public void SetParamSetMachineParameter()
{
MCCL.SYS_MAC_PARAM stMacParam = new MCCL.SYS_MAC_PARAM();
MCCL.SYS_ENCODER_CONFIG stENCConfig = new MCCL.SYS_ENCODER_CONFIG();
MCCL.SYS_HOME_CONFIG stHomeConfig = new MCCL.SYS_HOME_CONFIG();
//MCCL物件參數初始化_機構參數
stMacParam.wPosToEncoderDir = 0;
stMacParam.dwPPR = 1048576;
stMacParam.wRPM = 3000;
stMacParam.dfPitch = 8.23;
stMacParam.dfGearRatio = 1.0;
stMacParam.dfHighLimit = 50000.0;
stMacParam.dfLowLimit = -50000.0;
stMacParam.dfHighLimitOffset = 0;
stMacParam.dfLowLimitOffset = 0;
stMacParam.wPulseMode = MCCL.DDA_FMT_PD;
stMacParam.wPulseWidth = 100;
stMacParam.wCommandMode = 0;
stMacParam.wOverTravelUpSensorMode = 0;
stMacParam.wOverTravelDownSensorMode = 0;
for (ushort wChannel = 0; wChannel < MaxAxis; wChannel++)
{
MCCL.MCC_SetMacParam(ref stMacParam, wChannel, 0);
}
MCCL.MCC_CloseAllGroups();
Group = (ushort)MCCL.MCC_CreateGroup(0, 1, 2, -1, -1, -1, -1, -1, CardIndex);
if (Group < 0)
{
Debug.WriteLine("Create Group Fail");
MCCL.MCC_CloseAllGroups();
}
MCCL.MCC_SetSysMaxSpeed(MachineMaxSpeed);
}
public static void SetMachineParameter()
{
// MotorBox
/*
* //MCCL使用所需物件
* MCCL.SYS_MAC_PARAM stMacParam = new MCCL.SYS_MAC_PARAM();
* MCCL.SYS_ENCODER_CONFIG stENCConfig = new MCCL.SYS_ENCODER_CONFIG();
* MCCL.SYS_HOME_CONFIG stHomeConfig = new MCCL.SYS_HOME_CONFIG();
*
* //MCCL物件參數初始化_機構參數
* stMacParam.wPosToEncoderDir = 0;
* stMacParam.dwPPR = 8192;
* stMacParam.wRPM = 6000;
* stMacParam.dfPitch = 1.0;
* stMacParam.dfGearRatio = 1.0;
* stMacParam.dfHighLimit = 50000.0;
* stMacParam.dfLowLimit = -50000.0;
* stMacParam.dfHighLimitOffset = 0;
* stMacParam.dfLowLimitOffset = 0;
* stMacParam.wPulseMode = MCCL.DDA_FMT_PD;
* stMacParam.wPulseWidth = 100;
* stMacParam.wCommandMode = 0;
* stMacParam.wOverTravelUpSensorMode = 0;
* stMacParam.wOverTravelDownSensorMode = 0;
*
* //MCCL物件參數初始化_編碼器參數
* stENCConfig.wType = MCCL.ENC_TYPE_AB;
* stENCConfig.wAInverse = MCCL._NO_;
* stENCConfig.wBInverse = MCCL._NO_;
* stENCConfig.wCInverse = MCCL._NO_;
* stENCConfig.wABSwap = MCCL._NO_;
* stENCConfig.wInputRate = 4;
* //set encoder input rate : x4
*
* //MCCL物件參數初始化_原點復歸參數
* stHomeConfig.wMode = 3;
* stHomeConfig.wDirection = 1;
* stHomeConfig.wSensorMode = MCCL.SL_NORMAL_CLOSE;
* stHomeConfig.nIndexCount = 2;
* stHomeConfig.dfAccTime = 300;
* stHomeConfig.dfDecTime = 300;
* stHomeConfig.dfHighSpeed = 10;
* stHomeConfig.dfLowSpeed = 2;
* stHomeConfig.dfOffset = 0;
* stHomeConfig.wPaddel0 = 0;
* stHomeConfig.nPaddel1 = 0;
*/
//---------------------------------------------------------------------------------------------
// CNC
MCCL.SYS_MAC_PARAM stMacParam = new MCCL.SYS_MAC_PARAM();
MCCL.SYS_ENCODER_CONFIG stENCConfig = new MCCL.SYS_ENCODER_CONFIG();
MCCL.SYS_HOME_CONFIG stHomeConfig = new MCCL.SYS_HOME_CONFIG();
//MCCL物件參數初始化_機構參數
stMacParam.wPosToEncoderDir = 0;
stMacParam.dwPPR = 1048576;
stMacParam.wRPM = 3000;
stMacParam.dfPitch = 8.23;
stMacParam.dfGearRatio = 1.0;
stMacParam.dfHighLimit = 50000.0;
stMacParam.dfLowLimit = -50000.0;
stMacParam.dfHighLimitOffset = 0;
stMacParam.dfLowLimitOffset = 0;
stMacParam.wPulseMode = MCCL.DDA_FMT_PD;
stMacParam.wPulseWidth = 100;
stMacParam.wCommandMode = 0;
stMacParam.wOverTravelUpSensorMode = 0;
stMacParam.wOverTravelDownSensorMode = 0;
//MCCL物件參數初始化_編碼器參數
stENCConfig.wType = MCCL.ENC_TYPE_AB;
stENCConfig.wAInverse = MCCL._NO_;
stENCConfig.wBInverse = MCCL._NO_;
stENCConfig.wCInverse = MCCL._NO_;
stENCConfig.wABSwap = MCCL._NO_;
stENCConfig.wInputRate = 4;
//set encoder input rate : x4
//MCCL物件參數初始化_原點復歸參數
stHomeConfig.wMode = 3;
stHomeConfig.wDirection = 1;
stHomeConfig.wSensorMode = MCCL.SL_NORMAL_CLOSE;
stHomeConfig.nIndexCount = 2;
stHomeConfig.dfAccTime = 300;
stHomeConfig.dfDecTime = 300;
stHomeConfig.dfHighSpeed = 0.1;
stHomeConfig.dfLowSpeed = 0.0001;
stHomeConfig.dfOffset = 0;
stHomeConfig.wPaddel0 = 0;
stHomeConfig.nPaddel1 = 0;
for (ushort wChannel = 0; wChannel <= 7; wChannel++)
{
MCCL.MCC_SetMacParam(ref stMacParam, wChannel, 0);
//MCCL.MCC_SetEncoderConfig(ref stENCConfig, wChannel, 0);
//MCCL.MCC_SetHomeConfig(ref stHomeConfig, wChannel, 0);
}
// 設定 Group
MCCL.MCC_CloseAllGroups();
nGroupIndex = (ushort)MCCL.MCC_CreateGroup(0, 1, 2, -1, -1, -1, -1, -1, MCCL.CARDINDEX0);
if (nGroupIndex < 0)
{
MessageBox.Show("Create GroupIndex Fail");
MCCL.MCC_CloseAllGroups();
return;
}
//設定最大速度
MCCL.MCC_SetSysMaxSpeed(100); // set max. feed rate
}
public static void EndEMPZ()
{
MCCL.MCC_CloseAllGroups();
MCCL.MCC_CloseSystem();
}
public void EndController()
{
MCCL.MCC_CloseAllGroups();
MCCL.MCC_CloseSystem();
}