/// <summary>
/// 查询指定轴的状态， 是正在运动，或者运动停止，处于空闲状态。
/// </summary>
/// <returns></returns>
public override uint IsMotionDone(PCI9014AxisInfo axisinfo)
{
int nRes = 0;
nRes = CPci9014.p9014_get_motion_status(axisinfo.No, ref axisinfo.isBusy);
if (nRes != 0)
{
return(2);
}
else
{
return(axisinfo.isBusy);
}
}
private void timer1_Tick(object sender, EventArgs e)
{
int cmd_pos = 0, enc_pos = 0;
uint motion_status = 0, io_status = 0;
double cur_vel = 0.0f;
CPci9014.p9014_get_motion_status(m_axis, ref motion_status);
CPci9014.p9014_get_io_status(m_axis, ref io_status);
CPci9014.p9014_get_current_speed(m_axis, ref cur_vel);
CPci9014.p9014_get_pos(m_axis, 0, ref cmd_pos);
CPci9014.p9014_get_pos(m_axis, 1, ref enc_pos);
textBox6.Text = Convert.ToString(cur_vel);
textBox7.Text = Convert.ToString(motion_status);
textBox8.Text = Convert.ToString(cmd_pos);
textBox9.Text = Convert.ToString(enc_pos);
//PEL
if ((io_status % 2) == 1)
{
textBox10.Text = "ON";
}
else
{
textBox10.Text = "OFF";
}
//MEL
if (((io_status >> 1) % 2) == 1)
{
textBox11.Text = "ON";
}
else
{
textBox11.Text = "OFF";
}
//EMG
if (((io_status >> 4) % 2) == 1)
{
textBox12.Text = "OFF";
}
else
{
textBox12.Text = "ON";
}
}
public override void GetIOState(PCI9014AxisInfo axinfo)
{
int cmd_pos = 0, enc_pos = 0;
uint motion_status = 0, io_status = 0;
double cur_vel = 0.0;
CPci9014.p9014_get_motion_status(axinfo.No, ref motion_status);
CPci9014.p9014_get_io_status(axinfo.No, ref io_status);
CPci9014.p9014_get_current_speed(axinfo.No, ref cur_vel);
CPci9014.p9014_get_pos(axinfo.No, 0, ref cmd_pos);
//CPci9014.p9014_get_pos(axinfo.No, 1, ref enc_pos);
axinfo.isBusy = motion_status == 1 ? (uint)1 : (uint)0;
axinfo.fLimit = (io_status % 2) == 1 ? true : false;
axinfo.rLimit = ((io_status >> 1) % 2) == 1 ? true : false;
axinfo.oRG = ((io_status >> 2) % 2) == 1 ? true : false;
//axinfo.Ez = ((io_status >> 3) % 2) == 1 ? true : false;
axinfo.eMG = ((io_status >> 4) % 2) == 1 ? true : false;
axinfo.dir = (int)io_status % 2 >> 5;
axinfo.curSpeed = cur_vel;
axinfo.curPos = cmd_pos;
//axinfo.EncoderPos = enc_pos;
}
