public bool Inposition()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_IsPositionReached(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(0 < m_nRetValue ? true : false);
}
public bool IsHome()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_GetHomeSwitchStatus(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(0 < m_nRetValue ? true : false);
}
public int GetActSpeed()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_GetActualSpeed(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(m_nRetValue);
}
/// <summary>
/// 홈동작 완료 확인.
/// </summary>
/// <returns>홈동작 완료여부</returns>
public bool GetHomeDone()
{
int iRet = 0;
EMCL.ERAETech_EMCL_Sync_GetRefSearchStatus(m_iPortID, (byte)Para.iPhysicalNo, ref iRet);
return(iRet == 0);
}
/// <summary>
/// -방향 조그 이동
/// </summary>
/// <param name="_dVel">초당 구동 속도 펄스</param>
/// <param name="_dAcc">구동 가속율 펄스</param>
/// <param name="_dDec">감속율 펄스</param>
public void JogN(double _dVel, double _dAcc, double _dDec)
{
int iRet = 0;
//EMCL.ERAETech_EMCL_Sync_SetMaxAcceleration(m_iPortID, (byte)Para.iPhysicalNo, (int)_dAcc, ref iRet);
//if (iRet != 0)
//{
// Log.ShowMessage("EMCL_"+Para.iPhysicalNo.ToString()+"Axis" , GetErrMsg(iRet));
//}
EMCL.ERAETech_EMCL_Sync_SendCommand(m_iPortID, (byte)Para.iPhysicalNo, 5, 0, 0, (int)_dAcc, ref iRet); //3번째 인자가 가감속 설정하는 부분 가속 = 5, 감속 = 17
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
EMCL.ERAETech_EMCL_Sync_SendCommand(m_iPortID, (byte)Para.iPhysicalNo, 17, 0, 0, (int)_dDec, ref iRet); //3번째 인자가 가감속 설정하는 부분 가속 = 5, 감속 = 17
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
EMCL.ERAETech_EMCL_Sync_RotateLeft(m_iPortID, (byte)Para.iPhysicalNo, (int)_dVel, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
}
/// <summary>
/// 홈센서 기준 절대 위치로 이동.
/// </summary>
/// <param name="_dPos">이동할 위치 펄스단위</param>
/// <param name="_dVel">이동할 속도 펄스단위</param>
/// <param name="_dAcc">이동할 가속 펄스단위</param>
/// <param name="_dDec">이동할 감속 펄스단위</param>
/// <returns>성공여부</returns>
public void GoAbs(double _dPos, double _dVel, double _dAcc, double _dDec)
{
int iRet = 0;
//EMCL.ERAETech_EMCL_Sync_SetMaxAcceleration(m_iPortID, (byte)Para.iPhysicalNo, (int)_dAcc, ref iRet);
EMCL.ERAETech_EMCL_Sync_SendCommand(m_iPortID, (byte)Para.iPhysicalNo, 5, 0, 0, (int)_dAcc, ref iRet); //3번째 인자가 가감속 설정하는 부분 가속 = 5, 감속 = 17
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
EMCL.ERAETech_EMCL_Sync_SendCommand(m_iPortID, (byte)Para.iPhysicalNo, 17, 0, 0, (int)_dDec, ref iRet); //3번째 인자가 가감속 설정하는 부분 가속 = 5, 감속 = 17
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
EMCL.ERAETech_EMCL_Sync_SetMaxPositionSpeed(m_iPortID, (byte)Para.iPhysicalNo, (int)_dVel, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
EMCL.ERAETech_EMCL_Sync_MoveToPosition(m_iPortID, (byte)Para.iPhysicalNo, 0, (int)_dPos, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
}
public void AlarmReset()
{
int nVal = 0;
EMCL.ERAETech_EMCL_Sync_ResetPosError(m_nPort, Convert.ToByte(m_nModuleID), ref nVal);
EMCL.ERAETech_EMCL_ResetAlarm(m_nPort, Convert.ToByte(m_nModuleID));
}
public int SearchStatus()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_GetRefSearchStatus(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(m_nRetValue);
}
public bool ComOpen(string strCom, int nBaud)
{
string sPortNum = strCom.Replace("COM", "");
m_nPort = Convert.ToInt32(sPortNum);
EMCL.ERAETech_EMCL_OpenComm(m_nPort, Convert.ToInt32(nBaud));
return(EMCL.ERAETech_EMCL_IsPortOpen(m_nPort));
}
public void MoveStop(int nAcc)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetMaxAcceleration(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nAcc));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_Stop(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
/// <summary>
/// 홈시퀜스를 중단한다.
/// </summary>
public void StopHome()
{
int iRet = 0;
EMCL.ERAETech_EMCL_Sync_StopRefSearch(m_iPortID, (byte)Para.iPhysicalNo, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
}
public void JogMove_N(int nSpeed, int nAcc)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetMaxAcceleration(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nAcc));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_RotateLeft(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nSpeed));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
/// <summary>
/// 서보 온오프
/// </summary>
/// <param name="_bOn">온오프</param>
public void SetServo(bool _bOn)
{
int iRet = 0;
EMCL.ERAETech_EMCL_Sync_SetServoOn(m_iPortID, (byte)Para.iPhysicalNo, _bOn ? 1 : 0, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
}
public void SetZero()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetZeroPosition(m_nPort, Convert.ToByte(GlobalVariable.LoadlockMotor.nModule));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetEncoderZeroPosition(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public void MoveStart(int nTargetPos, int nAcc, MoveMode mode)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetMaxPositionSpeed(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nAcc));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
Thread.Sleep(10);
// send command and read recv buffer
EMCL.ERAETech_EMCL_MoveToPosition(m_nPort, Convert.ToByte(m_nModuleID), (byte)mode, Convert.ToInt32(nTargetPos));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
Thread.Sleep(10);
}
//Motion Functions.
/// <summary>
/// 모터 정지 명령.
/// </summary>
public void Stop()
{
//혹시병신짓 하면 Acc설정해 보자.
int iRet = 0;
EMCL.ERAETech_EMCL_Sync_Stop(m_iPortID, (byte)Para.iPhysicalNo, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
}
/// <summary>
/// 홈을 수행한다.
/// </summary>
/// <returns>수행 성공여부.</returns>
public bool GoHome(double _dHomeVelFirst, double _dHomeVelLast, double _dHomeAccFirst)
{
SetServo(true);
int iRet = 0;
//홈찾는 방법
EMCL.ERAETech_EMCL_Sync_SetSearchMode(m_iPortID, (byte)Para.iPhysicalNo, (int)Para.eHomeMode, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//가감속
EMCL.ERAETech_EMCL_Sync_SetMaxAcceleration(m_iPortID, (byte)Para.iPhysicalNo, (int)_dHomeAccFirst, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//첫번째 속도.
EMCL.ERAETech_EMCL_Sync_SetRefSearchSpeed(m_iPortID, (byte)Para.iPhysicalNo, (int)_dHomeVelFirst, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//마지막 속도.
EMCL.ERAETech_EMCL_Sync_SetRefSwitchSpeed(m_iPortID, (byte)Para.iPhysicalNo, (int)_dHomeVelLast, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//요이 땅.
EMCL.ERAETech_EMCL_Sync_StartRefSearch(m_iPortID, (byte)Para.iPhysicalNo, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
return(true);
}
public void MoveHome(int nRefSpeed)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetRefSearchSpeed(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nRefSpeed));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetRefSwitchSpeed(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nRefSpeed));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_StartRefSearch(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
/// <summary>
/// 리셑 시그널 온오프 제어
/// </summary>
/// <param name="_bOn">온오프</param>
public void SetReset(bool _bOn)
{
if (!_bOn)
{
return;
}
int iRet = 0;
EMCL.ERAETech_EMCL_Sync_ResetAlarm(m_iPortID, (byte)Para.iPhysicalNo, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
}
}
/// <summary>
/// Command Encoder Target포지션 세팅.
/// </summary>
/// <param name="_dPos">세팅할 펄스</param>
public void SetPos(double _dPos)
{
int iRet = 0;
EMCL.ERAETech_EMCL_Sync_SendCommand(m_iPortID, (byte)Para.iPhysicalNo, (byte)EMCL.MotorCmd.EMCL_MVP, (byte)EMCL.AxisParam.AXIS_PARAM_ACTUAL_POS, 0, (int)_dPos, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return;
}
EMCL.ERAETech_EMCL_Sync_SendCommand(m_iPortID, (byte)Para.iPhysicalNo, (byte)EMCL.MotorCmd.EMCL_MVP, (byte)EMCL.AxisParam.AXIS_PARAM_ENCODER_POS, 0, (int)_dPos, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return;
}
}
/// <summary>
/// 홈이 지원 안되는 보드 같은경우 돌려주고 Update 함수 내부에서 처리 해야 한다.
/// 파익스는 네트워크 타입이라 너무 느려서 업데이트에서 한번만 스캔하여 담아두고
/// </summary>
public void Update()
{
if (Para.iPhysicalNo != 0)
{
return;
}
int iEncPos = 0;
for (int i = 0; i < m_iMaxMotor; i++)
{
EMCL.ERAETech_EMCL_GetAllStatus(m_iPortID, (byte)i, ref MotorStat[i]);
//EMCL.ERAETech_EMCL_GetRefSearchStatus(m_iPortID, (byte)i);
EMCL.ERAETech_EMCL_Sync_GetEncoderPos(m_iPortID, (byte)i, ref iEncPos);
MotorEncPos[i] = (double)iEncPos;
}
}
/// <summary>
/// 초기화 함수.
/// </summary>
/// <returns>초기화 성공여부</returns>
public bool Init()
{
Para = new CParaMotorEmcl();
if (m_bInit == false)
{
m_bInit = true;
//통합 보드 초기화 부분.
m_iPortID = 1;
//9600
//14400
//19200
//38400
//57600
//115200
m_iBoudRate = 57600;
EMCL.ERAETech_EMCL_OpenComm(m_iPortID, m_iBoudRate);
if (!EMCL.ERAETech_EMCL_IsPortOpen(m_iPortID))
{
Log.ShowMessage("EMCL", "Port Open Error PortNo =" + m_iPortID.ToString());
//return false ;
}
m_iMaxMotor = EMCL.ERAETech_EMCL_GetNodeCount(m_iPortID, 10);//포트에 몇개의 모터가 달려 있는지...확인 10개까지 확인해 본다.
if (m_iMaxMotor == 0)
{
m_iMaxMotor = 10;
//Log.ShowMessage("EMCL", "Motor Connected Error PortNo =" + m_iPortID.ToString());
}
MotorStat = new EMCL.MotorStatus[m_iMaxMotor];
MotorEncPos = new double[m_iMaxMotor];
}
return(true);
}
public void HomeStop()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_StopRefSearch(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public void SetHomeRef(HomeRefMode RefMode)
{
EMCL.ERAETech_EMCL_SetSearchMode(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(RefMode));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public bool IsComPortCheck()
{
return(EMCL.ERAETech_EMCL_IsPortOpen(m_nPort));
}
public void GetAllStatus(ref EMCL.MotorStatus moStatus)
{
EMCL.ERAETech_EMCL_GetAllStatus(m_nPort, Convert.ToByte(m_nModuleID), ref moStatus);
}
public bool ComClose(string strCom)
{
EMCL.ERAETech_EMCL_CloseComm(-1);
return(true);
}
public void SetResolution(int nValue)
{
EMCL.ERAETech_EMCL_SetMicroStep(m_nPort, Convert.ToByte(m_nModuleID), nValue);
}
/// <summary>
/// 종료 함수
/// </summary>
/// <returns>종료 성공여부</returns>
public bool Close()
{
EMCL.ERAETech_EMCL_CloseComm(-1);//해당포트를 닫는다 -1 이면 모든 포트 닫음.
return(true);
}
public void ServoOff()
{
EMCL.ERAETech_EMCL_SetServoOn(m_nPort, Convert.ToByte(m_nModuleID), 0);
}
