private void Form1_Load(object sender, EventArgs e)
{
cap = new Capture(0);
Application.Idle += new EventHandler(Application_Idle);
int ret = NexECM.NEC_LoadRtxApp("C:\\NEXCOBOT\\NexEcmRtxRtdllRunTime.rtss");
if (ret != 0)
{
MessageBox.Show("NEC_LoadRtxApp failed" + ret.ToString()); return;
}
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
Timer1.Enabled = false;
if (btn_StartNetwork.Text == "Stop Network")
{
NexECM.NEC_StopNetwork(MASTER_ID, 5000);
}
NexECM.NEC_StopDriver();
/*if (sample.IsAlive)
* {
* sample.Abort();
* }*/
}
private void btn_Exit_Click(object sender, EventArgs e)
{
mysample.Abort();
Timer1.Enabled = false;
//sample
if (btn_StartNetwork.Text == "Stop Network")
{
NexECM.NEC_StopNetwork(MASTER_ID, 5000);
}
NexECM.NEC_StopDriver();
this.Close();
}
private void btn_startNetwork_Click(object sender, EventArgs e)
{
int ret = 0;
if ((tb_EniPath.Text == null) || (tb_EniPath.Text == ""))
{
MessageBox.Show("Please load ENI first");
return;
}
if (btn_StartNetwork.BackColor != Color.YellowGreen)
{
ret = NexECM.NEC_StartDriver();//初始化函式庫
if (ret != 0)
{
MessageBox.Show("NEC_StartDriver failed" + ret.ToString()); return;
}
ret = NexECM.NEC_ResetEcMaster(MASTER_ID);//重置EC-Master
if (ret != 0)
{
MessageBox.Show("NEC_ResetEcMaster failed" + ret.ToString()); return;
}
ret = NexECM.NEC_SetParameter(MASTER_ID, 0, 1000);//設定EC-Master參數
if (ret != 0)
{
MessageBox.Show("NEC_SetParameter failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402Reset();//重置函式庫
if (ret != 0)
{
MessageBox.Show("NexCoeMotion failed" + ret.ToString()); return;
}
ret = NexECM.NEC_StartNetworkEx(MASTER_ID, mEniPath, 1, 5000);//啟動EC-Master
if (ret != 0)
{
MessageBox.Show("NEC_StartNetworkEx failed" + ret.ToString()); return;
}
ret = NexECM.NEC_GetSlaveCount(MASTER_ID, ref mSlaveCnt);//讀取線上EC-Slaves數量(2)
if (ret != 0)
{
MessageBox.Show("NEC_GetSlaveCount failed" + ret.ToString()); return;
}
if (TOTAL_AXIS != mSlaveCnt)
{
MessageBox.Show("Please check ENI file and TOTAL_AXIS value!!");
return;
}
for (ushort i = 0; i < mSlaveCnt; i++)
{
ret = NexCoeMotion.NEC_CoE402GetAxisId(MASTER_ID, i, ref mAxisId[i]);//讀取驅動器ID
if (ret != 0)
{
MessageBox.Show("NEC_CoE402GetAxisId failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402UpdatePdoMapping(mAxisId[i]);//更新PDO設定
if (ret != 0)
{
MessageBox.Show("NEC_CoE402UpdatePdoMapping failed" + ret.ToString()); return;
}
ret = NexCoeMotion.NEC_CoE402FaultReset(mAxisId[i], 5000);//清除重製驅動器錯誤
if (ret != 0)
{
MessageBox.Show("NEC_CoE402FaultReset failed" + ret.ToString()); return;
}
}
btn_StartNetwork.BackColor = Color.YellowGreen;
Timer1.Enabled = true; //?
btn_StartNetwork.Text = "Stop Network";
btn_Browse.Enabled = false; //?
}
else
{
Timer1.Enabled = false;//?
for (int i = 0; i < mSlaveCnt; i++)
{
ret = NexCoeMotion.NEC_CoE402ServoOn(mAxisId[i], 0);//設定驅動器消磁(disable)
if (ret != 0)
{
MessageBox.Show("NEC_CoE402ServoOn diaable failed" + ret.ToString()); return;
}
}
btn_ServoOn_0.Text = "Servo on";
btn_Move_0.Text = "Move";
btn_ServoOn_1.Text = "Servo on";
btn_Move_1.Text = "Move";
ret = NexECM.NEC_StopNetwork(MASTER_ID, 5000);
if (ret != 0)
{
MessageBox.Show("NEC_StopNetwork failed" + ret.ToString()); return;
}
ret = NexECM.NEC_StopDriver();
if (ret != 0)
{
MessageBox.Show("NEC_StopDriver failed" + ret.ToString()); return;
}
btn_StartNetwork.Text = "Start Network";
btn_StartNetwork.BackColor = Color.WhiteSmoke;
btn_Browse.Enabled = true;
}
}
