private void timer1_Tick_1(object sender, EventArgs e)
{
label1.Text = "X轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(0))) + " X轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(0))) +
"\r\n" + "Y轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(1))) + " Y轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(1))) +
"\r\n" + "Z轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(2))) + " Z轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(2))) +
"\r\n" + "U轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(3))) + " U轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(3)));
}
private void button1_Click(object sender, EventArgs e)
{
Min_Vel = Convert.ToDouble(Start_speed.Text);
Max_Vel = Convert.ToDouble(Max_speed.Text);
Tac = Convert.ToDouble(Tacc.Text);
Dist = Convert.ToInt16(Dist_pos.Text);
S_Tac = Convert.ToDouble(S_Tacc.Text);
Dmc2410.d2410_set_pulse_outmode(0, 0); //设置控制卡轴的脉冲输出模式
Dmc2410.d2410_set_pulse_outmode(1, 0);
//Dmc2410.d2410_set_profile(0, 200, 2000, Tac, Tac);
//Dmc2410.d2410_t_pmove(0, 5000, 0);
if (T_S == 0) //T型曲线运动
{
Dmc2410.d2410_set_profile(nAxis, Min_Vel, Max_Vel, Tac, Tac);
Dmc2410.d2410_t_pmove(nAxis, DIR * Dist, 0);
}
else
{
Dmc2410.d2410_set_st_profile(nAxis, Min_Vel, Max_Vel, Tac, Tac, S_Tac, S_Tac);
Dmc2410.d2410_s_pmove(nAxis, DIR * Dist, 0);
}
}
private void button5_Click(object sender, EventArgs e)
{
double V = Convert.ToDouble(textBox1.Text);
Dmc2410.d2410_variety_speed_range(nAxis, 1, 10000000); //变速使能
Dmc2410.d2410_change_speed(nAxis, V);
}
private void button4_Click(object sender, EventArgs e)
{
Dmc2410.d2410_set_position(0, 0);
Dmc2410.d2410_set_position(1, 0);
Dmc2410.d2410_set_position(2, 0);
Dmc2410.d2410_set_position(3, 0);
}
private void button1_Click(object sender, EventArgs e)
{
int dist1, dist2, dist3, dist4;
int nSpeed, mSpeed;
double Tac, Tdc;
nSpeed = Convert.ToInt16(Start_Speed.Text);
mSpeed = int.Parse(Run_Speed.Text);
Tac = double.Parse(Tacc.Text);
Tdc = Convert.ToDouble(Tdec.Text);
dist1 = int.Parse(Dist_X.Text);
dist2 = int.Parse(Dist_Y.Text);
dist3 = int.Parse(Dist_Z.Text);
dist4 = int.Parse(Dist_U.Text);
ushort[] Axis = { 0, 1, 2 };
Dmc2410.d2410_set_vector_profile(nSpeed, mSpeed, Tac, Tdc);
if (XY.Checked)
{
Dmc2410.d2410_t_line2(0, dist1, 1, dist2, 0);
}
else if (XYZ.Checked)
{
Dmc2410.d2410_t_line3(ref Axis[0], dist1, dist2, dist3, 0);
}
else if (XYZU.Checked)
{
Dmc2410.d2410_t_line4(0, dist1, dist2, dist3, dist4, 0);
}
}
private void timer1_Tick(object sender, EventArgs e)
{
label1.Text = "输入1口：" + Convert.ToString(Dmc2410.d2410_read_inbit(0, 1)) + " 输入2口：" + Convert.ToString(Dmc2410.d2410_read_inbit(0, 2)) +
" 输入3口：" + Convert.ToString(Dmc2410.d2410_read_inbit(0, 3)) + " 输入4口：" + Convert.ToString(Dmc2410.d2410_read_inbit(0, 4));
label2.Text = "X轴原点：" + Convert.ToString(Dmc2410.d2410_axis_io_status(0) & (2 ^ 14));
}
private void button5_Click(object sender, EventArgs e)
{
for (ushort q = 0; q < 4; q++)
{
Dmc2410.d2410_set_encoder(q, 0);
} //清空计数器
}
private void timer1_Tick(object sender, EventArgs e)
{
int state = 256;
temstate = Dmc2410.d2410_get_latch_flag(useCard);
if ((state & temstate) == state)
{
textBox1.Text = textBox1.Text + "\r\n" + "X= " + Convert.ToString(Dmc2410.d2410_get_latch_value(0)) +
" " + "Y= " + Convert.ToString(Dmc2410.d2410_get_latch_value(1)) +
" " + "Z= " + Convert.ToString(Dmc2410.d2410_get_latch_value(2)) +
" " + "U= " + Convert.ToString(Dmc2410.d2410_get_latch_value(3));
}
Dmc2410.d2410_reset_latch_flag(0);
//获取位置
POS1.Text = Convert.ToString(Dmc2410.d2410_get_position(0));
POS2.Text = Convert.ToString(Dmc2410.d2410_get_position(1));
POS3.Text = Convert.ToString(Dmc2410.d2410_get_position(2));
POS4.Text = Convert.ToString(Dmc2410.d2410_get_position(3));
ENCODER1.Text = Convert.ToString(Dmc2410.d2410_get_encoder(0));
ENCODER2.Text = Convert.ToString(Dmc2410.d2410_get_encoder(1));
ENCODER3.Text = Convert.ToString(Dmc2410.d2410_get_encoder(2));
ENCODER4.Text = Convert.ToString(Dmc2410.d2410_get_encoder(3));
V1.Text = Convert.ToString(Dmc2410.d2410_read_current_speed(0));
V2.Text = Convert.ToString(Dmc2410.d2410_read_current_speed(1));
V3.Text = Convert.ToString(Dmc2410.d2410_read_current_speed(2));
V4.Text = Convert.ToString(Dmc2410.d2410_read_current_speed(3));
}
private void timer1_Tick(object sender, EventArgs e)
{
label1.Text = "X轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(0))) + " X轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(0))) +
"\r\n" + "Y轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(1))) + " Y轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(1))) +
"\r\n" + "Z轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(2))) + " Z轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(2))) +
"\r\n" + "U轴速度：" + Convert.ToString((Dmc2410.d2410_read_current_speed(3))) + " U轴位置：" + Convert.ToString((Dmc2410.d2410_get_position(3))) +
"\r\n" + "比较输出端口1状态:" + Convert.ToString(Dmc2410.d2410_read_CMP_PIN(nAxis)) +
"\r\n" + "比较输出端口2状态:" + Convert.ToString(Dmc2410.d2410_read_outbit(0, 17));
}
private void Form1_Load(object sender, EventArgs e)
{
int n;
n = Dmc2410.d2410_board_init(); //初始化控制卡
if (n < 1 || n > 8)
{
MessageBox.Show("未找到控制卡", "出错");
}
}
private void button3_Click(object sender, EventArgs e)
{
double Tdc = Convert.ToDouble(Tdec.Text);
Dmc2410.d2410_decel_stop(0, Tdc);
Dmc2410.d2410_decel_stop(1, Tdc);
Dmc2410.d2410_decel_stop(2, Tdc);
Dmc2410.d2410_decel_stop(3, Tdc);
}
private void button1_Click(object sender, EventArgs e)
{
for (ushort q = 0; q < 4; q++)
{
Dmc2410.d2410_counter_config(q, 0);
Dmc2410.d2410_set_profile(q, 100, 1000, 0.1, 0.1);
Dmc2410.d2410_t_vmove(q, 1); // 1正向运动，0负向运动
}
}
public void StopAxis(ushort uAxis)
{
try
{
//readWrite.AcquireWriterLock (50);
Dmc2410.d2410_imd_stop(uAxis);
//readWrite.ReleaseWriterLock ();
}
catch { }
}
public void SevoOn(ushort uAxis, ushort on_off)
{
try
{
readWrite.AcquireWriterLock(50);
Dmc2410.d2410_write_SEVON_PIN(uAxis, on_off);
readWrite.ReleaseWriterLock();
}
catch { }
}
public void Initialize()
{
Console.WriteLine("Initializing the DMC2410 motion control card...\n\n");
Dmc2410.d2410_set_pulse_outmode(usAxisMark, 5); //Set Low Level effective?
Dmc2410.d2410_config_ALM_PIN(usAxisMark, 1, 0); //ALM signal setting
Dmc2410.d2410_config_INP_PIN(usAxisMark, 1, 0); //INP signal setting
Dmc2410.d2410_counter_config(usAxisMark, 3); //Input pulse counter
Dmc2410.d2410_write_SEVON_PIN(usAxisMark, 0); //Enable axis
Dmc2410.d2410_config_ERC_PIN(usAxisMark, 0, 0, 7, 0); //ERC signal setting
}
public void Write_Out_Bit(ushort cardno, ushort bitno, ushort on_off)
{
try
{
readWrite.AcquireWriterLock(50);
Dmc2410.d2410_write_outbit(cardno, bitno, on_off);
readWrite.ReleaseWriterLock();
}
catch { }
}
public void Jog(ushort userAxis, double strspeed, double maxspeed, double tacc, double tdcc, ushort uDir)
{
try
{
readWrite.AcquireWriterLock(50);
Dmc2410.d2410_set_st_profile(userAxis, strspeed, maxspeed, tacc, tdcc, 0.01, 0.01);
Dmc2410.d2410_s_vmove(userAxis, uDir);
readWrite.ReleaseWriterLock();
}
catch { }
}
public bool CheckDone()
{
if (Dmc2410.d2410_check_done(usAxisMark) == 1)
{
return(true);
}
else
{
return(false);
}
}
private void button1_Click(object sender, EventArgs e)
{
double SpeedLimit;
ushort i;
for ( i = 0; i < 4; i++)
{
Dmc2410.d2410_set_handwheel_inmode(i, InputMode, countdir);
}
SpeedLimit = Convert.ToDouble(textBox1.Text);
Dmc2410.d2410_handwheel_move(i, SpeedLimit);
}
public void SetAxisSevon(bool status)//使能
{
if (status)
{
Dmc2410.d2410_write_SEVON_PIN(usAxisMark, (ushort)0);
}
else
{
Dmc2410.d2410_write_SEVON_PIN(usAxisMark, (ushort)1);
}
}
public ushort CheckAxisDone(ushort uAxis)
{
ushort iValue = 0;
try
{
readWrite.AcquireReaderLock(50);
iValue = Dmc2410.d2410_check_done(uAxis);
readWrite.ReleaseReaderLock();
}
catch { }
return(iValue);
}
private void checkBox4_CheckedChanged(object sender, EventArgs e)
{
if (checkBox4.CheckState == CheckState.Checked)
{
Dmc2410.d2410_write_outbit(0, 4, 0);
checkBox4.Text = "输出口4：高电平";
}
else
{
Dmc2410.d2410_write_outbit(0, 4, 1);
checkBox4.Text = "输出口4：低电平";
}
}
private void checkBox5_CheckedChanged(object sender, EventArgs e)
{
if (checkBox5.CheckState == CheckState.Checked)
{
Dmc2410.d2410_write_SEVON_PIN(0, 0);
checkBox5.Text = "伺服使能：ON";
}
else
{
Dmc2410.d2410_write_SEVON_PIN(0, 1);
checkBox5.Text = "伺服使能：OFF";
}
}
private void button_ChangeVel_Click(object sender, EventArgs e)
{
if (X_Enabled)
{
Dmc2410.d2410_variety_speed_range(X, 1, 10000000);
Xdimension.ChangeSpeed(double.Parse(textBox_sspeed.Text));
}
if (Y_Enabled)
{
Dmc2410.d2410_variety_speed_range(Y, 1, 10000000);
Ydimension.ChangeSpeed(double.Parse(textBox_sspeed.Text));
}
}
public int Read_Out_Bit(ushort cardno, ushort bitno)
{
int iValue = 0;
try
{
readWrite.AcquireReaderLock(50);
iValue = Dmc2410.d2410_read_outbit(cardno, bitno);
readWrite.ReleaseReaderLock();
}
catch { }
return(iValue);
}
public uint Relative_Move(ushort uAxis, int idist)
{
uint iValue = 0;
try
{
readWrite.AcquireWriterLock(50);
iValue = Dmc2410.d2410_s_pmove(uAxis, idist, 0);
readWrite.ReleaseWriterLock();
}
catch { }
return(iValue);
}
public int Get_Rsts(ushort uAxis)
{
int iValue = 0;
try
{
readWrite.AcquireReaderLock(50);
iValue = (int)Dmc2410.d2410_get_rsts(uAxis);
readWrite.ReleaseReaderLock();
}
catch { }
return(iValue);
}
public uint E_Stop()
{
uint iValue = 0;
try
{
//readWrite.AcquireReaderLock(50);
iValue = Dmc2410.d2410_emg_stop();
//readWrite.ReleaseReaderLock();
}
catch { }
return(iValue);
}
public int GetSevoOn(ushort axis)
{
int iValue = 0;
try
{
readWrite.AcquireReaderLock(50);
iValue = Dmc2410.d2410_read_SEVON_PIN(axis);
readWrite.ReleaseReaderLock();
}
catch { }
return(iValue);
}
public ushort Axis_io_status(ushort axis)
{
ushort iValue = 0;
try
{
readWrite.AcquireReaderLock(50);
iValue = Dmc2410.d2410_axis_io_status(axis);
readWrite.ReleaseReaderLock();
}
catch { }
return(iValue);
}
