public void VWaitAxisGohome(ushort CardNo, ushort nodeid)
{
ushort MC_done = 0;
uint MC_status = 0;
short rc;
uint status1 = 0, status2 = 0, status3 = 0, status4 = 0;
CPCI_DMC.CS_DMC_01_motion_done(CardNo, nodeid, 0, ref MC_done);
rc = CPCI_DMC.CS_DMC_01_motion_status(CardNo, nodeid, 0, ref MC_status);
status1 = ((MC_status >> 1) & 0X0001);
status2 = ((MC_status >> 2) & 0X0001);
status3 = ((MC_status >> 10) & 0X0001);
status4 = ((MC_status >> 12) & 0X0001);
while ((status1 != 1) || (status2 != 1) || (status3 != 1) || (status4 != 1) || (MC_done != 0))
{
Application.DoEvents();
Thread.Sleep(10);
CPCI_DMC.CS_DMC_01_motion_status(CardNo, nodeid, 0, ref MC_status);
status1 = ((MC_status >> 1) & 0X0001);
status2 = ((MC_status >> 2) & 0X0001);
status3 = ((MC_status >> 10) & 0X0001);
status4 = ((MC_status >> 12) & 0X0001);
CPCI_DMC.CS_DMC_01_motion_done(CardNo, nodeid, 0, ref MC_done);
}
}
public uint VGetAxisAlm(ushort CardNo, ushort NodeID)
{
uint alm_code = 0;
CPCI_DMC.CS_DMC_01_get_alm_code(CardNo, NodeID, 0, ref alm_code);
return(alm_code);
}
public int Init()
{
short rc;
short existcard = 0;
try
{
rc = CPCI_DMC.CS_DMC_01_open(ref existcard);
if (existcard <= 0)
{
MessageBox.Show("No DMC-NET card can be found!");
return((int)DM_ErrorList.NoCardFound);
}
else
{
CardNo.Clear();
ushort i, card_no = 0, DeviceInfo = 0;;
uint[] SlaveTable = new uint[4];
for (i = 0; i < existcard; i++)
{
rc = CPCI_DMC.CS_DMC_01_get_CardNo_seq(i, ref card_no);
CardNo.Add(card_no);
rc = CPCI_DMC.CS_DMC_01_pci_initial(card_no);
if (rc != 0)
{
return((int)DM_ErrorList.BootFail);
}
rc = CPCI_DMC.CS_DMC_01_initial_bus(card_no);
if (rc != 0)
{
return((int)DM_ErrorList.CardInitFail);
}
for (i = 0; i < 4; i++)
{
SlaveTable[i] = 0;
}
rc = CPCI_DMC.CS_DMC_01_start_ring(card_no, 0);
rc = CPCI_DMC.CS_DMC_01_get_device_table(card_no, ref DeviceInfo);
rc = CPCI_DMC.CS_DMC_01_get_node_table(card_no, ref SlaveTable[0]);
if (SlaveTable[0] == 0)
{
return((int)DM_ErrorList.SlaveIsEmpty);
}
}
}
}
catch (Exception e)
{
return((int)DM_ErrorList.CardInitFail);
}
return((int)DM_ErrorList.NoError);
}
public void resetRM32NT()
{
//
if (CardNo.Count == 0)
{
return;
}
ushort IOStatus = 0;
CPCI_DMC.CS_DMC_01_get_rm_output_value(CardNo[0], 12, 0, 0, ref IOStatus);
BitArray myVal = new BitArray(new int[] { (int)IOStatus });
for (int i = 0; i < 16; i++)
{
myVal[i] = false;
}
Byte[] myB = new Byte[4];
myVal.CopyTo(myB, 0);
ushort IOOutStatus = BitConverter.ToUInt16(myB, 0);
CPCI_DMC.CS_DMC_01_set_rm_output_value(CardNo[0], 12, 0, 0, IOOutStatus);
//for 4 unloading
//IOStatus = 0;
//CPCI_DMC.CS_DMC_01_get_rm_output_value(CardNo[0], 12, 0, 1, ref IOStatus);
//myVal = new BitArray(new int[] { (int)IOStatus });
//for (int i = 0; i < 16; i++)
// myVal[i] = false;
//myB = new Byte[4];
//myVal.CopyTo(myB, 0);
//IOOutStatus = BitConverter.ToUInt16(myB, 0);
//CPCI_DMC.CS_DMC_01_set_rm_output_value(CardNo[0], 12, 0, 1, IOOutStatus);
}
public void WriteIOOut(ushort port, bool sts)
{
if (CardNo.Count == 0)
{
return;
}
uint IOStatus = 0;
lock (sny_Obj)
{
CPCI_DMC.CS_DMC_01_get_dio_output_DW(CardNo[0], ref IOStatus);
//ushort IOOutStatus = 0;
//if (sts)
//{
// IOOutStatus = (ushort)(IOStatus | (ushort)Math.Pow(2, port));
//}
//else
//{
// IOOutStatus = (ushort)(IOStatus & (0xFFFF - (ushort)Math.Pow(2, port)));
//}
BitArray myVal = new BitArray(new int[] { (int)IOStatus });
myVal[port] = sts;
Byte[] myB = new Byte[4];
myVal.CopyTo(myB, 0);
uint IOOutStatus = BitConverter.ToUInt32(myB, 0);
CPCI_DMC.CS_DMC_01_set_dio_output_DW(CardNo[0], IOOutStatus);
}
}
private bool ReadServoDI(ushort NodeID, int idnum) //idnum为4则对应原点位，5、6分别对应负限位和正限位
{
if (CardNo.Count == 0)
{
return(false);
}
bool res = false;
ushort servo_DI = 0;
try
{
CPCI_DMC.CS_DMC_01_get_servo_DI(CardNo[0], NodeID, 0, ref servo_DI);
if ((servo_DI & (0x01 << idnum)) != 0)
{
res = true;
}
else
{
res = false;
}
}
catch
{
res = false;
}
if (GetPara(NodeID).IsServoMotor)
{
return(res);
}
else
{
return(!res);
}
}
public bool ReadIOIn(ushort port)
{
if (CardNo.Count == 0)
{
return(false);
}
uint IOStatus = 0;
try
{
CPCI_DMC.CS_DMC_01_get_dio_input_DW(CardNo[0], ref IOStatus);
if ((IOStatus & (0x01 << port)) != 0)
{
return(true);
}
else
{
return(false);
}
}
catch
{
return(false);
}
}
private void btnreset_Click(object sender, EventArgs e)
{
gnodeid = ushort.Parse(cmbNodeID.Text);
CPCI_DMC.CS_DMC_01_set_position(gCardNo, gnodeid, 0, 0);
CPCI_DMC.CS_DMC_01_set_command(gCardNo, gnodeid, 0, 0);
}
public int WaitAxisStop(ushort nodeid)
{
if (CardNo.Count == 0)
{
return((int)DM_ErrorList.NoCardFound);
}
ushort MC_done = 0;
short rc;
rc = CPCI_DMC.CS_DMC_01_motion_done(CardNo[0], nodeid, 0, ref MC_done);
DateTime st_time = DateTime.Now;
TimeSpan time_span;
while (MC_done != 0)
{
time_span = DateTime.Now - st_time;
if (time_span.TotalMilliseconds > MotionTimeoutMS)
{
return((int)DM_ErrorList.MotionTimeout);
}
Application.DoEvents();
Thread.Sleep(10);
CPCI_DMC.CS_DMC_01_motion_done(CardNo[0], nodeid, 0, ref MC_done);
}
return((int)DM_ErrorList.NoError);
}
public void Homing(ushort nodeid, ushort home_mode) //home_mode=1,以负限位为原点，2,为正限为原点，7以原点遇正限位反转
{
ResetAlarm(nodeid);
if (CardNo.Count == 0)
{
return;
}
if (!GetPara(nodeid).IsServoMotor)
{
//ManHoming(nodeid, home_mode);
double acc = 0.1;
ushort StrVel = 100;
CPCI_DMC.CS_DMC_01_set_home_config(CardNo[0], nodeid, 0, 17, 0, StrVel, (ushort)GetPara(nodeid).HomeSpeed, acc);
CPCI_DMC.CS_DMC_01_set_home_move(CardNo[0], nodeid, 0);
Thread.Sleep(motionCmdDly);
}
else
{
double acc = 0.1;
ushort StrVel = 100;
CPCI_DMC.CS_DMC_01_set_home_config(CardNo[0], nodeid, 0, home_mode, 0, StrVel, (ushort)GetPara(nodeid).HomeSpeed, acc);
CPCI_DMC.CS_DMC_01_set_home_move(CardNo[0], nodeid, 0);
Thread.Sleep(motionCmdDly);
}
}
private void MotorListen()
{
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, node1, 0, ref spd1);
//if (rc == 0)
//{
txtspeed1.Text = spd1.ToString();
//}
//Torque
rc = CPCI_DMC.CS_DMC_01_get_torque(gCardNo, node1, 0, ref toe1);
//if (rc == 0)
//{
// //扭矩是千分比
double toe = (double)toe1 / 1000 * ServoMaxTorq;
txtTorque1.Text = toe.ToString();
if (toe > ServoMaxTorq)
{
txtTorque1.BackColor = Color.Red;
}
else
{
txtTorque1.BackColor = Color.White;
}
//}
motorTorque1.Add(toe);
motorRpm1.Add(spd1 / 10);
}
public int MoveTo(ushort NodeID, double Position, int Profile)
{
ResetAlarm(NodeID);
if (CardNo.Count == 0)
{
return((int)DM_ErrorList.NoCardFound);
}
double acc = 0.2;
double Tdec = 0.2;
int speed = GetPara(NodeID).RunSpeed;
if (Profile == 0)
{
speed = GetPara(NodeID).HomeSpeed;
}
int StrVel = speed / 10;
int dist;
dist = (Int32)(GetPara(NodeID).MotorScale *Position);
short rc = CPCI_DMC.CS_DMC_01_start_ta_move(CardNo[0], NodeID, 0, dist, StrVel, speed, acc, Tdec);
if (rc != 0)
{
return((int)DM_ErrorList.MotionError);
}
Thread.Sleep(motionCmdDly);
return((int)DM_ErrorList.NoError);
}
public int MoveTo(ushort NodeID, double Position)
{
ResetAlarm(NodeID);
if (CardNo.Count == 0)
{
return((int)DM_ErrorList.NoCardFound);
}
double acc = 0.2;
double Tdec = 0.2;
int speed = GetPara(NodeID).RunSpeed;
int StrVel = speed / 10;
int dist;
dist = (Int32)(GetPara(NodeID).MotorScale *Position);
if ((NodeID == (ushort)Axislist.Mod1YAxis) || (NodeID == (ushort)Axislist.Mod2YAxis))
{
if (!ReadIOIn((ushort)InputIOlist.RotaryMotionDone))
{
return((int)DM_ErrorList.MotionSafetyError);
}
}
short rc = CPCI_DMC.CS_DMC_01_start_ta_move(CardNo[0], NodeID, 0, dist, StrVel, speed, acc, Tdec);
if (rc != 0)
{
return((int)DM_ErrorList.MotionError);
}
Thread.Sleep(motionCmdDly);
return((int)DM_ErrorList.NoError);
}
public void VReSetAlm(ushort CardNo, ushort NodeID)
{
rc = CPCI_DMC.CS_DMC_01_set_ralm(gCardNo, NodeID, 0);
if (rc != 0)
{
SendMsgToDisplayWarning("Clear the alm of PCI_DMC Master Card failed！");
}
}
public void SetServoOn(ushort NodeID, ushort svonON_OFF)
{
if (CardNo.Count == 0)
{
return;
}
CPCI_DMC.CS_DMC_01_ipo_set_svon(CardNo[0], NodeID, 0, svonON_OFF);
}
public void VSetCard(ushort CardNo, ushort NodeID, ushort svonON_OFF) //设置脉冲模式及伺服是能
{
//rc = CPCI_DMC.CS_DMC_01_set_rm_04pi_ipulser_mode(gCardNo, NodeID, 0, 1);
//rc = CPCI_DMC.CS_DMC_01_set_rm_04pi_opulser_mode(gCardNo, NodeID, 0, 1);
rc = CPCI_DMC.CS_DMC_01_ipo_set_svon(gCardNo, NodeID, 0, svonON_OFF); //1为伺服ON，0为伺服OFF
//CPCI_DMC.CS_DMC_01_enable_soft_limit(gCardNo, NodeID, 0, 1); //设置轴的软限位是能，1为碰到限位立即停止，2为减数停止。
}
public void SetPosition(ushort NodeID, int Pos)
{
if (CardNo.Count == 0)
{
return;
}
CPCI_DMC.CS_DMC_01_set_position(CardNo[0], NodeID, 0, Pos);
CPCI_DMC.CS_DMC_01_set_command(CardNo[0], NodeID, 0, Pos);
}
public double DReadcurrentencodePos(ushort CardNo, ushort NodeID)
{
int pos = 0;
double codepos = 0.0;
CPCI_DMC.CS_DMC_01_get_position(gCardNo, NodeID, 0, ref pos);
codepos = (double)pos / ScaleAxis[NodeID];
return(codepos);
}
public double DReadcurrentpulsePos(ushort CardNo, ushort NodeID)
{
int cmd = 0;
double commdpos = 0.0;
CPCI_DMC.CS_DMC_01_get_command(gCardNo, NodeID, 0, ref cmd);
commdpos = cmd / ScaleAxis[NodeID];
return(commdpos);
}
public void CloseCard() //关闭运动控制卡
{
for (int i = 0; i < CardNo.Count; i++)
{
CPCI_DMC.CS_DMC_01_reset_card(CardNo[i]);
}
CPCI_DMC.CS_DMC_01_close();
}
private void btnNmove_Click(object sender, EventArgs e)
{
double m_Tacc = Double.Parse(txtTacc.Text), m_Tdec = Double.Parse(txtTdec.Text);
int m_Rpm = Int16.Parse(txtRpm.Text);
gnodeid = ushort.Parse(cmbNodeID.Text);
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, gnodeid, 0, m_Tacc, m_Tdec);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, gnodeid, 0, 0 - m_Rpm);
}
private void chksvon_CheckedChanged(object sender, EventArgs e)
{
gIsServoOn = chksvon.Checked;
gnodeid = ushort.Parse(cmbNodeID.Text);
rc = CPCI_DMC.CS_DMC_01_set_rm_04pi_ipulser_mode(gCardNo, gnodeid, 0, 1);
rc = CPCI_DMC.CS_DMC_01_set_rm_04pi_opulser_mode(gCardNo, gnodeid, 0, 1);
rc = CPCI_DMC.CS_DMC_01_ipo_set_svon(gCardNo, gnodeid, 0, (ushort)(gIsServoOn ? 1 : 0));
}
private void btnWork_Click(object sender, EventArgs e)
{
btnWork.Enabled = false;
btnFinish.Enabled = true;
bool check_para = true;
if (IfTime.Checked)
{
try
{
timer1.Interval = int.Parse(TimeValue.Text) * 1000;
timer1.Tick += new EventHandler(btnFinish_Click);
timer1.Enabled = true;
LogOutput("定時功能啟動");
}
catch (Exception)
{
timer1.Enabled = false;
LogOutput("時間設定錯誤");
}
}
if (int.Parse(txtRpm2.Text) > ServoMaxSpeed)
{
check_para = false;
}
if (check_para)
{
LogOutput("實驗開始");
ServoON(true);
SetChartType();
CleanChart();
Set_Chart();
ThWorking_PLC = new Thread(working_PLC);
ThWorking_PLC.Start();
double m_Tacc = Double.Parse(txtTacc.Text), m_Tdec = Double.Parse(txtTdec.Text);
int m_Rpm = Int16.Parse(txtRpm2.Text) * 10;
gnodeid = ushort.Parse(cmbNodeID.Text);
/* Set up Velocity mode parameter */
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node1, 0, m_Tacc, m_Tdec);
//* Start Velocity move: rpm > 0 move forward , rpm < 0 move negative */
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node1, 0, m_Rpm);
//ThUpdateChart = new Thread(Update_Chart);
//ThUpdateChart.Start();
}
else
{
LogOutput("設定有誤");
}
}
public void VStopAxis(ushort CardNo, ushort NodeID, int swichstop)//0为急停，1为减数停止
{
if (swichstop == 0)
{
CPCI_DMC.CS_DMC_01_emg_stop(CardNo, NodeID, 0);
}
else
{
CPCI_DMC.CS_DMC_01_sd_stop(gCardNo, NodeID, 0, 0.1);
}
}
private void btnstop_Click(object sender, EventArgs e)
{
rc = CPCI_DMC.CS_DMC_01_emg_stop(gCardNo, node1, 0);
rc = CPCI_DMC.CS_DMC_01_emg_stop(gCardNo, node2, 0);
if (th != null)
{
th.Abort();
}
ThWorking_PLC.Abort();
ThWorking.Abort();
}
private void btnexit_Click(object sender, EventArgs e)
{
ushort i;
for (i = 0; i < existcard; i++)
{
rc = CPCI_DMC.CS_DMC_01_reset_card(gCardNoList[i]);
}
CPCI_DMC.CS_DMC_01_close();
Application.Exit();
}
private void btnNmove_Click_1(object sender, EventArgs e)
{
double m_Tacc = Double.Parse(txtTacc.Text), m_Tdec = Double.Parse(txtTdec.Text);
int m_Rpm = Int16.Parse(txtRpm1.Text);
gnodeid = ushort.Parse(cmbNodeID.Text);
/* Set up Velocity mode parameter */
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node2, 0, m_Tacc, m_Tdec);
//* Start Velocity move: rpm > 0 move forward , rpm < 0 move negative */
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node2, 0, -1 * m_Rpm);
}
public bool ReadIOOut(ushort port)
{
if (CardNo.Count == 0)
{
return(false);
}
uint IOStatus = 0;
CPCI_DMC.CS_DMC_01_get_dio_output_DW(CardNo[0], ref IOStatus);
return((IOStatus & (0x01 << port)) != 0 ? true : false);
}
public bool ReadIOOutRM32(ushort NodeID, ushort port)
{
if (CardNo.Count == 0)
{
return(false);
}
ushort IOStatus = 0;
CPCI_DMC.CS_DMC_01_get_rm_output_value(CardNo[0], NodeID, 0, 0, ref IOStatus);
return((IOStatus & (0x01 << port)) != 0 ? true : false);
}
public uint GetAlarmStatus(ushort NodeID)
{
uint alm_code = 0;
if (CardNo.Count == 0)
{
return(alm_code);
}
CPCI_DMC.CS_DMC_01_get_alm_code(CardNo[0], NodeID, 0, ref alm_code);
return(alm_code);
}
