public bool JobMove(short Axis, double dAcc, double dDec, double dVel)
{
if (Axis < 8 && Axis > -1)
{
lock (lockObj)
{
ushort iDir = 0;
LTDMC.dmc_set_profile(usCardNo, (ushort)Axis, 0.0, Math.Abs(dVel), dAcc, dDec, 0);
if (dVel < 0)
{
iDir = 0;
}
else
{
iDir = 1;
}
LTDMC.dmc_vmove(usCardNo, (ushort)Axis, iDir);
}
return(true);
}
else
{
return(false);
}
}
public bool IsMoveDone(short Axis)
{
bool bResult;
if (bAxisMoving[Axis])
{
bResult = false;
}
else
{
lock (lockObj)
{
dTargetPos[Axis] = LTDMC.dmc_get_target_position(usCardNo, (ushort)Axis);
}
if (dCurrentPos[Axis] == dTargetPos[Axis] && (!bAlarm[Axis]) && (!bAxisMoving[Axis]))
{
bResult = true;
}
else
{
bResult = false;
}
}
return(bResult);
}
public bool SetLimtDisable(short axis)
{
lock (lockObj)
{
LTDMC.dmc_set_el_mode(usCardNo, (ushort)axis, 0, 1, 0);
return(true);
}
}
public bool SetAlarmOff(short axis)
{
lock (lockObj)
{
LTDMC.dmc_set_alm_mode(usCardNo, (ushort)axis, 1, (ushort)1, (ushort)0);
}
return(true);
}
public bool SetHomeOff(short axis)
{
lock (lockObj)
{
LTDMC.dmc_set_home_pin_logic(usCardNo, (ushort)axis, 1, 0);
return(true);
}
}
public double GetVel(short Axis)
{
if (Axis < 8 && Axis > -1)
{
lock (lockObj)
{
return(LTDMC.dmc_read_current_speed(usCardNo, (ushort)Axis));
}
}
else
{
return(0.0);
}
}
public void GetAllIOStatus()
{
lock (lockObj)
{
uint uiInput = 0;
uint uiOutput = 0;
try
{
uiInput = LTDMC.dmc_read_inport(usCardNo, 0);
uiOutput = LTDMC.dmc_read_outport(usCardNo, 0);
}
catch
{
}
bBitInputStatus[0] = ((uiInput & 0x1) == 0) ? true : false;
bBitInputStatus[1] = ((uiInput & 0x2) == 0) ? true : false;
bBitInputStatus[2] = ((uiInput & 0x4) == 0) ? true : false;
bBitInputStatus[3] = ((uiInput & 0x8) == 0) ? true : false;
bBitInputStatus[4] = ((uiInput & 0x10) == 0) ? true : false;
bBitInputStatus[5] = ((uiInput & 0x20) == 0) ? true : false;
bBitInputStatus[6] = ((uiInput & 0x40) == 0) ? true : false;
bBitInputStatus[7] = ((uiInput & 0x80) == 0) ? true : false;
bBitInputStatus[8] = ((uiInput & 0x100) == 0) ? true : false;
bBitInputStatus[9] = ((uiInput & 0x200) == 0) ? true : false;
bBitInputStatus[10] = ((uiInput & 0x400) == 0) ? true : false;
bBitInputStatus[11] = ((uiInput & 0x800) == 0) ? true : false;
bBitInputStatus[12] = ((uiInput & 0x1000) == 0) ? true : false;
bBitInputStatus[13] = ((uiInput & 0x2000) == 0) ? true : false;
bBitInputStatus[14] = ((uiInput & 0x4000) == 0) ? true : false;
bBitInputStatus[15] = ((uiInput & 0x8000) == 0) ? true : false;
bBitOutputStatus[0] = ((uiOutput & 0x1) == 0) ? true : false;
bBitOutputStatus[1] = ((uiOutput & 0x2) == 0) ? true : false;
bBitOutputStatus[2] = ((uiOutput & 0x4) == 0) ? true : false;
bBitOutputStatus[3] = ((uiOutput & 0x8) == 0) ? true : false;
bBitOutputStatus[4] = ((uiOutput & 0x10) == 0) ? true : false;
bBitOutputStatus[5] = ((uiOutput & 0x20) == 0) ? true : false;
bBitOutputStatus[6] = ((uiOutput & 0x40) == 0) ? true : false;
bBitOutputStatus[7] = ((uiOutput & 0x80) == 0) ? true : false;
bBitOutputStatus[8] = ((uiOutput & 0x100) == 0) ? true : false;
bBitOutputStatus[9] = ((uiOutput & 0x200) == 0) ? true : false;
bBitOutputStatus[10] = ((uiOutput & 0x400) == 0) ? true : false;
bBitOutputStatus[11] = ((uiOutput & 0x800) == 0) ? true : false;
bBitOutputStatus[12] = ((uiOutput & 0x1000) == 0) ? true : false;
bBitOutputStatus[13] = ((uiOutput & 0x2000) == 0) ? true : false;
bBitOutputStatus[14] = ((uiOutput & 0x4000) == 0) ? true : false;
bBitOutputStatus[15] = ((uiOutput & 0x8000) == 0) ? true : false;
}
}
public bool SetVel(short Axis, double dVel)
{
lock (lockObj)
{
if (Axis < 8 && Axis > -1)
{
LTDMC.dmc_change_speed(usCardNo, (ushort)Axis, dVel, 0.0);
return(true);
}
else
{
return(false);
}
}
}
public bool SetPulseMode(short axis, PulseMode plm)
{
lock (lockObj)
{
if (plm == PulseMode.PLDI)
{
LTDMC.dmc_set_pulse_outmode(usCardNo, (ushort)axis, 0);
}
else
{
LTDMC.dmc_set_pulse_outmode(usCardNo, (ushort)axis, 4);
}
}
return(true);
}
public bool ServoOff(short axis)
{
if (axis < 8 && axis > -1)
{
lock (lockObj)
{
LTDMC.dmc_write_sevon_pin(usCardNo, (ushort)axis, 1);
return(true);
}
}
else
{
return(false);
}
}
public bool ZeroAxisPos(short axis)
{
if (axis < 8 && axis > -1)
{
lock (lockObj)
{
LTDMC.dmc_set_position(usCardNo, (ushort)axis, 0);
return(true);
}
}
else
{
return(false);
}
}
public bool SetAxisPos(short axis, double dPos)
{
if (axis < 8 && axis > -1)
{
lock (lockObj)
{
LTDMC.dmc_set_position(usCardNo, (ushort)axis, (int)dPos);
return(true);
}
}
else
{
return(false);
}
}
public bool StopMove(short Axis)
{
if (Axis < 8 && Axis > -1)
{
lock (lockObj)
{
LTDMC.dmc_stop(usCardNo, (ushort)Axis, 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(usCardNo, (ushort)iBit, uValue);
}
return(true);
}
else
{
return(false);
}
}
public bool ReferPosMove(short axis, double dAcc, double dDec, double dSpeed, double pos)
{
if (axis < 8 && axis > -1)
{
lock (lockObj)
{
LTDMC.dmc_set_profile(usCardNo, (ushort)axis, 0.0, dSpeed, dAcc, dDec, 0);
LTDMC.dmc_pmove(usCardNo, (ushort)axis, (int)pos, 0);
}
return(true);
}
else
{
return(false);
}
}
public bool StartSearchLimit(short axis, double dAcc, double dDec, double dCatchSpeed)
{
lock (lockObj)
{
ushort iDir = 0;
double dVel = Math.Abs(dCatchSpeed);
LTDMC.dmc_set_profile(usCardNo, (ushort)axis, 0.0, dVel, dAcc, dDec, 0);
if (dCatchSpeed < 0)
{
iDir = 0;
}
else
{
iDir = 1;
}
LTDMC.dmc_vmove(usCardNo, (ushort)axis, iDir);
}
return(true);
}
public bool StartSearchHome(short axis, double dAcc, double dDec, double dHomeSpd)
{
lock (lockObj)
{
ushort iDir = 0;
double dVel = Math.Abs(dHomeSpd);
LTDMC.dmc_set_profile(usCardNo, (ushort)axis, 0.0, dVel, dAcc, dDec, 0);
if (dHomeSpd < 0)
{
iDir = 0;
}
else
{
iDir = 1;
}
LTDMC.dmc_set_homemode(usCardNo, (ushort)axis, iDir, dVel, 2, 0);
LTDMC.dmc_home_move(usCardNo, (ushort)axis);
}
return(true);
}
override public bool Init(HardWareInfoBase infoHardWare)
{
LEISAIMCInfo tempInfo = (LEISAIMCInfo)infoHardWare;
if (nCardTotal > 0)
{
if (nCardTotal >= tempInfo.iCardNo)
{
bInitOK = true;
}
else
{
bInitOK = false;
}
}
else
{
nCardTotal = LTDMC.dmc_board_init();
if (nCardTotal <= 0)//控制卡初始化
{
bInitOK = false;
return(false);
}
if (nCardTotal >= tempInfo.iCardNo)
{
bInitOK = true;
}
else
{
bInitOK = false;
}
}
usCardNo = (ushort)tempInfo.iCardNo;
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
{
dTargetPos[iAxis] = LTDMC.dmc_get_target_position(usCardNo, iAxis);
dCurrentPos[iAxis] = LTDMC.dmc_get_position(usCardNo, iAxis);
if (LTDMC.dmc_check_done(usCardNo, iAxis) == 1)
{
bAxisMoving[iAxis] = false;
}
else
{
bAxisMoving[iAxis] = true;
}
uiCurrent = LTDMC.dmc_axis_io_status(usCardNo, iAxis);
}
catch
{
}
if ((uiCurrent & 0x1) == 0)
{
bAlarm[iAxis] = false;
}
else
{
bAlarm[iAxis] = true;
}
if ((uiCurrent & 0x2) == 0)
{
bCWL[iAxis] = false;
}
else
{
bCWL[iAxis] = true;
}
if ((uiCurrent & 0x4) == 0)
{
bCCWL[iAxis] = false;
}
else
{
bCCWL[iAxis] = true;
}
if ((uiCurrent & 0x10) == 0)
{
bHome[iAxis] = false;
}
else
{
bHome[iAxis] = true;
}
}
}
}