private bool GetMcsuState(int AxisNo, out AxisArgs axisargs)
{
lock (ComportLock)
{
axisargs = null;
try
{
if (AxisNo > 12 || AxisNo < 1)
{
return(false);
}
//Command
CommandGetMcsuSta.FrameLength = 0x05;
CommandGetMcsuSta.AxisNo = (byte)AxisNo;
byte[] cmd = CommandGetMcsuSta.ToBytes();
this.ExcuteCmd(cmd);
CommandGetMcsuSta.WaitFinish(1000);
axisargs = AxisStateList[AxisNo - 1];
return(axisargs != null);
}
catch (Exception ex)
{
return(false);
}
}
}
public Motion_IrixiEE0017()
{
AxisArgsList = new AxisArgs[12];
for (int i = 0; i < 12; i++)
{
AxisArgsList[i] = new AxisArgs();
}
}
public bool GetAxisState(int AxisNo, out AxisArgs state)
{
var s = _controller.GetUnitState((UnitID)(AxisNo + (int)UnitID.U1));
OnIrixiAxisStateChanged(this, s);
state = AxisArgsList[AxisNo];
return(true);
}
public bool GetAxisState(int AxisNo, out AxisArgs state)
{
state = null;
if (AxisNo > MAX_AXIS - MIN_AXIS || AxisNo < 0)
{
return(false);
}
state = AxisArgsList[AxisNo];
return(true);
}
public bool GetAxisState(int AxisNo, out AxisArgs axisArgs)
{
axisArgs = null;
var MotionCard = FindMotionCardByAxisIndex(AxisNo);
if (MotionCard != null)
{
int AxisIndex = AxisNo - MotionCard.MIN_AXIS;
return(MotionCard.GetAxisState(AxisIndex, out axisArgs));
}
return(false);
}
private void Value_OnAxisStateChanged(IMotion sender, int AxisNo, AxisArgs args)
{
int AxisNoTotal = AxisNo + sender.MIN_AXIS;
for (int j = 0; j < ConfigMgr.Instance.HardwareCfgMgr.AxisSettings.Count(); j++)
{
if (ConfigMgr.Instance.HardwareCfgMgr.AxisSettings[j].AxisNo == AxisNoTotal)
{
AxisStateCollection[j].CurAbsPos = args.CurAbsPos * AxisStateCollection[j].Unit.Factor;
AxisStateCollection[j].IsHomed = args.IsHomed;
AxisStateCollection[j].IsBusy = args.IsBusy;
AxisStateCollection[j].ErrorCode = args.ErrorCode;
break;
}
}
}
private bool GetMcsuState(int AxisNo, out AxisArgs axisargs)
{
lock (ComportLock)
{
axisargs = null;
try
{
if (AxisNo > 12 || AxisNo < 1)
{
return(false);
}
//Command
CommandGetMcsuSta.AxisNo = (byte)AxisNo;
byte[] cmd = CommandGetMcsuSta.ToBytes();
this.ExcuteCmd(cmd);
if (CommandGetMcsuSta.WaitFinish(1000))
{
var state = CommandGetMcsuSta.ReturnObject as MCSUS_STATE;
int axisIndex = state.AxisIndex;
lock (AxisStateList[axisIndex - 1].AxisLock)
{
AxisStateList[axisIndex - 1].IsHomed = state.IsHomed;
AxisStateList[axisIndex - 1].IsBusy = state.IsBusy;
AxisStateList[axisIndex - 1].ErrorCode = state.Error;
AxisStateList[axisIndex - 1].CurAbsPos = (double)state.AbsPosition / (double)AxisStateList[axisIndex - 1].GainFactor;
}
axisargs = AxisStateList[axisIndex - 1];
}
else
{
return(false);
}
return(axisargs != null);
}
catch (Exception ex)
{
return(false);
}
}
}
private void MotionCard_OnAxisStateChanged(int AxisNo, AxisArgs axisState)
{
throw new NotImplementedException();
}
