// Servo On/Off
public int ServoOnOff(AxisInfo _AxisInfo, bool bOn)
{
string strCommand = "", strRet = "";
int nRtn = -1;
if (bOn)
{
switch (_AxisInfo.AxisType)
{
case AXIS_TYPE.SERVO:
case AXIS_TYPE.STEPPING:
strCommand = string.Format("#{0}J/", _AxisInfo.AxisNo_1Base);
break;
case AXIS_TYPE.LINEAR:
strCommand = string.Format("#{0}d$", _AxisInfo.AxisNo_1Base);
break;
}
}
else
{
strCommand = string.Format("#{0}k", _AxisInfo.AxisNo_1Base);
}
nRtn = SendCommand(strCommand, ref strRet);
return(nRtn);
}
public int JogStop(AxisInfo _Axis)
{
string strCommand = "", strRet = "";
int nRtn = -1;
strCommand = string.Format("#{0}J/", _Axis.AxisNo_1Base);
nRtn = SendCommand(strCommand, ref strRet);
return(nRtn);
}
// Axis 현재 값 읽어오기
public int ReadAxisCurVal(AxisInfo _Axis)
{
string strCmd = "", strResData = "";
int nRet = 0;
strCmd += string.Format("I{0}08 ", _Axis.AxisNo_1Base); //
strCmd += string.Format("I{0}09 ", _Axis.AxisNo_1Base); //
strCmd += string.Format("I10 "); //Hardware Interlock (
strCmd += string.Format("M{0}74 ", _Axis.AxisNo_1Base); //Speed (Vel)
strCmd += string.Format("M{0}62 ", _Axis.AxisNo_1Base); //Current Position (Encoder)
strCmd += string.Format("M{0}69 ", _Axis.AxisNo_1Base); //Position Offset (보정값)
strCmd += string.Format("M{0}68 ", _Axis.AxisNo_1Base); //Torque On/Off
strCmd += string.Format("M{0}21 ", _Axis.AxisNo_1Base); //Plus Limit
strCmd += string.Format("M{0}22 ", _Axis.AxisNo_1Base); //Minus Limit
strCmd += string.Format("M{0}39 ", _Axis.AxisNo_1Base); //Servo On/Off
strCmd += string.Format("M{0}40 ", _Axis.AxisNo_1Base); //In position Bit (모터 정지 확인 : Stop=1, Moving=0)
strCmd += string.Format("M{0}42 ", _Axis.AxisNo_1Base); //Following err
strCmd += string.Format("M{0}43 ", _Axis.AxisNo_1Base); //Amp Fault
nRet = SendCommand(strCmd, ref strResData);
if (nRet > 0)
{
char[] _CmdSplitter = { '\r' };
string[] strColInClipboard = strResData.Split(_CmdSplitter, StringSplitOptions.None);
long Ix08 = 0; long.TryParse(strColInClipboard[0], out Ix08);
long Ix09 = 0; long.TryParse(strColInClipboard[1], out Ix09);
long Ix10 = 0; long.TryParse(strColInClipboard[2], out Ix10);
float fSpeed = 0; float.TryParse(strColInClipboard[3], out fSpeed);
float fCurPos = 0; float.TryParse(strColInClipboard[4], out fCurPos);
float fPosOffset = 0; float.TryParse(strColInClipboard[5], out fPosOffset);
float fTorque = 0; float.TryParse(strColInClipboard[6], out fTorque);
int nPlusLimit = 0; int.TryParse(strColInClipboard[7], out nPlusLimit);
int nMinusLimit = 0; int.TryParse(strColInClipboard[8], out nMinusLimit);
int nServoOnOff = 0; int.TryParse(strColInClipboard[9], out nServoOnOff);
int nInPosBit = 0; int.TryParse(strColInClipboard[10], out nInPosBit);
int nFllowingErr = 0; int.TryParse(strColInClipboard[11], out nFllowingErr);
int nAmpFault = 0; int.TryParse(strColInClipboard[12], out nAmpFault);
//축 현재 정보 세팅.
_Axis.CurInfo.Speed = (fSpeed / (Ix09 * 32.0) * (8388608.0 / Ix10) * 1000.0) / _Axis.Scale;
_Axis.CurInfo.Position = (fCurPos + fPosOffset) / (Ix08 * 32.0) / _Axis.Scale;
_Axis.CurInfo.Torque = (float)((fTorque / 32767.0) * 100.0);
_Axis.CurInfo.Plimit = nPlusLimit;
_Axis.CurInfo.Mlimit = nMinusLimit;
_Axis.CurInfo.ServoOnOff = nServoOnOff;
_Axis.CurInfo.InPositionBit = nInPosBit;
_Axis.CurInfo.FollowingErr = nFllowingErr;
_Axis.CurInfo.AmpFault = nAmpFault;
}
return(nRet);
}
public int IsHomming(AxisInfo _Axisinfo)
{
string strCommand = "", strRet = "";
int nRtn = -1;
if (_Axisinfo.HommingCmd == "")
{
return(nRtn);
}
strCommand = string.Format("{0}", _Axisinfo.HommingCmd);
SendCommand(strCommand, ref strRet);
nRtn = int.Parse(strRet);
_Axisinfo.CurInfo.Homming = nRtn;
return(nRtn);
}
public int IsHomeDone(AxisInfo _Axisinfo)
{
string strCommand = "", strRet = "";
int nRtn = -1;
if (_Axisinfo.HomeEndCmd == "")
{
return(nRtn);
}
//Pxx0(홈밍중) Pxx1(홈밍끝)을 의미한다.
//strCmd.Format("P{0}0", nHomeCmdId);
strCommand = string.Format("{0}", _Axisinfo.HomeEndCmd);
SendCommand(strCommand, ref strRet);
nRtn = int.Parse(strRet);
_Axisinfo.CurInfo.HomeEnd = nRtn;
return(nRtn);
}
public int JogStart(AxisInfo _Axis, int nSpeed, bool bDirection)
{
string strCommand = "", strRet = "";
int nRtn = -1;
string strVel = GetMoveSpeed_Cmd(_Axis.AxisNo_1Base, nSpeed, _Axis.Scale); // 속도 설정
string strAcc = GetMoveAccel_Cmd(_Axis.AxisNo_1Base, 200); // 가속도 설정
if (bDirection)
{
strCommand = string.Format("{0} {1} #{2}J+", strVel, strAcc, _Axis.AxisNo_1Base);
}
else
{
strCommand = string.Format("{0} {1} #{2}J-", strVel, strAcc, _Axis.AxisNo_1Base);
}
nRtn = SendCommand(strCommand, ref strRet);
return(nRtn);
}
