public void Action_Multi_Jog(byte unit_id, ushort[] pos, ushort[] vel) //一次下7軸
{
ushort address = Convert.ToUInt16(REG_HOLDING_START + eMbData.DEF_INX_TARPOS1);
mm.WriteMultipleRegisters(unit_id, address, pos);
Thread.Sleep(10);
address = Convert.ToUInt16(REG_HOLDING_START + eMbData.DEF_INX_TARVEL1);
mm.WriteMultipleRegisters(unit_id, address, vel);
Thread.Sleep(10);
address = Convert.ToUInt16(REG_HOLDING_START + eMbData.DEF_INX_OPMODE);
mm.WriteSingleRegister(unit_id, address, Convert.ToUInt16(eOPMode.JOG));
}
/// <summary>
/// Write Holding Registers.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ButtonHoldingRegisterWrite_Click(object sender, EventArgs e)
{
try
{
// Get the selected device address.
byte slaveAddr = GetDeviceAddress();
// If the register address text box is empty...
if (string.IsNullOrWhiteSpace(textBoxHoldingRegisterAddressDecimal.Text))
{
// Convert from hex.
TextBoxHoldingRegisterAddressHex_Leave(null, null);
}
// Get the selected register address.
ushort regAddr = GetRegisterAddress(textBoxHoldingRegisterAddressDecimal.Text);
// Get the selected data format.
DataType dataType = GetDataFormat(comboBoxHoldingRegisterFormat);
// Calculate the number of registers to write.
ushort numRegs = 2;
if (dataType == DataType.String)
{
numRegs = GetNumRegisters(textBoxHoldingRegisterStringLength.Text);
}
// Convert the desired data into an array of register values.
ushort[] regs = StringToRegisters(textBoxHoldingRegisterData.Text, dataType, numRegs);
if (regs == null)
{
throw new ArgumentException("Data to write does not match selected format");
}
// Write the register values to the device.
_mbMaster.WriteMultipleRegisters(slaveAddr, regAddr, regs);
// Update the status.
toolStripStatusLabel1.Text = "Holding Register Written Successfully";
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, ex.GetType().Name.ToString());
}
}