private bool IsDisabled(MMCSingleAxis singleAxis)
{
MC_STATE_SINGLE status = (MC_STATE_SINGLE)(singleAxis.ReadStatus() & plcStateMask);
if ((status & MC_STATE_SINGLE.DISABLED) == MC_STATE_SINGLE.DISABLED)
{
return(true);
}
return((status & MC_STATE_SINGLE.ERROR_STOP) == MC_STATE_SINGLE.ERROR_STOP);
}
private bool IsMotionDone(MMCSingleAxis singleAxis)
{
MC_STATE_SINGLE status = (MC_STATE_SINGLE)(singleAxis.ReadStatus() & plcStateMask);
if ((status & MC_STATE_SINGLE.STAND_STILL) == MC_STATE_SINGLE.STAND_STILL)
{
return(true);
}
if ((status & MC_STATE_SINGLE.ERROR_STOP) == MC_STATE_SINGLE.ERROR_STOP)
{
return(true);
}
if ((status & MC_STATE_SINGLE.DISABLED) == MC_STATE_SINGLE.DISABLED)
{
return(true);
}
return(false);
}
private bool OKtoCmdMove(MMCSingleAxis singleAxis)
{
MC_STATE_SINGLE status = (MC_STATE_SINGLE)(singleAxis.ReadStatus() & plcStateMask);
if ((status & MC_STATE_SINGLE.DISCRETE_MOTION) == MC_STATE_SINGLE.DISCRETE_MOTION)
{
return(false);
}
if ((status & MC_STATE_SINGLE.HOMING) == MC_STATE_SINGLE.HOMING)
{
return(false);
}
if ((status & MC_STATE_SINGLE.ERROR_STOP) == MC_STATE_SINGLE.ERROR_STOP)
{
return(false);
}
return(true);
}
/// <summary>
/// Internal Update Loop
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void UpdateLoop(object sender, DoWorkEventArgs e)
{
PIVarDirection dir = PIVarDirection.ePI_INPUT;
VAR_TYPE varT = VAR_TYPE.S_BYTE;
PI_VAR_UNION varUnion = new PI_VAR_UNION();
do
{
try
{
Thread.Sleep(LoopInterval);
KeyValuePair <CompBase, MMCSingleAxis>[] pairs = listAxis.ToArray();
foreach (KeyValuePair <CompBase, MMCSingleAxis> pair in pairs)
{
try
{
if (pair.Key is IOBoolChannel)
{
BoolInput[] inputs = pair.Key.RecursiveFilterByType <BoolInput>();
foreach (BoolInput input in inputs)
{
pair.Value.ReadPIVar((UInt16)(input.Channel), dir, varT, ref varUnion);
if (varUnion.s_byte == 1)
{
input.Value = true;
}
else
{
input.Value = false;
}
}
}
else
{
double dVal = pair.Value.GetActualPosition();
if (pair.Key is RealAxis)
{
(pair.Key as RealAxis).SetCurrentPosition(dVal);
(pair.Key as RealAxis).MoveDone = IsMotionDone(pair.Value);
}
else if (pair.Key is RealRotary)
{
(pair.Key as RealRotary).SetCurrentPosition(dVal);
(pair.Key as RealRotary).MoveDone = IsMotionDone(pair.Value);
}
BoolInput[] inputs = pair.Key.RecursiveFilterByType <BoolInput>();
foreach (BoolInput input in inputs)
{
input.Value = pair.Value.GetDigInput(input.Channel + 16) != 0;
}
}
MC_STATE_SINGLE status = (MC_STATE_SINGLE)(pair.Value.ReadStatus() & plcStateMask);
if ((status & MC_STATE_SINGLE.ERROR_STOP) == MC_STATE_SINGLE.ERROR_STOP)
{
pair.Key.MachineStatus(string.Format("{0} ErrorStop", pair.Value.AxisName));
}
}
catch (MMCException ex)
{
U.LogPopup(ex, "MMC Update Error Axis {0}", pair.Key.Name);
}
}
}
catch (Exception ex)
{
U.LogError(ex, "Error UpdateLoop: ");
}
} while (!_destroy);
}
private bool IsHoming(MMCSingleAxis singleAxis)
{
MC_STATE_SINGLE status = (MC_STATE_SINGLE)(singleAxis.ReadStatus() & plcStateMask);
return((status & MC_STATE_SINGLE.HOMING) == MC_STATE_SINGLE.HOMING);
}
private bool IsMotorError(MMCSingleAxis singleAxis)
{
MC_STATE_SINGLE status = (MC_STATE_SINGLE)(singleAxis.ReadStatus() & plcStateMask);
return((status & MC_STATE_SINGLE.ERROR_STOP) == MC_STATE_SINGLE.ERROR_STOP);
}
