public bool Homing(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
ModesOfOperation modesOfOperation = new ModesOfOperation();
modesOfOperation.Write(s, ModesOfOperation.ModesEnum.Homing);
while (modesOfOperation.ReadDisplay(s) != ModesOfOperation.ModesEnum.Homing)
{
Thread.Sleep(100);
}
ControlWord controlWord = new ControlWord();
// Byte 19: 31
controlWord.Bit00 = true; // 1
controlWord.Bit01 = true; // 2
controlWord.Bit02 = true; // 4
controlWord.Bit03 = true; // 8
controlWord.Bit04 = true; // 16
controlWord.Write(s);
StatusWord statusWord = new StatusWord();
while (!(statusWord.Bit00 && statusWord.Bit01 && statusWord.Bit02 && statusWord.Bit05 && // 39
statusWord.Bit09 && statusWord.Bit10 && statusWord.Bit12)) // 22
{
statusWord.Read(s);
Thread.Sleep(100);
}
return(true);
}
private void PrintStatusWord(Socket s)
{
StatusWord sw = new StatusWord();
sw.Read(s);
var bitArray19 = new BitArray(new bool[8] {
sw.Bit00, sw.Bit01, sw.Bit02, sw.Bit03, sw.Bit04, sw.Bit05, sw.Bit06, sw.Bit07
});
var bitArray20 = new BitArray(new bool[8] {
sw.Bit08, sw.Bit09, sw.Bit10, sw.Bit11, sw.Bit12, sw.Bit13, sw.Bit14, sw.Bit15
});
byte[] byte19 = new byte[1];
bitArray19.CopyTo(byte19, 0);
byte[] byte20 = new byte[1];
bitArray20.CopyTo(byte20, 0);
Debug.WriteLine("");
Debug.WriteLine("StatusWord");
Debug.WriteLine($"Byte 19: {byte19[0]}");
Debug.WriteLine($"0: {sw.Bit00}, 1: {sw.Bit01}, 2: {sw.Bit02}, 3: {sw.Bit03}, 4: {sw.Bit04}, 5: {sw.Bit05}, 6: {sw.Bit06}, 7: {sw.Bit07}");
Debug.WriteLine($"Byte 20: {byte20[0]}");
Debug.WriteLine($"8: {sw.Bit08}, 9: {sw.Bit09}, 10: {sw.Bit10}, 11: {sw.Bit11}, 12: {sw.Bit12}, 13: {sw.Bit13}, 14: {sw.Bit14}, 15: {sw.Bit15}");
Debug.WriteLine("");
}
public StatusWord GetStatusWord(string hostIp, int port)
{
Socket s = ModbusSocket.GetConnection(hostIp, port);
StatusWord statusWord = new StatusWord();
statusWord.Read(s);
return(statusWord);
}
private void ShutDown(Socket s)
{
ControlWord controlWord = new ControlWord();
// Byte 19: 6
controlWord.Bit01 = true; // 2
controlWord.Bit02 = true; // 4
controlWord.Write(s);
StatusWord statusWord = new StatusWord();
while (!(statusWord.Bit00 && statusWord.Bit05 && // 33
statusWord.Bit09)) // 2
{
statusWord.Read(s);
Thread.Sleep(100);
}
}
private void EnableOperation(Socket s)
{
ControlWord controlWord = new ControlWord();
// Byte 19: 15
controlWord.Bit00 = true; // 1
controlWord.Bit01 = true; // 2
controlWord.Bit02 = true; // 4
controlWord.Bit03 = true; // 8
controlWord.Write(s);
StatusWord statusWord = new StatusWord();
while (!(statusWord.Bit00 && statusWord.Bit01 && statusWord.Bit02 && statusWord.Bit05 && // 39
statusWord.Bit09)) // 2
{
statusWord.Read(s);
Thread.Sleep(100);
}
}