private void Btn_WrPrm_Click(object sender, EventArgs e)
{
short PrmAxis = short.Parse(TB_PrmAxisW.Text);
int PrmNo = int.Parse(TB_PrmNumW.Text);
int PrmVal = int.Parse(TB_PrmValW.Text);
String WPrmStatus = Itri2Fanuc.WriteParameterVal(PrmAxis, PrmNo, PrmVal);
if (WPrmStatus.Equals("EW_OK"))
{
double[] PrmVals = new double[3];
String ret = Itri2Fanuc.ReadParameterVal(PrmNo);
TB_WrPrmVal.Text = ret;
}
else
{
MessageBox.Show(WPrmStatus, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
public string FrqResponseStart(short Axis, int FrqStart, int FrqEnd, int DisAmp, int WaveNum, int PosGain)
{
double SmplTime = 0;
if (FrqStart < 10)
{
for (double i = FrqStart; i <= 9; i++)
{
SmplTime += (1 / i) * 1000 * 4 * WaveNum;
}
for (double i = 10; i < FrqEnd; i += 5)
{
SmplTime += (1 / i) * 1000 * 4 * WaveNum;
}
}
else
{
FrqStart = (FrqStart / 5) * 5;
for (double i = FrqStart; i < FrqEnd; i += 5)
{
SmplTime += (1 / i) * 1000 * 4 * WaveNum;
}
}
sbyte[] SmplAxis = new sbyte[3] {
(sbyte)(Axis), (sbyte)(Axis), (sbyte)(Axis)
};
short[] SmplType = new short[3] {
3, 32, 31
};
string ret = Itri2Fanuc_func.SamplingStart(3, SmplAxis, SmplType, 512, (int)SmplTime + 4000, 0);
if (ret != "EW_OK")
{
return("SamplingStart Error : " + ret);
}
Itri2Fanuc_func.ReadParameterVal(2326);
Org_Value[0] = Itri2Fanuc_func.PrmContainer[Axis - 1];
Itri2Fanuc_func.ReadParameterVal(2327);
Org_Value[1] = Itri2Fanuc_func.PrmContainer[Axis - 1];
Itri2Fanuc_func.ReadParameterVal(2328);
Org_Value[2] = Itri2Fanuc_func.PrmContainer[Axis - 1];
Itri2Fanuc_func.ReadParameterVal(2329);
Org_Value[3] = Itri2Fanuc_func.PrmContainer[Axis - 1];
Itri2Fanuc_func.ReadParameterVal(1825);
Org_Value[4] = Itri2Fanuc_func.PrmContainer[Axis - 1];
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2326, DisAmp);
if (ret != "EW_OK")
{
return("Error(No.2326) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2327, FrqStart);
if (ret != "EW_OK")
{
return("Error(No.2327) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2328, FrqEnd);
if (ret != "EW_OK")
{
return("Error(No.2327) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2329, WaveNum);
if (ret != "EW_OK")
{
return("Error(No.2329) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 1825, PosGain);
if (ret != "EW_OK")
{
return("Error(No.1825) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2270, 128);
if (ret != "EW_OK")
{
return("Error(No.2270) : " + ret);
}
return("Start input disturbance");
}
public string FrqResponseStart(short Axis, int FrqStart, int FrqEnd, int DisAmp, int WaveNum, int PosGain)
{
Org_Value[0] = Itri2Fanuc_func.ReadParameterVal(2326);
Org_Value[1] = Itri2Fanuc_func.ReadParameterVal(2327);
Org_Value[2] = Itri2Fanuc_func.ReadParameterVal(2328);
Org_Value[3] = Itri2Fanuc_func.ReadParameterVal(2329);
Org_Value[4] = Itri2Fanuc_func.ReadParameterVal(1825);
string ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2326, DisAmp);
if (ret != "EW_OK")
{
return("Error(No.2326) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2327, FrqStart);
if (ret != "EW_OK")
{
return("Error(No.2327) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2328, FrqEnd);
if (ret != "EW_OK")
{
return("Error(No.2327) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2329, WaveNum);
if (ret != "EW_OK")
{
return("Error(No.2329) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 1825, PosGain);
if (ret != "EW_OK")
{
return("Error(No.1825) : " + ret);
}
ret = Itri2Fanuc_func.WriteParameterVal(Axis, 2270, 128);
if (ret != "EW_OK")
{
return("Error(No.2270) : " + ret);
}
return("Start input disturbance");
}