public static tcFunctionResult tcWriteData(int index, object data)
{
if (!tcClient.IsConnected)
{
LogMessage(string.Format("Error\t: {0}", "Attempted to write to PLC when not connected"));
return(tcFunctionResult.TC_NOT_CONNECTED);
}
if (index > tcVarList.Count || index < 0)
{
LogMessage(string.Format("Error\t: {0}", "Attempted to access a value outside the list"));
return(tcFunctionResult.TC_VARLIST_OUTOFBOUND);
}
AdsStream _DataStrem = new AdsStream(tcVarList[index].DataSize);
AdsBinaryWriter tcStreamWriter = new AdsBinaryWriter(_DataStrem);
try
{
switch (tcVarList[index].VariableType.ToLower())
{
case "bool":
tcStreamWriter.Write((bool)data);
tcClient.Write(tcVarList[index].Handle, _DataStrem);
break;
case "arbool":
break;
case "int":
break;
case "arint":
break;
case "string":
break;
case "real":
break;
case "lreal":
break;
}
tcStreamWriter.Close();
}
catch (Exception ex)
{
LogMessage(string.Format("Error at writing data {0}\t: {1}", index.ToString(), ex.Message));
return(tcFunctionResult.TC_FAIL_TO_WRITE_DATA);
}
finally
{
tcStreamWriter.Close();
}
return(tcFunctionResult.TC_SUCCESS);
}
static public tcFunctionResult tcSetAxisCommand(int index, Axis_HmiToPlc COMMAND)
{
if (!tcClient.IsConnected)
{
return(tcFunctionResult.TC_NOT_CONNECTED);
}
if (Axis_MaxAxes <= 0)
{
return(tcFunctionResult.TC_NO_AXIS);
}
if (index < 0 || index >= Axis_MaxAxes)
{
return(tcFunctionResult.TC_AXIS_OUTOFBOUND);
}
tcAxCommand[index].CONTROLLER_OVERRIDE = COMMAND.CONTROLLER_OVERRIDE;
tcAxCommand[index].SERVO_HOME = COMMAND.SERVO_HOME;
tcAxCommand[index].SERVO_JOG_BW_FAST = COMMAND.SERVO_JOG_BW_FAST;
tcAxCommand[index].SERVO_JOG_BW_SLOW = COMMAND.SERVO_JOG_BW_SLOW;
tcAxCommand[index].SERVO_JOG_FW_FAST = COMMAND.SERVO_JOG_FW_FAST;
tcAxCommand[index].SERVO_JOG_FW_SLOW = COMMAND.SERVO_JOG_FW_SLOW;
tcAxCommand[index].SERVO_JOG_MODE = COMMAND.SERVO_JOG_MODE;
tcAxCommand[index].SERVO_MOVE_ABS = COMMAND.SERVO_MOVE_ABS;
tcAxCommand[index].SERVO_MOVE_REL = COMMAND.SERVO_MOVE_REL;
tcAxCommand[index].SERVO_HALT = COMMAND.SERVO_HALT;
tcAxCommand[index].SERVO_OFF = COMMAND.SERVO_OFF;
tcAxCommand[index].SERVO_ON = COMMAND.SERVO_ON;
tcAxCommand[index].SERVO_ON_BW = COMMAND.SERVO_ON_BW;
tcAxCommand[index].SERVO_ON_FW = COMMAND.SERVO_ON_FW;
tcAxCommand[index].SERVO_RESET = COMMAND.SERVO_RESET;
tcAxCommand[index].TARGET_ACCELERATION = COMMAND.TARGET_ACCELERATION;
tcAxCommand[index].TARGET_DECELERATION = COMMAND.TARGET_DECELERATION;
tcAxCommand[index].TARGET_JERK = COMMAND.TARGET_JERK;
tcAxCommand[index].TARGET_POSITION = COMMAND.TARGET_POSITION;
tcAxCommand[index].TARGET_VELOCITY = COMMAND.TARGET_VELOCITY;
AdsStream _dataStream = new AdsStream(tcAxCommand[index].size);
AdsBinaryWriter _dataWriter = new AdsBinaryWriter(_dataStream);
_dataWriter.Write(tcAxCommand[index].TARGET_POSITION);
_dataWriter.Write(tcAxCommand[index].TARGET_VELOCITY);
_dataWriter.Write(tcAxCommand[index].TARGET_ACCELERATION);
_dataWriter.Write(tcAxCommand[index].TARGET_DECELERATION);
_dataWriter.Write(tcAxCommand[index].TARGET_JERK);
_dataWriter.Write(tcAxCommand[index].CONTROLLER_OVERRIDE);
_dataWriter.Write(tcAxCommand[index].SERVO_ON);
_dataWriter.Write(tcAxCommand[index].SERVO_ON_BW);
_dataWriter.Write(tcAxCommand[index].SERVO_ON_FW);
_dataWriter.Write(tcAxCommand[index].SERVO_OFF);
_dataWriter.Write(tcAxCommand[index].SERVO_MOVE_ABS);
_dataWriter.Write(tcAxCommand[index].SERVO_MOVE_REL);
_dataWriter.Write(tcAxCommand[index].SERVO_HALT);
_dataWriter.Write(tcAxCommand[index].SERVO_HOME);
_dataWriter.Write(tcAxCommand[index].SERVO_RESET);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_MODE);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_FW_FAST);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_BW_FAST);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_FW_SLOW);
_dataWriter.Write(tcAxCommand[index].SERVO_JOG_BW_SLOW);
try
{
tcClient.Write(tcAxCommand[index].handle, _dataStream);
}
catch (Exception ex)
{
LogMessage(string.Format("{0}\t: {1}", "Error", "Failed to send Axis Command " + ex.Message));
_dataWriter.Close();
return(tcFunctionResult.TC_GENERAL_FAILURE_1);
}
_dataWriter.Close();
return(tcFunctionResult.TC_SUCCESS);
}