/// <summary>
/// 吋動 (軸參設定的五個速度值)
/// </summary>
/// <param name="speedIndex">軸參之吋動速度</param>
/// <param name="dir">吋動方向</param>
public void Jog(JogSpeed jogSpeed, RotationDirection dir)
{
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
int i = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
i = MmToPulse(speed);
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, i / 2, i, axisPara.AccVelM, axisPara.DecVelM);
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
/// <summary>
/// 吋動 (軸參設定的五個速度值)
/// </summary>
/// <param name="speedIndex">軸參之吋動速度</param>
/// <param name="dir">吋動方向</param>
public bool Jog(JogSpeed jogSpeed, RotationDirection dir)
{
bool success = true;
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
success = JogM(speed, dir);
}
return(success);
}
public void JogConsiderSoftLimit(JogSpeed jogSpeed, RotationDirection dir)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
if (softLimitEnabled)
{
if (dir == RotationDirection.CW)
{
MoveM(softLimitP, speed);
}
else
{
MoveM(softLimitN, speed);
}
}
else
{
if (isAllowMove(dir))
{
byte bDir;
if (dir == RotationDirection.CW)
{
bDir = 0;
}
else
{
bDir = 1;
}
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(checkOverMaxSpeed(speed)) / 2, MmToPulse(checkOverMaxSpeed(speed)), axisPara.AccVelM, axisPara.DecVelM);
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
}
}
public void JogConsiderSoftLimit(JogSpeed jogSpeed, RotationDirection dir)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
sbyte bDir;
if (dir == RotationDirection.CW)
{
bDir = 1;
}
else
{
bDir = -1;
}
if (softLimitEnabled)
{
if (dir == RotationDirection.CW)
{
AbsolueMove(softLimitP, speed);
}
else
{
AbsolueMove(softLimitN, speed);
}
}
else
{
if (isAllowMove(dir))
{
CCMNet.CS_mnet_m204_tv_move(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(checkOverMaxSpeed(speed)) / 2 * bDir, MmToPulse(checkOverMaxSpeed(speed)) * bDir, axisPara.AccVelM);
}
}
}
}
private void parameterInitial()
{
ldrReady.On = axis.Status.RDY;
ldrAlarm.On = axis.Status.ALM;
ldrLimitP.On = axis.Status.LimitP;
ldrLimitN.On = axis.Status.LimitN;
ldrORG.On = axis.Status.ORG;
ldrHome.On = axis.Status.Home;
ldrEMG.On = axis.Status.EMG;
ldrRALM.On = axis.Status.RALM;
ldrSVON.On = axis.Status.SVON;
ldrINP.On = axis.Status.INP;
ldrSD.On = axis.Status.SD;
ldrLatch.On = axis.Status.Latch;
ldrZPhase.On = axis.Status.ZPhase;
ldrERC.On = axis.Status.ERC;
jogSpeed = JogSpeed.Micro;
}
/// <summary>
/// 吋動 (軸參設定的五個速度值)
/// </summary>
/// <param name="speedIndex">軸參之吋動速度</param>
/// <param name="dir">吋動方向</param>
public void Jog(JogSpeed jogSpeed, RotationDirection dir)
{
byte bDir;
if (dir == RotationDirection.CW)
{
bDir = 1;
}
else
{
bDir = 0;
}
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
int i = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
i = MmToPulse(speed);
CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, i / 2, i, axisPara.AccVelM, axisPara.DecVelM);
CMNET_L132.CS_mnet_m1_v_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, bDir);
}
}
private void jogSpeed_Click(object sender, MouseEventArgs e)
{
List <LedButton> allLedBtn = new List <LedButton>();
allLedBtn.Add(lbtnMicroSpeed);
allLedBtn.Add(lbtnLowSpeed);
allLedBtn.Add(lbtnMidSpeed);
allLedBtn.Add(lbtnHighSpeed);
allLedBtn.Add(lbtnMaxSpeed);
foreach (LedButton eachLedBtn in allLedBtn)
{
if (((LedButton)sender).Name == eachLedBtn.Name)
{
eachLedBtn.Active = true;
jogSpeed = (JogSpeed)allLedBtn.IndexOf(eachLedBtn);
}
else
{
eachLedBtn.Active = false;
}
}
}
private void parameterInitial()
{
ntxbStrVelM.Tag = "StrVelM";
ntxbDevVelM.Tag = "DevVelM";
ntxbAccVelM.Tag = "AccVelM";
ntxbDecVelM.Tag = "DecVelM";
ntxbDistPerRole.Tag = "DistPerRole";
ntxbPulsePerRole.Tag = "PulsePerRole";
ntxbInPositionPrecise.Tag = "InPositionPrecise";
ntxbStopCmdWaitSeconds.Tag = "StopCmdWaitSeconds";
ntxbDecVelA.Tag = "DecVelA";
ntxbAccVelA.Tag = "AccVelA";
ntxbDevVelA.Tag = "DevVelA";
ntxbStrVelA.Tag = "StrVelA";
ntxbOffsetH.Tag = "OffsetH";
ntxbCreepDecVelH.Tag = "CreepDecVelH";
ntxbCreepAccVelH.Tag = "CreepAccVelH";
ntxbCreepDevVelH.Tag = "CreepDevVelH";
ntxbCreepStrVelH.Tag = "CreepStrVelH";
ntxbOPRDevVelH.Tag = "OPRDevVelH";
ntxbClearDelay.Tag = "ClearDelay";
ntxbMaxSpeed.Tag = "JogMaxSpeed";
ntxbHighSpeed.Tag = "JogHighSpeed";
ntxbMidSpeed.Tag = "JogMidSpeed";
ntxbLowSpeed.Tag = "JogLowSpeed";
ntxbMicroSpeed.Tag = "JogMicroSpeed";
cbSoftLimitEnable.Tag = "SoftLimitEnabled";
ntxbSoftLimitP.Tag = "SoftLimitP";
ntxbSoftLimitN.Tag = "SoftLimitN";
cmbLTC.Tag = "LogicLTC";
cmbSD.Tag = "LogicSD";
cmbZPhase.Tag = "LogicZ";
cmbORG.Tag = "LogicORG";
cmbEL.Tag = "LogicEL";
cmbERC.Tag = "LogicERC";
cmbINP.Tag = "LogicINP";
cmbEncMode1.Tag = "EncMode";
cmbLTCSignalSource.Tag = "LTCSignalSource";
cmbPulseMode.Tag = "PulseMode";
cmbALM.Tag = "LogicALM";
cmbEncDir.Tag = "EncDir";
cmbHomeMode.Tag = "HomeMode";
cmbMotorMode.Tag = "MotorMode";
ldrReady.On = axis.Status.RDY;
ldrAlarm.On = axis.Status.ALM;
ldrLimitP.On = axis.Status.LimitP;
ldrLimitN.On = axis.Status.LimitN;
ldrORG.On = axis.Status.ORG;
ldrHome.On = axis.Status.Home;
ldrEMG.On = axis.Status.EMG;
ldrRALM.On = axis.Status.RALM;
ldrSVON.On = axis.Status.SVON;
ldrINP.On = axis.Status.INP;
ldrSD.On = axis.Status.SD;
ldrLatch.On = axis.Status.Latch;
ldrZPhase.On = axis.Status.ZPhase;
ldrERC.On = axis.Status.ERC;
ntxbStrVelM.Text = axis.AxisPara.StrVelM.ToString();
ntxbDevVelM.Text = axis.AxisPara.DevVelM.ToString();
ntxbAccVelM.Text = axis.AxisPara.AccVelM.ToString();
ntxbDecVelM.Text = axis.AxisPara.DecVelM.ToString();
ntxbDistPerRole.Text = axis.AxisPara.DistPerRole.ToString();
ntxbPulsePerRole.Text = axis.AxisPara.PulsePerRole.ToString();
ntxbInPositionPrecise.Text = axis.axisPara.InPositionPrecise.ToString();
ntxbStopCmdWaitSeconds.Text = axis.axisPara.StopCmdWaitSeconds.ToString();
ntxbDecVelA.Text = axis.AxisPara.DecVelA.ToString();
ntxbAccVelA.Text = axis.AxisPara.AccVelA.ToString();
ntxbDevVelA.Text = axis.AxisPara.DevVelA.ToString();
ntxbStrVelA.Text = axis.AxisPara.StrVelA.ToString();
ntxbOffsetH.Text = axis.AxisPara.OffsetH.ToString();
ntxbCreepDecVelH.Text = axis.AxisPara.CreepDecVelH.ToString();
ntxbCreepAccVelH.Text = axis.AxisPara.CreepAccVelH.ToString();
ntxbCreepDevVelH.Text = axis.AxisPara.CreepDevVelH.ToString();
ntxbCreepStrVelH.Text = axis.AxisPara.CreepStrVelH.ToString();
ntxbOPRDevVelH.Text = axis.AxisPara.OPRDevVelH.ToString();
ntxbClearDelay.Text = axis.AxisPara.ClearDelay.ToString();
ntxbMaxSpeed.Text = axis.AxisPara.JogMaxSpeed.ToString();
ntxbHighSpeed.Text = axis.AxisPara.JogHighSpeed.ToString();
ntxbMidSpeed.Text = axis.AxisPara.JogMidSpeed.ToString();
ntxbLowSpeed.Text = axis.AxisPara.JogLowSpeed.ToString();
ntxbMicroSpeed.Text = axis.AxisPara.JogMicroSpeed.ToString();
cmbLTC.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicLTC);
cmbSD.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicSD);
cmbZPhase.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicZ);
//cmbLTCSignalSource.SelectedIndex = Convert.ToInt16(axis.AxisPara.LTCSignalSource);
cmbORG.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicORG);
cmbERC.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicERC);
cmbINP.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicINP);
cmbEncMode1.SelectedIndex = Convert.ToInt16(axis.AxisPara.EncMode);
cmbPulseMode.SelectedIndex = Convert.ToInt16(axis.AxisPara.PulseMode);
cmbALM.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicALM);
cmbEncDir.SelectedIndex = Convert.ToInt16(axis.AxisPara.EncDir);
cmbHomeMode.SelectedIndex = Convert.ToInt16(axis.AxisPara.HomeMode);
cmbEL.SelectedIndex = Convert.ToInt16(axis.AxisPara.LogicEL);
cmbMotorMode.SelectedIndex = Convert.ToInt16(axis.AxisPara.MotorMode);
jogSpeed = JogSpeed.Micro;
lbCardNumber.Text = axis.AxisPara.CardSwitchNo.ToString();
lbAxisNumber.Text = axis.AxisPara.AxisNo.ToString();
lbSlaveIP.Text = axis.AxisPara.SlaveIP.ToString();
ntxbSoftLimitN.Text = axis.AxisPara.SoftLimitN.ToString();
ntxbSoftLimitP.Text = axis.AxisPara.SoftLimitP.ToString();
cbSoftLimitEnable.Checked = axis.AxisPara.SoftLimitEnabled;
}