public bool JobMove(short sAxis, double dAcc, double dDec, double dVel)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
ushort iDir = 0;
LTDMC.dmc_set_profile(iCardIndex, (ushort)sAxis, 0.0, Math.Abs(dVel), dAcc, dDec, 0);
if (dVel < 0)
{
iDir = 0;
}
else
{
iDir = 1;
}
LTDMC.dmc_vmove(iCardIndex, (ushort)sAxis, iDir);
}
return(true);
}
else
{
return(false);
}
}
public bool IsMoveDone(short sAxis)
{
bool bResult;
if (_bArrayIsMoving[sAxis])
{
bResult = false;
}
else
{
lock (lockObj)
{
_dArrayTargetPos[sAxis] = LTDMC.dmc_get_target_position(iCardIndex, (ushort)sAxis);
}
if (_dArrayCurrPos[sAxis] == _dArrayTargetPos[sAxis] && (!_bArrayAlarmSta[sAxis]) && (!_bArrayIsMoving[sAxis]))
{
bResult = true;
}
else
{
bResult = false;
}
}
return(bResult);
}
public bool SetLimtDisable(short sAxis)
{
lock (lockObj)
{
LTDMC.dmc_set_el_mode(iCardIndex, (ushort)sAxis, 0, 1, 0);
return(true);
}
}
public bool SetAlarmOff(short sAxis)
{
lock (lockObj)
{
LTDMC.dmc_set_alm_mode(iCardIndex, (ushort)sAxis, 1, (ushort)1, (ushort)0);
}
return(true);
}
public bool SetHomeOff(short sAxis)
{
lock (lockObj)
{
LTDMC.dmc_set_home_pin_logic(iCardIndex, (ushort)sAxis, 1, 0);
return(true);
}
}
public double GetVel(short sAxis)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
return(LTDMC.dmc_read_current_speed(iCardIndex, (ushort)sAxis));
}
}
else
{
return(0.0);
}
}
public void GetAllIOStatus()
{
lock (lockObj)
{
uint uiInput = 0;
uint uiOutput = 0;
try
{
uiInput = LTDMC.dmc_read_inport(iCardIndex, 0);
uiOutput = LTDMC.dmc_read_outport(iCardIndex, 0);
}
catch
{
}
_bArrayInputSta[0] = ((uiInput & 0x1) == 0) ? true : false;
_bArrayInputSta[1] = ((uiInput & 0x2) == 0) ? true : false;
_bArrayInputSta[2] = ((uiInput & 0x4) == 0) ? true : false;
_bArrayInputSta[3] = ((uiInput & 0x8) == 0) ? true : false;
_bArrayInputSta[4] = ((uiInput & 0x10) == 0) ? true : false;
_bArrayInputSta[5] = ((uiInput & 0x20) == 0) ? true : false;
_bArrayInputSta[6] = ((uiInput & 0x40) == 0) ? true : false;
_bArrayInputSta[7] = ((uiInput & 0x80) == 0) ? true : false;
_bArrayInputSta[8] = ((uiInput & 0x100) == 0) ? true : false;
_bArrayInputSta[9] = ((uiInput & 0x200) == 0) ? true : false;
_bArrayInputSta[10] = ((uiInput & 0x400) == 0) ? true : false;
_bArrayInputSta[11] = ((uiInput & 0x800) == 0) ? true : false;
_bArrayInputSta[12] = ((uiInput & 0x1000) == 0) ? true : false;
_bArrayInputSta[13] = ((uiInput & 0x2000) == 0) ? true : false;
_bArrayInputSta[14] = ((uiInput & 0x4000) == 0) ? true : false;
_bArrayInputSta[15] = ((uiInput & 0x8000) == 0) ? true : false;
_bArrayOutputSta[0] = ((uiOutput & 0x1) == 0) ? true : false;
_bArrayOutputSta[1] = ((uiOutput & 0x2) == 0) ? true : false;
_bArrayOutputSta[2] = ((uiOutput & 0x4) == 0) ? true : false;
_bArrayOutputSta[3] = ((uiOutput & 0x8) == 0) ? true : false;
_bArrayOutputSta[4] = ((uiOutput & 0x10) == 0) ? true : false;
_bArrayOutputSta[5] = ((uiOutput & 0x20) == 0) ? true : false;
_bArrayOutputSta[6] = ((uiOutput & 0x40) == 0) ? true : false;
_bArrayOutputSta[7] = ((uiOutput & 0x80) == 0) ? true : false;
_bArrayOutputSta[8] = ((uiOutput & 0x100) == 0) ? true : false;
_bArrayOutputSta[9] = ((uiOutput & 0x200) == 0) ? true : false;
_bArrayOutputSta[10] = ((uiOutput & 0x400) == 0) ? true : false;
_bArrayOutputSta[11] = ((uiOutput & 0x800) == 0) ? true : false;
_bArrayOutputSta[12] = ((uiOutput & 0x1000) == 0) ? true : false;
_bArrayOutputSta[13] = ((uiOutput & 0x2000) == 0) ? true : false;
_bArrayOutputSta[14] = ((uiOutput & 0x4000) == 0) ? true : false;
_bArrayOutputSta[15] = ((uiOutput & 0x8000) == 0) ? true : false;
}
}
public bool SetPulseMode(short sAxis, PulseMode plm)
{
lock (lockObj)
{
if (plm == PulseMode.PLDI)
{
LTDMC.dmc_set_pulse_outmode(iCardIndex, (ushort)sAxis, 0);
}
else
{
LTDMC.dmc_set_pulse_outmode(iCardIndex, (ushort)sAxis, 4);
}
}
return(true);
}
public bool SetVel(short sAxis, double dVel)
{
lock (lockObj)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
LTDMC.dmc_change_speed(iCardIndex, (ushort)sAxis, dVel, 0.0);
return(true);
}
else
{
return(false);
}
}
}
public bool ServoOff(short sAxis)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
LTDMC.dmc_write_sevon_pin(iCardIndex, (ushort)sAxis, 1);
return(true);
}
}
else
{
return(false);
}
}
public bool ZeroAxisPos(short sAxis)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
LTDMC.dmc_set_position(iCardIndex, (ushort)sAxis, 0);
return(true);
}
}
else
{
return(false);
}
}
public bool StopMove(short sAxis)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
LTDMC.dmc_stop(iCardIndex, (ushort)sAxis, 0);
}
return(true);
}
else
{
return(false);
}
}
public bool SetOutBit(int iBit, bool bOn)
{
if (iBit < 128 && iBit > -1)
{
lock (lockObj)
{
ushort uValue = bOn ? (ushort)0 : (ushort)1;
short sValue = LTDMC.dmc_write_outbit(iCardIndex, (ushort)iBit, uValue);
}
return(true);
}
else
{
return(false);
}
}
public bool ReferPosMove(short sAxis, double dAcc, double dDec, double dSpeed, double pos)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
LTDMC.dmc_set_profile(iCardIndex, (ushort)sAxis, 0.0, dSpeed, dAcc, dDec, 0);
LTDMC.dmc_pmove(iCardIndex, (ushort)sAxis, (int)pos, 0);
}
return(true);
}
else
{
return(false);
}
}
public bool StartSearchLimit(short sAxis, double dAcc, double dDec, double dCatchSpeed)
{
lock (lockObj)
{
ushort iDir = 0;
double dVel = Math.Abs(dCatchSpeed);
LTDMC.dmc_set_profile(iCardIndex, (ushort)sAxis, 0.0, dVel, dAcc, dDec, 0);
if (dCatchSpeed < 0)
{
iDir = 0;
}
else
{
iDir = 1;
}
LTDMC.dmc_vmove(iCardIndex, (ushort)sAxis, iDir);
}
return(true);
}
public bool StartSearchHome(short sAxis, double dAcc, double dDec, double dHomeSpd)
{
lock (lockObj)
{
ushort iDir = 0;
double dVel = Math.Abs(dHomeSpd);
LTDMC.dmc_set_profile(iCardIndex, (ushort)sAxis, 0.0, dVel, dAcc, dDec, 0);
if (dHomeSpd < 0)
{
iDir = 0;
}
else
{
iDir = 1;
}
LTDMC.dmc_set_homemode(iCardIndex, (ushort)sAxis, iDir, dVel, 2, 0);
LTDMC.dmc_home_move(iCardIndex, (ushort)sAxis);
}
return(true);
}
override public bool Init(HardwareData hardwareData)
{
LeadShineMotionCardData tempInfo = (LeadShineMotionCardData)hardwareData;
if (iCardTotal > 0)
{
if (iCardTotal >= tempInfo.Index)
{
bInitOk = true;
}
else
{
bInitOk = false;
}
}
else
{
iCardTotal = LTDMC.dmc_board_init();
if (iCardTotal <= 0)//控制卡初始化
{
bInitOk = false;
return(false);
}
if (iCardTotal >= tempInfo.Index)
{
bInitOk = true;
}
else
{
bInitOk = false;
}
}
iCardIndex = (ushort)tempInfo.Index;
System.Threading.Thread threadScan = new System.Threading.Thread(ScanThreadFunction);
threadScan.IsBackground = true;
threadScan.Start();
return(true);
}
public void GetAllMotionStatus()
{
lock (lockObj)
{
for (ushort iAxis = 0; iAxis < 8; iAxis++)
{
uint uiCurrent = 0;
try
{
_dArrayTargetPos[iAxis] = LTDMC.dmc_get_target_position(iCardIndex, iAxis);
_dArrayCurrPos[iAxis] = LTDMC.dmc_get_position(iCardIndex, iAxis);
if (LTDMC.dmc_check_done(iCardIndex, iAxis) == 1)
{
_bArrayIsMoving[iAxis] = false;
}
else
{
_bArrayIsMoving[iAxis] = true;
}
uiCurrent = LTDMC.dmc_axis_io_status(iCardIndex, iAxis);
}
catch
{
}
if ((uiCurrent & 0x1) == 0)
{
_bArrayAlarmSta[iAxis] = false;
}
else
{
_bArrayAlarmSta[iAxis] = true;
}
if ((uiCurrent & 0x2) == 0)
{
_bArrayCWLLimitSta[iAxis] = false;
}
else
{
_bArrayCWLLimitSta[iAxis] = true;
}
if ((uiCurrent & 0x4) == 0)
{
_bArrayCCWLLimitSta[iAxis] = false;
}
else
{
_bArrayCCWLLimitSta[iAxis] = true;
}
if ((uiCurrent & 0x10) == 0)
{
_bArrayHomeSta[iAxis] = false;
}
else
{
_bArrayHomeSta[iAxis] = true;
}
}
}
}