//--------------------------------------------------------------------------- private void DataGrid_MotorStatus_SelectionChanged(object sender, SelectionChangedEventArgs e) { if (!m_bConnect || m_nAxis < 0) { return; } m_nAxis = DataGrid_MotorStatus.SelectedIndex; // if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis)) { return; } m_dCmd = Math.Round(mc_Acs.fn_GetTargetPosition(m_nAxis), 3); m_dEnc = Math.Round(mc_Acs.fn_GetEncoderPosition(m_nAxis), 3); m_dJerk = Math.Round(mc_Acs.fn_GetParameterJerk(m_nAxis), 3); m_dVel = Math.Round(mc_Acs.fn_GetParameterVelocity(m_nAxis), 3); m_dAcc = Math.Round(mc_Acs.fn_GetParameterAcceleration(m_nAxis), 3); m_dDec = Math.Round(mc_Acs.fn_GetParameterAcceleration(m_nAxis), 3); TextBox_Cmd.Text = Convert.ToString(m_dCmd); TextBox_Enc.Text = Convert.ToString(m_dEnc); TextBox_Jerk.Text = Convert.ToString(m_dJerk); TextBox_Vel.Text = Convert.ToString(m_dVel); TextBox_Acc.Text = Convert.ToString(m_dAcc); TextBox_Dec.Text = Convert.ToString(m_dDec); }
//--------------------------------------------------------------------------- private void btMoveN01_Click(object sender, RoutedEventArgs e) { // if (m_nSelMotr < 0) { return; } if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nSelMotr)) { return; //JUNG/200608 } Button selbtn = sender as Button; switch (selbtn.Name) { default: break; case "btMoveN01": IO.fn_MovePTP_R(m_nSelMotr, -0.1); break; case "btMoveN10": IO.fn_MovePTP_R(m_nSelMotr, -1.0); break; case "btMoveP01": IO.fn_MovePTP_R(m_nSelMotr, +0.1); break; case "btMoveP10": IO.fn_MovePTP_R(m_nSelMotr, +1.0); break; } }
//--------------------------------------------------------------------------- private void UserButton_Click_1(object sender, RoutedEventArgs e) { if (!m_bConnect || m_nAxis < 0) { return; } if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis)) { MOTR.SetServo((EN_MOTR_ID)m_nAxis, false); } else { mc_Acs.fn_SetDisabled(m_nAxis); } }
private void UserButton_Click_4(object sender, RoutedEventArgs e) { if (!m_bConnect || m_nAxis < 0) { return; } for (int i = 0; i < motStatusdataTable.Rows.Count; i++) { if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nAxis)) { continue; } mc_Acs.fn_SetEnabled(i); } MOTR.fn_SetEnableSMC(); }
//------------------------------------------------------------------------------------------------- private void fn_UpdateMotorParameter() { for (int i = 0; i < motParameterdataTable.Rows.Count; i++) { // if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)i)) { continue; } motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.VEL] = Math.Round(mc_Acs.fn_GetParameterVelocity(i), 3); motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.JERK] = Math.Round(mc_Acs.fn_GetParameterJerk(i), 3); motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.ACC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(i), 3); motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.DEC] = Math.Round(mc_Acs.fn_GetParameterDeceleration(i), 3); motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.KDEC] = Math.Round(mc_Acs.fn_GetParameterKillDeceleration(i), 3); if (mc_Acs.fn_GetStateSoftwareRightLimit(i)) { motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWPOT] = "ON"; motParameterdataTable.Rows[i]["POTBACK"] = "Red"; } else { motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWPOT] = "OFF"; motParameterdataTable.Rows[i]["POTBACK"] = "LightGray"; } if (mc_Acs.fn_GetStateSoftwareLeftLimit(i)) { motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWNOT] = "ON"; motParameterdataTable.Rows[i]["NOTBACK"] = "Red"; } else { motParameterdataTable.Rows[i][(int)EN_MOTOR_PARAMETER.SWNOT] = "OFF"; motParameterdataTable.Rows[i]["NOTBACK"] = "LightGray"; } } }
//--------------------------------------------------------------------------- private void fn_tmUpdate(object sender, EventArgs e) { // m_UpdateTimer.Stop(); if (m_bDrngDown) { DownBtn.PerformClick(); } m_nSelMotr = cbMotr.SelectedIndex; if (m_nSelMotr >= 0) { lbCmdPos.Content = MOTR.GetCmdPos((EN_MOTR_ID)m_nSelMotr); lbEncPos.Content = MOTR.GetEncPos((EN_MOTR_ID)m_nSelMotr); } if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)m_nSelMotr)) //JUNG/200608 { btMoveN01.IsEnabled = false; btMoveN10.IsEnabled = false; btMoveP01.IsEnabled = false; btMoveP10.IsEnabled = false; } else { btMoveN01.IsEnabled = true; btMoveN10.IsEnabled = true; btMoveP01.IsEnabled = true; btMoveP10.IsEnabled = true; } m_UpdateTimer.Start(); }
//------------------------------------------------------------------------------------------------- private void fn_UpdateMotorStatus() { for (int j = 0; j < motStatusdataTable.Rows.Count; j++) { // if (MOTR.fn_IsSMCMotor((EN_MOTR_ID)j)) { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = MOTR[j].GetServo() ? "ON" : "OFF"; motStatusdataTable.Rows[j]["SBACK"] = MOTR[j].GetServo() ? "Green" : "LightGray"; motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF"; motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd() ? "Green" : "LightGray"; motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = MOTR[j].GetAlarm() ? "ON" : "OFF"; motStatusdataTable.Rows[j]["ABACK"] = MOTR[j].GetAlarm() ? "Red" : "LightGray"; continue; } if (mc_Acs.fn_GetStateEnabled(j)) { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "ON"; motStatusdataTable.Rows[j]["SBACK"] = "Green"; } else { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ENABLED] = "OFF"; motStatusdataTable.Rows[j]["SBACK"] = "LightGray"; } if (mc_Acs.fn_GetStateAlarmAll(j)) { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "ON"; motStatusdataTable.Rows[j]["ABACK"] = "Red"; } else { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ALARM] = "OFF"; motStatusdataTable.Rows[j]["ABACK"] = "LightGray"; } if (mc_Acs.fn_GetStateMove(j)) { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "ON"; motStatusdataTable.Rows[j]["MBACK"] = "Green"; } else { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.MOVING] = "OFF"; motStatusdataTable.Rows[j]["MBACK"] = "LightGray"; } // motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.HOME] = MOTR[j].GetHomeEnd() ? "ON" : "OFF"; motStatusdataTable.Rows[j]["HBACK"] = MOTR[j].GetHomeEnd()? "Green" : "LightGray"; if (mc_Acs.fn_GetStateHardwareLeftLimit(j)) { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "ON"; motStatusdataTable.Rows[j]["PBACK"] = "Red"; } else { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_LEFT] = "OFF"; motStatusdataTable.Rows[j]["PBACK"] = "LightGray"; } if (mc_Acs.fn_GetStateHardwareRightLimit(j)) { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "ON"; motStatusdataTable.Rows[j]["NBACK"] = "Red"; } else { motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.LIMIT_RIGHT] = "OFF"; motStatusdataTable.Rows[j]["NBACK"] = "LightGray"; } motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_R] = Math.Round(mc_Acs.fn_GetTargetPosition(j), 3); motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.POSITION_F] = Math.Round(mc_Acs.fn_GetEncoderPosition(j), 3); motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.JERK] = Math.Round(mc_Acs.fn_GetParameterJerk(j), 3); motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.VELOCITY_F] = Math.Round(mc_Acs.fn_GetParameterVelocity(j), 3); motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.ACC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3); motStatusdataTable.Rows[j][(int)EN_MOTOR_STATUS.DEC] = Math.Round(mc_Acs.fn_GetParameterAcceleration(j), 3); } }