public override MotorBaseResponse Decode(OriginalBytes obytes)
{
if (obytes.Data.Length != 164)
{
return(null);
}
byte commandCode = obytes.Data[6];
byte additionalCode = obytes.Data[7];
MotorC40Response m40r = new MotorC40Response(commandCode, additionalCode);
if (m40r.AdditionCode == 0xAA)
{
//读回应
m40r.CommandCode = obytes.Data[6];
m40r.AdditionCode = obytes.Data[7];
Array.Copy(obytes.Data, 8, m40r.CodeArea.DataLength, 0, 2);
m40r.CodeArea.Data = new byte[m40r.CodeArea.Length];
Array.Copy(obytes.Data, 10, m40r.CodeArea.Data, 0, m40r.CodeArea.Length);
Array.Copy(obytes.Data, 10 + m40r.CodeArea.Length, m40r.CodeArea.CRC16Code, 0, 2);
m40r.SystemFlowStatus = m40r.CodeArea.Data[0];
m40r.Motor1Switch = m40r.CodeArea.Data[1];
m40r.Motor1Status = m40r.CodeArea.Data[2];
m40r.Motor1completeSteps = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 3);
m40r.Motor1Steps = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 7);
m40r.Motor2Switch = m40r.CodeArea.Data[11];
m40r.Motor2Status = m40r.CodeArea.Data[12];
m40r.Motor2completeSteps = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 13);
m40r.Motor2Steps = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 17);
m40r.Voltage1 = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 21);
m40r.Voltage2 = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 25);
m40r.Temperature = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 29);
m40r.M1V1 = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 33);
m40r.M1V2 = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 37);
m40r.M2V1 = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 41);
m40r.M2V2 = ByteHelper.BytesToInt2(m40r.CodeArea.Data, 45);
Array.Copy(m40r.CodeArea.Data, 100, m40r.ErrorAlarmCodes, 0, 50);
}
m40r.BasePackage = new CIIBasePackage(m40r.CodeArea, false);
return(m40r);
}
public override MotorBaseResponse Decode(OriginalBytes obytes)
{
byte commandCode = obytes.Data[6];
byte additionalCode = obytes.Data[7];
MotorC50Response m50r = new MotorC50Response(commandCode, additionalCode);
if (m50r.AdditionCode == 0xAA)
{
//读回应
m50r.CommandCode = obytes.Data[6];
m50r.AdditionCode = obytes.Data[7];
Array.Copy(obytes.Data, 8, m50r.CodeArea.DataLength, 0, 2);
m50r.CodeArea.Data = new byte[m50r.CodeArea.Length];
Array.Copy(obytes.Data, 10, m50r.CodeArea.Data, 0, m50r.CodeArea.Length);
Array.Copy(obytes.Data, 10 + m50r.CodeArea.Length, m50r.CodeArea.CRC16Code, 0, 2);
m50r.Selection = m50r.CodeArea.Data[0];
switch (Selection)
{
case 0xA0:
m50r.Frequency = ByteHelper.BytesToInt2(m50r.CodeArea.Data, 1);
m50r.MaxPulses = ByteHelper.BytesToInt2(m50r.CodeArea.Data, 5);
break;
case 0xA1:
m50r.Frequency = ByteHelper.BytesToInt2(m50r.CodeArea.Data, 1);
break;
case 0xA2:
m50r.MaxPulses = ByteHelper.BytesToInt2(m50r.CodeArea.Data, 1);
break;
}
}
else if (m50r.AdditionCode == 0x99)
{
//写回应
m50r.ResponseCode = m50r.CodeArea.Data[0];
}
m50r.BasePackage = new CIIBasePackage(m50r.CodeArea, false);
return(m50r);
}
public override MotorBaseResponse Decode(OriginalBytes obytes)
{
byte commandCode = obytes.Data[6];
byte additionalCode = obytes.Data[7];
MotorC60Response m60r = new MotorC60Response(commandCode, additionalCode);
if (m60r.AdditionCode == 0xAA)
{
//读回应
m60r.ControlSelection = obytes.Data[6];
m60r.AdditionCode = obytes.Data[7];
Array.Copy(obytes.Data, 8, m60r.CodeArea.DataLength, 0, 2);
m60r.CodeArea.Data = new byte[m60r.CodeArea.Length];
Array.Copy(obytes.Data, 10, m60r.CodeArea.Data, 0, m60r.CodeArea.Length);
Array.Copy(obytes.Data, 10 + m60r.CodeArea.Length, m60r.CodeArea.CRC16Code, 0, 2);
switch (controlSelection)
{
case 0x00:
m60r.ControlMode61 = m60r.CodeArea.Data[0];
m60r.Direction61 = m60r.CodeArea.Data[1];
m60r.TotalSteps61 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 2);
m60r.ControlMode62 = m60r.CodeArea.Data[6];
m60r.Direction62 = m60r.CodeArea.Data[7];
m60r.TotalSteps62 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 8);
m60r.ControlModeA1 = m60r.CodeArea.Data[12];
m60r.DirectionA1 = m60r.CodeArea.Data[13];
m60r.TotalStepsA1 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 14);
m60r.ControlModeA2 = m60r.CodeArea.Data[18];
m60r.DirectionA2 = m60r.CodeArea.Data[19];
m60r.TotalStepsA2 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 20);
break;
case 0x60:
m60r.ControlMode61 = m60r.CodeArea.Data[0];
m60r.Direction61 = m60r.CodeArea.Data[1];
m60r.TotalSteps61 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 2);
m60r.ControlMode62 = m60r.CodeArea.Data[6];
m60r.Direction62 = m60r.CodeArea.Data[7];
m60r.TotalSteps62 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 8);
break;
case 0x61:
m60r.ControlMode61 = m60r.CodeArea.Data[0];
m60r.Direction61 = m60r.CodeArea.Data[1];
m60r.TotalSteps61 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 2);
break;
case 0x62:
m60r.ControlMode62 = m60r.CodeArea.Data[6];
m60r.Direction62 = m60r.CodeArea.Data[7];
m60r.TotalSteps62 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 8);
break;
case 0xA0:
m60r.ControlModeA1 = m60r.CodeArea.Data[12];
m60r.DirectionA1 = m60r.CodeArea.Data[13];
m60r.TotalStepsA1 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 14);
m60r.ControlModeA2 = m60r.CodeArea.Data[18];
m60r.DirectionA2 = m60r.CodeArea.Data[19];
m60r.TotalStepsA2 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 20);
break;
case 0xA1:
m60r.ControlModeA1 = m60r.CodeArea.Data[12];
m60r.DirectionA1 = m60r.CodeArea.Data[13];
m60r.TotalStepsA1 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 14);
break;
case 0xA2:
m60r.ControlModeA2 = m60r.CodeArea.Data[18];
m60r.DirectionA2 = m60r.CodeArea.Data[19];
m60r.TotalStepsA2 = ByteHelper.BytesToInt2(m60r.CodeArea.Data, 20);
break;
}
}
else if (m60r.AdditionCode == 0x99)
{
//写回应
m60r.ResponseCode = m60r.CodeArea.Data[0];
}
m60r.BasePackage = new CIIBasePackage(m60r.CodeArea, false);
return(m60r);
}
