private void xAxisEventObj_EventNotify(CML_AMP_EVENT match, bool hasError)
{
try
{
if (hasError)
{
xAxisAmp.HaltMove();
DisplayErrorPopup("CMO Error", "Auto Move Error.");
}
if (match == CML_AMP_EVENT.AMPEVENT_MOVE_DONE)
{
initLabel.BackColor = Color.Violet;
}
int Accel, Vel;
Accel = Convert.ToInt32(accTextBox.Text);
Vel = Convert.ToInt32(velTextBox.Text);
distMotor = distMotor * (-1);
moveMotor(Vel, Accel, distMotor);
}
catch (Exception ex)
{
DisplayErrorPopup("Auto Move Error", "Auto Move Error.");
}
}
private void xAxisEventObj_EventNotify(CML_AMP_EVENT match, bool hasError)
{
try
{
if (direction == false)
{
direction = true;
totalReps = totalReps + 1;
AutoMoveMotor(true);
}
else
{
direction = false;
AutoMoveMotor(false);
}
}
catch (Exception ex)
{
xAxisAmp.HaltMove();
xAxisEventObj.Stop();
xAxisAmp.ClearFaults();
automove = false;
motorButton.BackgroundImage = TeamMusclesAndMachine.Properties.Resources.Start_button;
DisplayErrorPopup("Auto Move Error", "Auto Move Error: 200");
}
}
public CopleyAmpC()
{
connecter = CopleyConnecter.GetInstance();
motor = new CopleyAmpObj();
home = new HomeSettingsObj();
proJog = new ProfileSettingsObj();
e = new CML_AMP_EVENT();
status = new CML_EVENT_STATUS();
param = new CopleyAxisParams();
err = new CML_AMP_FAULT();
}
private void EventObj_EventNotify(CML_AMP_EVENT match, bool hasError) // 检查并输出电机的错误。错误是16进制的数，需转成2进制与指导书表格对比，以此找出具体的电机错误
{ // Handles EventObj.EventNotify
try
{
if (hasError)
{
//Linkage.HaltMove();
ampObj[0].ReadEventLatch(ref readstatus0);
ampObj[1].ReadEventLatch(ref readstatus1);
ampObj[2].ReadEventLatch(ref readstatus2);
ampObj[3].ReadEventLatch(ref readstatus3);
ampObj[0].ReadFaults(ref readfault0);
ampObj[1].ReadFaults(ref readfault1);
ampObj[2].ReadFaults(ref readfault2);
ampObj[3].ReadFaults(ref readfault3);
ampObj[0].ClearFaults();
ampObj[1].ClearFaults();
ampObj[2].ClearFaults();
ampObj[3].ClearFaults();
Trace.WriteLine(readstatus0 + "; " + readfault0 + "; " + match + "; " + "Num:0");
Trace.WriteLine(readstatus1 + "; " + readfault1 + "; " + match + "; " + "Num:1");
Trace.WriteLine(readstatus2 + "; " + readfault2 + "; " + match + "; " + "Num:2");
Trace.WriteLine(readstatus3 + "; " + readfault3 + "; " + match + "; " + "Num:3");
double a = 0;
return;
}
if ((match & CML_AMP_EVENT.AMPEVENT_TRAJECTORY_DONE) == CML_AMP_EVENT.AMPEVENT_TRAJECTORY_DONE)
{
double a = 0;
}
if ((match & CML_AMP_EVENT.AMPEVENT_MOVE_DONE) == CML_AMP_EVENT.AMPEVENT_MOVE_DONE)
{
double a = 0;
}
Trace.WriteLine("Enter EventObj_EventNotify!");
}
catch (Exception ex)
{
}
}