/// <summary>
/// 初始化运动控制卡，仅初始化一次
/// </summary>
/// <param name="cardNum">控制卡号</param>
/// <param name="isRun">是否初始化</param>
/// <returns>是否初始化成功</returns>
public static bool InitMotionCard(ref short cardNum, bool isRun)
{
IsRun = isRun;
if (IsRun)
{
return(true);
}
try
{
cardNum = LTDMC.dmc_board_init();
if (cardNum <= 0 || cardNum > 8)
{
MessageBox.Show("初始化控制卡失败！", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning);
return(false);
}
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败！", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning);
}
CardId = cardids[0];
}
catch (Exception ex)
{
m_logFile.AppendText("运动控制卡初始化异常：" + ex.Message);
return(false);
}
return(true);
}
public bool InitDMC3400ACard()
{
short num = LTDMC.dmc_board_init();//获取卡数量
if (num <= 0 || num > 8)
{
MessageBox.Show("初始卡失败!", "出错");
return(false);
}
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败!");
return(false);
}
m_cardNo = cardids[0];
for (ushort i = 0; i < m_axisCount; i++)
{
// 设定脉冲模式及逻辑方向
LTDMC.dmc_set_pulse_outmode(m_cardNo, i, 4);
// 设置 EL 限位信号
LTDMC.dmc_set_el_mode(m_cardNo, i, 1, 1, 0);
// 设置编码器的计数方式
LTDMC.dmc_set_counter_inmode(m_cardNo, i, 0);
//设置指定轴的 EZ 信号
//LTDMC.dmc_set_ez_mode(m_cardNo, i, 0);
}
return(true);
}
public bool resetCar() // 重启运动控制卡 报警
{
LTDMC.dmc_soft_reset(CarNum);
LTDMC.dmc_board_reset();
LTDMC.dmc_board_close();
for (int i = 0; i < 15; i++)//总线卡软件复位耗时15s左右
{
Thread.Sleep(1000);
Global.frmMain.PushMess(i + "/15....");
}
var a = LTDMC.dmc_board_init();
Global.frmMain.PushMess("Card Number: " + a + "");
if (a > 0)
{
return(true);
}
else
{
return(false);
}
// Axis.nmc_get_errcode(MyGlobal._CarId, 2, ref errcode);
// mess_textBox.AppendText("总线卡软件复位完成,请确认总线状态" + errcode.ToString());
}
//1.板卡设置功能--
#region //检查控制卡数量 返回卡号
public bool CarInitial() //检查控制卡数量 返回卡号
{
int carNub = 0;
try
{
short num = LTDMC.dmc_board_init();//获取卡数量
if (num <= 0 || num > 8)
{
//MessageBox.Show("初始卡失败!", "出错");
CarErrCode = 1;
return(false);
}
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
CarErrCode = 2;
// MessageBox.Show("获取卡信息失败!");
return(false);
}
CarNum = cardids[0];
return(true);
}
catch (Exception ex)
{
// MessageBox.Show(ex.Message);
CarErrCode = 3;
return(false);
}
}
static void LSConnectDetail()
{
short i = LTDMC.dmc_board_init();
if (i <= 0 || i > 8)
{
throw new Exception($"雷赛卡初始化错误，返回值：{i}");
}
else
{
ushort _num = 0;
ushort[] cardIDs = new ushort[8];
uint[] cardTypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardTypes, cardIDs);
if (res != 0)
{
throw new Exception($"雷赛卡无法获取卡信息，错误代码：{res}");
}
foreach (ControllerListSource cls in
IODataCollection.controllerNameList.Where(c => c.name.StartsWith(_name + '-')))
{
string s = string.Join("，", cardIDs).TrimEnd('，');
if ((Array.IndexOf(cardIDs, ushort.Parse(cls.IP)) == -1) ||
((int.Parse(cls.IP) == 0) && (cardIDs[0] != 0)))
{
throw new Exception($"雷赛卡卡号不存在：{cls.IP}，卡号列表:{s}");
}
LSu.Connect(cls.name, int.Parse(cls.IP));
}
}
}
public static void AxisInitialize()
{
short Cardnum = 0;
Cardnum = LTDMC.dmc_board_init();
if (Cardnum > 0 && Cardnum < 8)
{
// MessageBox.Show("找到控制卡！" + Cardnum);
}
else
{
MessageBox.Show("未找到控制卡！");
return;
}
Thread.Sleep(500);
ushort err = 0;
short res = LTDMC.dmc_soft_reset(0);
if (res != 0)
{
MessageBox.Show("复位错误" + res.ToString());
}
Thread.Sleep(3000);
LTDMC.nmc_set_axis_enable(0, 0);
LTDMC.nmc_set_axis_enable(0, 1);
LTDMC.nmc_set_axis_enable(0, 2);
LTDMC.nmc_set_axis_enable(0, 3);
LTDMC.nmc_set_axis_enable(0, 4);
}
/// <summary>
/// 界面初始化
/// </summary>
public 打孔器机械臂界面()
{
#region 设置listview
this.listView1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.listView1.FullRowSelect = true;
this.listView1.HideSelection = false;
this.listView1.GridLines = true;
this.listView1.Location = new System.Drawing.Point(5, 41);
this.listView1.Name = "listView1";
this.listView1.Size = new System.Drawing.Size(425, 206);
this.listView1.TabIndex = 20;
this.listView1.UseCompatibleStateImageBehavior = false;
this.listView1.View = System.Windows.Forms.View.Details;
listView1.Visible = false;//使listview1不可见
listView1.Clear();
listView1.Columns.Add("步数", 65, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("x位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("y位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("z位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("a位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("b位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("c位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
this.Controls.Add(listView1);
#endregion
checkstep.OntempChange += new EventCheckChange.tempChange(event_stepchange);
InitializeComponent();
button_cycle_start.Enabled = false;
short num = LTDMC.dmc_board_init();//获取卡数量
board_num = num;
if (num <= 0 || num > 6)
{
MessageBox.Show("初始卡失败!", "出错");
}
ushort _num = 0;
ushort[] cardids = new ushort[6];
uint[] cardtypes = new uint[6];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败!");
}
_cardid = cardids[0];
InitializationCalculate();//初始化matlab
//InitializationPlot();//
robot1 = new HoleRobot(_cardid);
m_thread = new Thread(Display);
m_thread.Start();
robot1.PlotRobot = true;//开启图像仿真
timer1.Start();
timer_Hole.Start();
robot1.PropertyChanged += PropertyChangedManage;
button6.Enabled = true;
button2.Enabled = true;
button_cycle_start.Enabled = false;
button3.Enabled = false;
userControl11.Enabled = false;
// double[] q0 = new double[6] { PI / 2, PI / 2, 0, 0, 0, 0 };
//PaintRobot(q0);
}
/// <summary>
/// 卡初始化
/// </summary>
/// <param name="card"></param>4
/// <param name="axisCount"></param>
/// <param name="configFileName"></param>
/// <returns></returns>
public short _SR_InitCard()
{
ushort _num = 0;
if (tag_isInit == 0)
{
short returnValue = LTDMC.dmc_board_init(); //获取卡数量
tag_isInit = 1;
tag_CardCount = returnValue;
if (returnValue <= 0 || returnValue > 8)
{
string str = "DMC3" + tag_AxisCount + "00控制卡初始化失败!";
if (returnValue == 0)
{
str = str + "\r\n没有安装雷赛卡";
}
if (returnValue == -1)
{
str = str + "没有安装端口驱动程序！";
}
if (returnValue == -2)
{
str = str + "PCI桥故障！";
}
MessageBoxLog.Show(str);
return(-1);
}
}
short res = LTDMC.dmc_get_CardInfList(ref _num, tag_cardtypes, tag_cardids);
if (res != 0)
{
MessageBoxLog.Show("获取卡信息失败!");
}
short i = 0;
short retCount = 0;
while (i < _num)
{
short j = 0;
uint TotalAxis = 0;
LTDMC.dmc_get_total_axes(tag_cardids[i], ref TotalAxis);
if (TotalAxis == tag_AxisCount)
{
retCount++;
}
while (j < TotalAxis)
{
_SR_SetEncPos(i, j, 0);
j++;
}
i++;
}
return(retCount);
}
public int IPrimInit()
{
var ret = LTDMC.dmc_board_init();
if (ret == 0)
{
throw new Exception("not found leisai card");
}
//csLTDMC.LTDMC.dmc_soft_reset((ushort)DevIndex);
return(0);
}
private void AppLoadedEventCommandExecute()
{
short num = LTDMC.dmc_board_init();//获取卡数量
if (num <= 0 || num > 8)
{
AddMessage("初始卡失败!");
}
else
{
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
Res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (Res != 0)
{
AddMessage("获取卡信息失败!");
}
else
{
_CardID = cardids[0];
Res = LTDMC.dmc_download_configfile(_CardID, "Motion.ini");
if (Res == 0)
{
Res = LTDMC.nmc_set_connect_state(_CardID, 1, 1, 0);
if (Res != 0)
{
AddMessage("CANOpen异常");
}
else
{
ushort NodeNum = 0, _state = 0;
LTDMC.nmc_get_connect_state(_CardID, ref NodeNum, ref _state);
if (_state != 1)
{
AddMessage("CANOpen异常");
}
else
{
LTDMC.nmc_set_ad_mode(_CardID, 1, 0, 1, 0);
AddMessage("软件加载完成");
Run();
}
}
}
}
}
}
/// <summary>
/// 初始化控制卡
/// </summary>
/// <returns></returns>
public bool InitMotionCard()
{
short num = LTDMC.dmc_board_init();//获取卡数量
if (num <= 0 || num > 8)
{
return(false);
}
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败!");
}
_CardID = cardids[0];
return(true);
}
/// <summary>
/// 初始化轴
/// </summary>
/// <returns></returns>
public bool DoOpen()
{
short mCardCount = LTDMC.dmc_board_init();//获取卡数量
isOnline = (mCardCount > 0);
if (isOnline)
{
for (int axis = 0; axis < define_AxisNum.wd_axis_count; axis++)
{
//设置脉冲方式
LTDMC.dmc_set_pulse_outmode(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 1);
//设置减速停止时间ms
LTDMC.dmc_set_dstp_time(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 50);
if (AxisInfoList[axis].isLimit)
{
//设置 EL 限位信号。目前设置正负限位允许，正负限位低电平有效，正负限位立即停止
LTDMC.dmc_set_el_mode(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 1, 0, 0);
//设置轴原点信号,低有效
LTDMC.dmc_set_home_pin_logic(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 0, 0);
}
if (AxisInfoList[axis].isServo)
{
LTDMC.dmc_set_alm_mode(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 0, 0, 0);
LTDMC.dmc_write_sevon_pin(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 0);
}
else
{
LTDMC.dmc_set_alm_mode(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 1, 0, 0);
LTDMC.dmc_write_sevon_pin(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode, 1);
}
DoSoftLimit(axis, false);
}
}
return(isOnline);
}
//控制卡初始化程序
public bool DoOpen() //控制卡初始化函数
{
short mCardCount = LTDMC.dmc_board_init(); //获取卡数量
isOnline = (mCardCount > 0);
if (isOnline)
{
for (int axis = 0; axis < 8; axis++)
{
//设置脉冲方式
LTDMC.dmc_set_pulse_outmode(pAxis[axis].AxisCard, pAxis[axis].AxisCode, 1);
//设置减速停止时间ms
LTDMC.dmc_set_dstp_time(pAxis[axis].AxisCard, pAxis[axis].AxisCode, 50);
if (pAxis[axis].isLimit)
{
//设置 EL 限位信号。目前设置正负限位允许，正负限位低电平有效，正负限位立即停止
LTDMC.dmc_set_el_mode(pAxis[axis].AxisCard, pAxis[axis].AxisCode, 1, 0, 0);
//设置轴原点信号,低有效
LTDMC.dmc_set_home_pin_logic(pAxis[axis].AxisCard, pAxis[axis].AxisCode, 0, 0);
}
if (pAxis[axis].isServo)
{
LTDMC.dmc_set_alm_mode(pAxis[axis].AxisCard, pAxis[axis].AxisCode, 0, 0, 0);
}
else
{
LTDMC.dmc_set_alm_mode(pAxis[axis].AxisCard, pAxis[axis].AxisCode, 1, 0, 0);
}
DoSoftLimit(axis, false);
}
}
return(isOnline);
}
public bool Initialize()
{
LTDMC.dmc_board_init();
return(true);
}
/// <summary>
/// 界面初始化
/// </summary>
public 搬运机械臂上位机界面()
{
#region 设置listview
this.listView1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.listView1.FullRowSelect = true;
this.listView1.HideSelection = false;
this.listView1.GridLines = true;
this.listView1.Location = new System.Drawing.Point(5, 41);
this.listView1.Name = "listView1";
this.listView1.Size = new System.Drawing.Size(425, 206);
this.listView1.TabIndex = 20;
this.listView1.UseCompatibleStateImageBehavior = false;
this.listView1.View = System.Windows.Forms.View.Details;
listView1.Clear();
listView1.Columns.Add("步数", 65, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("x位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("y位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("z位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("a位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("b位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("c位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
this.Controls.Add(listView1);
#endregion
checkstep.OntempChange += new EventCheckChange.tempChange(event_stepchange);
InitializeComponent();
short num = LTDMC.dmc_board_init();//获取卡数量
board_num = num;
if (num <= 0 || num > 6)
{
MessageBox.Show("初始卡失败!", "出错");
}
ushort _num = 0;
ushort[] cardids = new ushort[6];
uint[] cardtypes = new uint[6];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败!");
}
_cardid = cardids[0];
InitializationCalculate();//初始化matlab
//InitializationPlot();//
robot1 = new Robot(_cardid);
//查询主机上存在的串口
comboBox_port.Items.AddRange(SerialPort.GetPortNames());
if (comboBox_port.Items.Count > 0)
{
comboBox_port.SelectedIndex = 0;
}
else
{
comboBox_port.Text = "未检测到串口";
}
comboBox_bitrate.SelectedIndex = 0;
m_thread = new Thread(Display);
m_thread.Start();
robot1.PlotRobot = true;//开启图像仿真
timer1.Start();
// double[] q0 = new double[6] { PI / 2, PI / 2, 0, 0, 0, 0 };
//PaintRobot(q0);
}
/// <summary>
/// 初始化板卡。
/// 如有主次卡之分，请先初始化主卡。关闭则相反，先关从卡再关主卡。
/// </summary>
/// <param name="id">卡ID</param>
/// <param name="maincard_id">主卡ID</param>
/// <param name="ip">卡IP</param>
/// <param name="filename">配置文件路径</param>
/// <returns></returns>
public EM_RES Init(int card_id = -1, int maincard_id = -1, string ip = "", string filename = "")
{
if (isReady)
{
return(EM_RES.OK);
}
int ret = 0;
EM_RES res = EM_RES.OK;
//update id
if (card_id >= 0)
{
this.card_id = card_id;
}
else
{
card_id = this.card_id;
}
//update ip
if (ip.Length > 7)
{
this.ip = ip;
}
else
{
ip = this.ip;
}
//update maincard_id
if (maincard_id >= 0)
{
this.maincard_id = maincard_id;
}
else
{
maincard_id = this.maincard_id;
}
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
if (type == TYPE.MOTION)
{
//init card
ret = LTDMC.dmc_board_init();
if (ret < 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}ID有重复，请检查确认!0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
//get card list
ushort cardnum = 0;
ushort[] cardid = new ushort[64];
uint[] cardtype = new uint[64];
ret = LTDMC.dmc_get_CardInfList(ref cardnum, cardtype, cardid);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("获取{0}列表错误，0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
//search card list
bool bfound = false;
for (int n = 0; n < cardnum; n++)
{
if (card_id == cardid[n])
{
bfound = true;
break;
}
}
if (!bfound)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}列表找不到ID为{1}的板卡!", disc, card_id));
return(EM_RES.ERR);
}
//download config
res = DownLoadFile(filename);
if (res != EM_RES.OK)
{
return(res);
}
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
else if (type == TYPE.CAN_IO)
{
//连接IO卡
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 1, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}连接失败,Err:0x{1:X8},重新连接...", disc, ret));
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 1, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}重新连接失败,请确认卡连接是否正确!Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
}
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
#if LEADSHINE_IO
else if (type == TYPE.IO)
{
ret = IOC0640.ioc_board_init();
if (ret > 0)
{
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
else
{
IOC0640.ioc_board_close();
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}初始化失败!Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
}
#endif
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
//check ip
if (ip.Length < 7)
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0} IP异常,{1}", disc, ip));
return(EM_RES.CAM_PARA_ERR);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0} 连接...", disc));
////search and open,多网卡时，搜索异常
//for (int n = 0; n < 10; n++)
//{
// ret = zmcaux.ZAux_SearchEth(ip, 100);
// if (ret == 0) break;
// Application.DoEvents();
//}
ret = 0;
if (ret == 0)
{
ret = zmcaux.ZAux_OpenEth(ip, out handle);
if (ret != 0)
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}初始化失败,IP={1},Err:{2}", disc, ip, ret));
return(EM_RES.ERR);
}
else
{
//check param
int ftemp = 0;
bool bdownload = false;
foreach (AXIS ax in AxList)
{
zmcaux.ZAux_Direct_GetMaxSpeed(handle, ax.num, ref ftemp);
if (Math.Abs((ax.max_spd * ax.pul_per_mm) - ftemp) > 100)
{
bdownload = true;
break;
}
}
//download config
if (bdownload)
{
res = DownLoadFile(filename);
if (res != EM_RES.OK)
{
return(res);
}
}
isInit = true;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
foreach (AXIS ax in AxList)
{
ax.Init();
}
return(EM_RES.OK);
}
}
else
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}找不到，IP={1}", disc, ip));
return(EM_RES.ERR);
}
}
#endif
#if ADVANTTECH
if (brand == BRAND.ADVANTTECH)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, "研华库未添加!");
return(EM_RES.ERR);
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
//get config
if (filename.Length < 3)
{
filename = Path.GetFullPath("..") + "\\syscfg\\ORIENTALMOTOR.ini";
}
if (File.Exists(filename))
{
IniFile inf = new IniFile(filename);
int temp = inf.ReadInteger("COM", "PORT", -1);
if (temp >= 0 && temp < 100)
{
PortName = string.Format("COM{0}", temp);
}
temp = inf.ReadInteger("COM", "BAUD", -1);
if (temp > 0)
{
Baudrate = temp;
}
}
if (0 == AZD.Motor.InitRs485(PortName, Baudrate))
{
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
foreach (AXIS ax in AxList)
{
ax.Init();
}
return(EM_RES.OK);
}
else
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("InitRs485异常，BRAND={0}，TYPE={1},Port={2}/{3}", brand, type, PortName, Baudrate));
return(EM_RES.ERR);
}
}
#endif
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("未定义异常，BRAND={0}，TYPE={1}", brand, type));
return(EM_RES.ERR);
}
private void Form1_Load(object sender, EventArgs e)
{
LTDMC.dmc_board_init();
}