/// <summary>
/// 讀取馬達參數表
/// </summary>
private void LoadMotorTable()
{
MotorTable.Load();
MotorParameters temporaryStorage_1 = new MotorParameters();
MotorParameters temporaryStorage_2 = new MotorParameters();
MotorParameters temporaryStorage_3 = new MotorParameters();
MotorTable.GetMotorParameter("X_Axis", ref temporaryStorage_1);
motors[MotorType.X_Axis] = temporaryStorage_1;
MotorTable.GetMotorParameter("Y_Axis", ref temporaryStorage_2);
motors[MotorType.Y_Axis] = temporaryStorage_2;
MotorTable.GetMotorParameter("θ_Axis", ref temporaryStorage_3);
motors[MotorType.θ_Axis] = temporaryStorage_3;
}
public void TestsValidParametrs(int lenBox, int diameretBox, int lenRotor, int diameretRotor, int lenPin, int widthFindings, int lenFindings, int heightFindings, int diameretPorts, int countPorts, int countGrille)
{
var motorParametrs = new List <int>()
{
lenBox,
diameretBox,
lenRotor,
diameretRotor,
lenPin,
widthFindings,
lenFindings,
heightFindings,
diameretPorts,
countPorts,
countGrille
};
MotorParameters parameters = new MotorParameters(motorParametrs);
}
/// <summary>
/// 讀取馬達參數
/// </summary>
/// <param name="axisName">馬達代號</param>
/// <param name="motorParameters">馬達參數</param>
/// <returns></returns>
public bool GetMotorParameter(string axisName, ref MotorParameters motorParameters)
{
bool isGet = false;
try
{
DataRow[] drArray = motorCollection.Tables["Device"].Select("AxisName = '" + axisName + "'");
if (drArray.Length == 1)
{
motorParameters.ECatAxisDevice.CardNum = Convert.ToUInt16(drArray[0]["CardID"]);
motorParameters.ECatAxisDevice.NodeID = Convert.ToUInt16(drArray[0]["NodeID"]);
motorParameters.ECatAxisDevice.SlotID = Convert.ToUInt16(drArray[0]["SlotID"]);
motorParameters.ECatAxisDevice.MotorName = Convert.ToString(drArray[0]["AxisName"]);
motorParameters.ECatAxisDevice.StationNo = Convert.ToUInt16(drArray[0]["StationNo"]);
motorParameters.ECatAxisDevice.Pulse_PerRev = Convert.ToUInt32(drArray[0]["PulsePerRev"]);
motorParameters.ECatAxisDevice.MM_PerRev = Convert.ToSingle(drArray[0]["MilliMeterPerRev"]);
motorParameters.ECatAxisDevice.MaxRPM = Convert.ToUInt32(drArray[0]["MaxRPM"]);
if (motorCollection.Tables.Contains(axisName))
{
DataTable pointTable = motorCollection.Tables[axisName];
motorParameters.RunParameter = new MotorParameters.MoveParameters[pointTable.Rows.Count];
for (int i = 0; i < motorParameters.RunParameter.Length; i++)
{
motorParameters.RunParameter[i] = new MotorParameters.MoveParameters();
motorParameters.RunParameter[i].DirType = Convert.ToString(pointTable.Rows[i]["Type"]);
motorParameters.RunParameter[i].Position = Convert.ToDouble(pointTable.Rows[i]["Position"]);
motorParameters.RunParameter[i].iniVelocity = Convert.ToDouble(pointTable.Rows[i]["iniVelocity"]);
motorParameters.RunParameter[i].maxVelocity = Convert.ToDouble(pointTable.Rows[i]["maxVelocity"]);
motorParameters.RunParameter[i].tAcc = Convert.ToDouble(pointTable.Rows[i]["tAcc"]);
motorParameters.RunParameter[i].tDec = Convert.ToDouble(pointTable.Rows[i]["tDec"]);
}
isGet = true;
}
}
}
catch (Exception e)
{
StackFrame[] stackFrames = new StackTrace(true).GetFrames();
LogFile.LogTryCatch(stackFrames, e.Message, true, true);
}
return(isGet);
}
