public override bool Open()
{
int boardIdInBits = 0;
int ret = APS168.APS_register_virtual_board(1, 1);
// Card(Board) initial,mode bit0(0:By system assigned, 1:By dip switch)
ret = APS168.APS_initial(ref boardIdInBits, m_cardIdMode);
if (ret >= 0)
{
APS168.APS_get_first_axisId(m_cardId, ref m_startAxisIndex, ref m_totalAxisCount);
int CardName = 0;
APS168.APS_get_card_name(m_cardId, ref CardName);
if (CardName != (Int32)APS_Define.DEVICE_NAME_ENET_EMX100)
{
throw new Exception("运动控制是型号不是EMX100！");
}
}
else
{
throw new Exception("运动控制卡初始化失败，请检查驱动是否装好或者MotionCreatePro已经开启！");
}
m_isInitialed = true;
return(true);
}
public override bool Initialize()
{
int boardBits = 0;
var ret = APS168.APS_initial(ref boardBits, 0);
return(ret == 0);
}
/// <summary>
/// Initials the specified axis identifier.
/// </summary>
/// <param name="Axis_ID">The axis identifier.</param>
/// <returns>System.Int32.</returns>
public override int InitialAxis(Int32 Axis_ID)
{
int err = -1;
err = APS168.APS_initial(ref mCardPara.boardID_InBits, mCardPara.mode);
mCardPara.AxisID = Axis_ID;
this.currentDirection = MotionDirection.Initial;
return(err);
}
private void InitializeCard()
{
var boardBits = 0;
var ret = APS168.APS_initial(ref boardBits, 0);
if (ret == 0)
{
foreach (var cardNo in _cardNos)
{
if (((boardBits >> cardNo) & 1) == 0)
{
throw new SystemException("Board Id search error !");
}
var cardName = 0;
ret = APS168.APS_get_card_name(cardNo, ref cardName);
var innerMsg = "";
innerMsg = GetErrorCodeDesc((APS_Define)ret);
if (innerMsg != "No Error")
{
MessageBox.Show(string.Format("APS_get_card_name Error:{0}", innerMsg));
}
//ThrowIfResultError(ret, "Initial");
if ((cardName == (int)APS_Define.DEVICE_NAME_PCI_825458) ||
(cardName == (int)APS_Define.DEVICE_NAME_AMP_20408C))
{
var startAxisId = 0;
var totalAxisNum = 0;
APS168.APS_get_first_axisId(cardNo, ref startAxisId, ref totalAxisNum);
for (var index = 0; index < totalAxisNum; ++index)
{
_axises.Add(startAxisId + index);
}
APS168.APS_load_parameter_from_flash(cardNo);
}
else
{
MessageBox.Show("Board type not matching!");
//throw new ApsException("Board type not matching!");
}
}
}
else
{
var innerMsg = "";
innerMsg = GetErrorCodeDesc((APS_Define)ret);
if (innerMsg != "No Error")
{
MessageBox.Show(string.Format("板卡初始化错误:{0}", innerMsg));
}
//ThrowIfResultError(ret, "APS_initial");
}
}
public override int Initial()
{
lock (obj)
{
int boardId = 0;
int mode = 0;
int ret = APS168.APS_initial(ref boardId, mode);
if (ret != 0)
{
return(ret);
}
return(boardId);
}
}
public void Initial(int cardId, int mode)
{
CardId = cardId;
var boardIdInBits = 0;
// Card(Board) initial,mode bit0(0:By system assigned, 1:By dip switch)
var ret = APS168.APS_initial(ref boardIdInBits, mode);
if (ret >= 0)
{
IsInitialed = true;
APS168.APS_get_first_axisId(cardId, ref StartAxisId, ref TotalAxis);
APS168.APS_get_card_name(cardId, ref CardName);
if (CardName != (int)APS_Define.DEVICE_NAME_PCI_825458 && CardName != (int)APS_Define.DEVICE_NAME_AMP_20408C)
{
MessageBox.Show("运动控制是型号不是204C或208C！");
}
}
else
{
MessageBox.Show("运动控制卡初始化失败，请检查驱动是否装好或者MotionCreatePro已经开启！");
}
}
public bool InitialFixture(int cardId, int mode)
{
CardId = cardId;
int boardIdInBits = 0;
// Card(Board) initial,mode bit0(0:By system assigned, 1:By dip switch)
int ret = APS168.APS_initial(ref boardIdInBits, mode);
if (ret >= 0)
{
APS168.APS_get_first_axisId(cardId, ref StartAxisId, ref TotalAxis);
APS168.APS_get_card_name(cardId, ref CardName);
if (CardName != (Int32)APS_Define.DEVICE_NAME_PCI_825458 && CardName != (Int32)APS_Define.DEVICE_NAME_AMP_20408C)
{
//MessageBox.Show("运动控制是型号不是204C或208C！");
return(false);
}
}
else
{
//MessageBox.Show("运动控制卡初始化失败，请检查驱动是否装好或者MotionCreatePro已经开启！");
return(false);
}
//判断配置文件是否存在
if (File.Exists(txtXmlFilename))
{
if (LoadParamFromFile(txtXmlFilename) == false)
{
return(false);
}
}
IsInitialed = true;
return(true);
}
public int OpenDevice()
{
if (!IsInitOK)
return (int)ErrorDef.InitFailedWhenOpenCard;
if (IsDeviceOpen)
return (int)ErrorDef.Success;
// Card(Board) initial,mode bit0(0:By system assigned, 1:By dip switch)
int ret = 0;
lock (SDKLocker)
{
if (!IsSDKInitialized)
{
ret = APS168.APS_initial(ref BoardBitsLinked, 0); //可以获取已连接计算机的控制卡的bits
if (ret != 0)
return (int)ErrorDef.InvokeFailed;
IsSDKInitialized = true;
}
bool isBoardIDExist = false; //检查总线中是否连接有指定BoardID的卡
for (int i = 0; i < 32; i++)
if ((BoardBitsLinked & (1 << i)) != 0 && _boardID == (i))
{
isBoardIDExist = true;
break;
}
if (!isBoardIDExist)
return (int)ErrorDef.BoardIDNotExist;
if ((BoardBitsLoaded & (1 << (_boardID ))) == 0) //从Flash中载入参数
{
ret = APS168.APS_load_parameter_from_flash(_boardID); //从Flash中载入参数
if (0 != ret)
return (int)ErrorDef.InvokeFailed;
BoardBitsLoaded |= (1 << (_boardID ));
}
BoardOpened++;
//if(!mdCfg.ContainsItem("Card_" + _boardID))
// mdCfg.AddItem("Card"+ _boardID ,new JFXM)
dio = new JFAps168DIO(_boardID);
mc = new JFAps168MC(_boardID, mdCfg,this);
cmpTrigs = new JFAps168CompareTrigger(_boardID, mdCfg, this);
dio.Open();
mc.Open();
cmpTrigs.Open();
AioCount = 0;
McCount = 1;
DioCount = 1;
CompareTriggerCount = 1;
IsInitOK = true;
IsDeviceOpen = true;
}
return (int)ErrorDef.Success;
}