Series[0].Points.Clear(); chart8.Series[0].Points.Clear(); bool boolGo = true; newturn = true; rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, node2, 0, ref cmd1); rc = CPCI_DMC.CS_DMC_01_start_tr_move(gCardNo, node2, 0, (int)(OneCirclePluse * TransmissionRate), 0, Convert.ToInt32(2133.3333 * -Int16.Parse(txtRpm1.Text)), 0.1, 0.1); while (true) { showMotorState(); saveMotorData(); showChart(); limitSend("000000000006" + "010204000001"); limitX0Listen(); limitSend("000000000006" + "010204010001"); limitX1Listen(); label30.Text = X0Message; if (X1Message == "01-02-01-01" & boolGo) { rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1); rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, Int32.Parse(txtRpm2.Text)); } else if (X1Message == "01-02-01-00") { rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1); rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, 0); boolGo = false; } else if (X1Message == "01-02-01-01" & !boolGo & X0Message != "01-02-01-00") { rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1); rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, -Int32.Parse(txtRpm2.Text)); } else if (X0Message == "01-02-01-00" & !boolGo) { KtrBoolClear = true; label29.Text = "in"; showMotorState(); rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, 0.1, 0.1); rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, 0); Thread.Sleep(500); CPCI_DMC.CS_DMC_01_set_position(gCardNo, node1, 0, 0); CPCI_DMC.CS_DMC_01_set_command(gCardNo, node1, 0, 0); //CPCI_DMC.CS_DMC_01_set_position(gCardNo, node2, 0, 0); //CPCI_DMC.CS_DMC_01_set_command(gCardNo, node2, 0, 0); break; } } } }
public void VSetpotionZero(ushort CardNo, ushort nodeid) { CPCI_DMC.CS_DMC_01_set_command(CardNo, nodeid, 0, 0); CPCI_DMC.CS_DMC_01_set_position(CardNo, nodeid, 0, 0); }
public void VSetAxisposition(ushort CardNo, ushort NodeID) { CPCI_DMC.CS_DMC_01_set_position(gCardNo, NodeID, 0, 0); CPCI_DMC.CS_DMC_01_set_command(gCardNo, NodeID, 0, 0); }