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 int WaitHomeDone(ushort nodeid)
{
if (CardNo.Count == 0)
{
return((int)DM_ErrorList.NoCardFound);
}
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[0], nodeid, 0, ref MC_done);
rc = CPCI_DMC.CS_DMC_01_motion_status(CardNo[0], 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);
DateTime st_time = DateTime.Now;
TimeSpan time_span;
while ((status1 != 1) || (status2 != 1) || (status3 != 1) || (status4 != 1) || (MC_done != 0))
{
time_span = DateTime.Now - st_time;
if (time_span.TotalMilliseconds > HomingTimeoutMS)
{
return((int)DM_ErrorList.HomingTimeout);
}
Application.DoEvents();
Thread.Sleep(10);
CPCI_DMC.CS_DMC_01_motion_status(CardNo[0], 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[0], nodeid, 0, ref MC_done);
}
return((int)DM_ErrorList.NoError);
}
private void timer1_Tick(object sender, EventArgs e)
{
//Motion status
int cmd = 0, pos = 0;
short spd = 0;
ushort i, MC_done = 0;
uint MC_status = 0, err = 0;
gnodeid = ushort.Parse(cmbNodeID.Text);
if (chktimer.Checked)
{
//Status
rc = CPCI_DMC.CS_DMC_01_get_command(gCardNo, gnodeid, 0, ref cmd); //Command
if (rc == 0)
{
txtcommand.Text = cmd.ToString();
}
rc = CPCI_DMC.CS_DMC_01_get_position(gCardNo, gnodeid, 0, ref pos); //Feedback
if (rc == 0)
{
txtfeedback.Text = pos.ToString();
}
rc = CPCI_DMC.CS_DMC_01_get_rpm(gCardNo, gnodeid, 0, ref spd); //Speed
if (rc == 0)
{
txtspeed.Text = spd.ToString();
}
rc = CPCI_DMC.CS_DMC_01_motion_status(gCardNo, gnodeid, 0, ref MC_status); //Motion done
if (rc == 0)
{
txtmotion.Text = "&H" + Convert.ToString(MC_status, 16);
}
rc = CPCI_DMC.CS_DMC_01_get_alm_code(gCardNo, gnodeid, 0, ref err);
if (rc == 0)
{
txtERR.Text = err.ToString();
}
}
}
