private void textHomingMethod_Leave(object sender, EventArgs e)
{
// 設定回 Home 模式
// textHomingMethod.Text = 1 : 往負方向運動，碰到極限開關後，反轉找第一個 pulse index
// textHomingMethod.Text = 2 : 往正方向運動，碰到極限開關後，反轉找第一個 pulse index
FormApp.BotEvaluateScript(textHomingMethod.Text + @" " + torqueDriveChannel.ToString() + @" " + torqueDriveSlave.ToString() + @" homing-method!");
}
private void textBoxAXPCLV_Leave(object sender, EventArgs e)
{
TextBox tb = (TextBox)sender;
FormApp.BotEvaluateScript(tb.Text + " " + currAxis.ToString() + " ax-curr-limit!");
axPCLVFocus = false;
}
private void buttonPull_Click(object sender, EventArgs e)
{
// 使用 torque.fs 內的 tq-release-go 指令
// tq-release-go 是以指定的速度移動 textReleaseV 到目標點位置 textReleaseP
double p, v;
bool pass = true;
if (!double.TryParse(textReleaseP.Text, out p))
{
textReleaseP.Text = "Error";
textReleaseP.ForeColor = Color.Red;
pass = false;
}
if (!double.TryParse(textReleaseV.Text, out v) || v < 0)
{
textReleaseV.Text = "Error";
textReleaseV.ForeColor = Color.Red;
pass = false;
}
// deploy ... ;deploy 是用來將指令送到 NC Background task 執行，因為 tq-release-go 指令會等待位置到達後做後續的設定
// 如果不送到 NC Background task 執行，則此 user task 會沒有回應。
if (pass)
{
FormApp.BotEvaluateScript("deploy " + textReleaseP.Text + @"e mm " + textReleaseV.Text + @"e mm/min tq-release-go ;deploy");
}
}
private void button1_Click(object sender, EventArgs e)
{
// 讓 torque.sfc 中的 SFC ，停止每個 real time 周期都送出 real torque。
FormApp.BotEvaluateScript("false rt-info-output-enabled !");
pauseEvent.Reset();
plotEnabled = false;
}
private void textBoxAXACDEC_Leave(object sender, EventArgs e)
{
TextBox tb = (TextBox)sender;
FormApp.BotEvaluateScript(tb.Text + " " + currAxis.ToString() + " ax-ac/dec!");
axACDECFocus = false;
}
private void button2_Click(object sender, EventArgs e)
{
// 讓 torque.sfc 中的 SFC ，每個 real time 周期都送出 real torque (用來畫圖)。
FormApp.BotEvaluateScript("true rt-info-output-enabled !");
pauseEvent.Set();
plotEnabled = true;
}
private void textBoxRetryCountMax_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Enter)
{
FormApp.BotEvaluateScript(((TextBox)sender).Text + @" feeder-retry-count-max ! .feeder-para");
}
}
private void timer1_Tick(object sender, EventArgs e)
{
textFollowingError.Text = FollowingError().ToString("F3");
if (Math.Abs(FollowingError()) < 2.0)
{
textFollowingError.ForeColor = Color.Black;
}
else
{
textFollowingError.ForeColor = Color.Red;
}
if (torqueDriveSlave != 0)
{
// 回傳有差異的參數
if (!FormApp.stopPolling)
{
FormApp.BotEvaluateScript(torqueDriveSlave.ToString() + @" .slave-diff");
}
}
if (torqueAxisNumber != 0)
{
// "1 .axis" 回應的訊息範例如下:
// axis_command_position.1|0.0000000|axis_demand_position.1|0.0000000|axis_corrected_position.1|0.0000000
// |encoder_position.1|0.0000000|external_encoder_position.1|0.0000000|feedback_position.1|0.0000000
// |position_correction.1|0.0000000|following_error.1|0.0000000|axis_interpolator_enabled.1|0|axis_homed.1
// |0|axis_velocity.1|0.000000|axis_acceleration.1|0.000000
// 其中 axis_command_position 是運動的目標位置
// axis_demand_position 是依加減速機制算出來當下應該要走到的位置
if (!FormApp.stopPolling)
{
FormApp.BotEvaluateScript(torqueAxisNumber.ToString() + @" .axis");
}
}
}
private void textBoxSettlingDurationMs_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Enter)
{
FormApp.BotEvaluateScript(((TextBox)sender).Text + @" feeder-settling-duration! .feeder-para");
}
}
private void textRotationSpeed_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Enter)
{
FormApp.BotEvaluateScript(textRotationSpeed.Text + @" feeder-rotation-speed! .feeder-para");
}
}
private void textCylinderOffMs_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Enter)
{
FormApp.BotEvaluateScript(textCylinderOffMs.Text + @" cylinder-off-duration! .feeder-para");
}
}
private void timer1s_Tick(object sender, EventArgs e)
{
if (feederReady && !sdoRequestSuspended && !FormApp.stopPolling)
{
FormApp.BotEvaluateScript(@"sdo-upload-tp-status");
}
}
private void timer1_Tick(object sender, EventArgs e)
{
if (!FormApp.stopPolling)
{
FormApp.BotEvaluateScript(currAxis.ToString() + @" .rcon-system");
}
}
private void textBoxAXPCLV_KeyDown(object sender, KeyEventArgs e)
{
if (e.KeyCode == Keys.Enter)
{
TextBox tb = (TextBox)sender;
FormApp.BotEvaluateScript(tb.Text + " " + currAxis.ToString() + " ax-curr-limit!");
axPCLVFocus = false;
}
}
private void buttonPLCEnable_Click(object sender, EventArgs e)
{
if ((sender as Button).Text == "Enable PLC")
{
FormApp.BotEvaluateScript(@"plc-enabled on");
}
else
{
FormApp.BotEvaluateScript(@"plc-enabled off");
}
}
private void radioButtonAXBKRL_Click(object sender, EventArgs e)
{
if ((sender as RadioButton).Checked)
{
FormApp.BotEvaluateScript(currAxis.ToString() + @" -ax-bkrl");
}
else
{
FormApp.BotEvaluateScript(currAxis.ToString() + @" +ax-bkrl");
}
}
private void radioButtonGWMON_Click(object sender, EventArgs e)
{
if ((sender as RadioButton).Checked)
{
FormApp.BotEvaluateScript(@"-gw-mon");
}
else
{
FormApp.BotEvaluateScript(@"+gw-mon");
}
}
private void button4_Click(object sender, EventArgs e)
{
// 切換驅動器到 CSP Mode, 避免切換時跳異警，檢查或後誤差是否太大
if (Math.Abs(FollowingError()) < 0.05)
{
FormApp.BotEvaluateScript(@"csp " + torqueDriveChannel.ToString() + @" " + torqueDriveSlave.ToString() + @" op-mode!");
}
else
{
new Thread(() => System.Windows.Forms.MessageBox.Show("Following Error Too Large")).Start();
}
}
private void button7_Click(object sender, EventArgs e)
{
// 驅動器 Drive On 前檢查 following error
if (Math.Abs(FollowingError()) < 0.05)
{
FormApp.BotEvaluateScript(torqueDriveChannel.ToString() + @" " + torqueDriveSlave.ToString() + @" drive-on");
}
else
{
new Thread(() => System.Windows.Forms.MessageBox.Show("Following Error Too Large")).Start();
}
}
private void timerPoll_Tick(object sender, EventArgs e)
{
string cmd = "";
if (driveDeviceSlave != 0 && driveDeviceChannel != 0)
{
cmd += (driveDeviceSlave.ToString() + @" .slave-diff ");
}
if (cylinderDeviceSlave != 0 && cylinderDeviceChannel != 0)
{
cmd += (cylinderDeviceSlave.ToString() + @" .slave-diff ");
}
if (feederReady)
{
cmd += @".feeder ";
}
if (!FormApp.stopPolling)
{
FormApp.BotEvaluateScript(cmd);
}
}
private void textHomingAcc_Leave(object sender, EventArgs e)
{
// 設定回 Home 模式中的加速度，單位通常是 pulse/s^2，不同廠牌驅動器可能會不同
FormApp.BotEvaluateScript(textHomingAcc.Text + @" " + torqueDriveChannel.ToString() + @" " + torqueDriveSlave.ToString() + @" homing-a!");
}
private void textHomingSpeed2_Leave(object sender, EventArgs e)
{
// 設定回 Home 模式中找 pulse index 的速度，單位通常是 pulse/s，不同廠牌驅動器可能會不同
FormApp.BotEvaluateScript(textHomingSpeed2.Text + @" " + torqueDriveChannel.ToString() + @" " + torqueDriveSlave.ToString() + @" homing-v2!");
}
private void button15_Click(object sender, EventArgs e)
{
// 停止軸組運動
FormApp.BotEvaluateScript(@"tq-release-stop");
}
private void textEncoderPPU_Leave(object sender, EventArgs e)
{
// 設定單位距離有幾個 encoder pulse 數量
FormApp.BotEvaluateScript(textEncoderPPU.Text + @"e " + torqueAxisNumber.ToString() + @" enc-ppu! " + torqueAxisNumber.ToString() + @" .axiscfg");
}
public void Initialize()
{
// 取得裝置資訊
FormApp.BotEvaluateScript(@".rcon-infos");
}
private void textAxisAmax_Leave(object sender, EventArgs e)
{
// 設定運動軸的最大加速度 (主站使用的是 SI 單位，線性軸是 m/s^2)，設定完成後取回軸設定參數 (.axiscfg)，
// 用來看參數是否設定正確
FormApp.BotEvaluateScript(textAxisAmax.Text + @"e " + torqueAxisNumber.ToString() + @" axis-amax! " + torqueAxisNumber.ToString() + @" .axiscfg");
}
private void textDriveSlavePosition_Leave(object sender, EventArgs e)
{
// 設定運動軸的對應的驅動器 slave position，如果沒有對應的驅動器，則是虛擬運動軸。
// 設定完成後取回軸設定參數 (.axiscfg)，用來看參數是否設定正確
FormApp.BotEvaluateScript(textDriveSlavePosition.Text + @" " + torqueAxisNumber.ToString() + @" drv-slave! " + torqueAxisNumber.ToString() + @" .axiscfg");
}
private void textDriveChannel_Leave(object sender, EventArgs e)
{
// 設定運動軸的對應的驅動器的 Channel，如果沒有對應的驅動器，則是虛擬運動軸。
// 設定完成後取回軸設定參數 (.axiscfg)，用來看參數是否設定正確
FormApp.BotEvaluateScript(textDriveChannel.Text + @" " + torqueAxisNumber.ToString() + @" drv-channel! " + torqueAxisNumber.ToString() + @" .axiscfg");
}
private void textGroupJmax_Leave(object sender, EventArgs e)
{
// 設定軸組對應的運動軸的最大加加速度，設定完成後取回軸組設定參數 (.grpcfg)，用來看參數是否設定正確
FormApp.BotEvaluateScript(textGroupJmax.Text + @"e " + torqueGroupNumber.ToString() + @" gjmax! " + torqueGroupNumber.ToString() + @" .grpcfg");
}
private void textGroupMapping_Leave(object sender, EventArgs e)
{
// 設定軸組對應的運動軸，設定完成後取回軸組設定參數 (.grpcfg)，用來看參數是否設定正確
FormApp.BotEvaluateScript(textGroupMapping.Text + @" " + torqueGroupNumber.ToString() + @" gmap! " + torqueGroupNumber.ToString() + @" .grpcfg");
}