//-------------------------------------------------------------------------------------------------
private void fn_UpdateMotorStatus()
{
for (int j = 0; j < motStatusdataTable.Rows.Count; j++)
{
//
if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = MOTR[j].GetServo() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["SBACK"] = MOTR[j].GetServo() ? "Green" : "LightGray";
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd() ? "Green" : "LightGray";
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = MOTR[j].GetAlarm() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["ABACK"] = MOTR[j].GetAlarm() ? "Red" : "LightGray";
continue;
}
if (mc_Acs.fn_GetStateEnabled(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "ON";
motStatusdataTable.Rows[j]["SBACK"] = "Green";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "OFF";
motStatusdataTable.Rows[j]["SBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateAlarmAll(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "ON";
motStatusdataTable.Rows[j]["ABACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "OFF";
motStatusdataTable.Rows[j]["ABACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateMove(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "ON";
motStatusdataTable.Rows[j]["MBACK"] = "Green";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "OFF";
motStatusdataTable.Rows[j]["MBACK"] = "LightGray";
}
//
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF";
motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd()? "Green" : "LightGray";
if (mc_Acs.fn_GetStateHardwareLeftLimit(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "ON";
motStatusdataTable.Rows[j]["PBACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "OFF";
motStatusdataTable.Rows[j]["PBACK"] = "LightGray";
}
if (mc_Acs.fn_GetStateHardwareRightLimit(j))
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "ON";
motStatusdataTable.Rows[j]["NBACK"] = "Red";
}
else
{
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "OFF";
motStatusdataTable.Rows[j]["NBACK"] = "LightGray";
}
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_R] = Math.Round(mc_Acs.fn_GetTargetPosition(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_F] = Math.Round(mc_Acs.fn_GetEncoderPosition(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.JERK] = Math.Round(mc_Acs.fn_GetParameterJerk(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.VELOCITY_F] = Math.Round(mc_Acs.fn_GetParameterVelocity(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ACC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3);
motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.DEC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3);
}
}