private void OnUserParameterCB(IntPtr ptr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript("0sfc ignore-overrun");
// 要留意載入順序
bot.LoadSFC(@"..\..\rcon-system.fs");
bot.LoadSFC(@"..\..\plc.fs");
// SFC 設置完成後下個週期 reset overrun
bot.EvaluateScript("1 ms reset-overrun");
break;
default:
break;
}
sfcLoaded = true;
}
private void OnUserParameterCallback(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 16
// 如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("16 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript(@"0sfc ignore-overrun");
bot.LoadSFC(@"../../group2d.sfc");
bot.LoadSFC(@"../../mpg.sfc");
bot.LoadSFC(@"../../manager.sfc");
bot.EvaluateScript(@"marker -axes .user-para");
break;
case 16:
bot.EvaluateScript(@"reset-overrun 32 user-para! .user-para");
break;
case 32:
hasSFC = true;
break;
default:
break;
}
}
private static void OnUserParameterCB(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會在載入以下 SFC
bot.EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript("0sfc ignore-overrun");
bot.LoadSFC(@"..\..\config.sfc");
bot.LoadSFC(@"..\..\servo_on_off.sfc");
bot.LoadSFC(@"..\..\homing.sfc");
bot.LoadSFC(@"..\..\motion_state.sfc");
bot.LoadSFC(@"..\..\manager.sfc");
// 等待 SFC 設置完成
Thread.Sleep(500);
bot.EvaluateScript("reset-overrun");
break;
default:
break;
}
hasSFC = true;
}
private void OnUserParameterCallback(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會在載入以下 SFC
//EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript("0sfc ignore-overrun");
bot.EvaluateScript("-work marker -work");
bot.LoadSFC(@"..\..\positionComparsion.sfc");
// 等待 SFC 設置完成
has_updated = true;
Thread.Sleep(10);
bot.EvaluateScript("reset-overrun");
break;
default:
break;
}
}
private void OnUserParameterCallback(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會在載入以下 SFC
//EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript("0sfc ignore-overrun");
bot.EvaluateScript("-work marker -work");
bot.LoadSFC(@"SDOUploadList.sfc");
// 等待 SFC 設置完成
Thread.Sleep(100);
// 設定 SDOUploadList.sfc 中的 AIN 與 AOUT 模組的站號
bot.EvaluateScript(DeltaAinSlavePosStr + " ain-slave-pos! " + DeltaAoutSlavePosStr + " aout-slave-pos! ");
// send-param-request 是要求 AIN, AOUT 模組送回目前模式設定
// 回傳的資料範例如下:
// aout1_mode|3
// aout2_mode|1
// aout3_mode|0
// aout4_mode|0
// ain_mode|1
bot.EvaluateScript("reset-overrun send-param-request");
break;
default:
break;
}
}
private void OnUserParameterCallback(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 16
// 如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("16 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript(@"0sfc ignore-overrun -work marker -work");
bot.LoadSFC(@"../../feeder.fs");
bot.LoadSFC(@"../../sdo_upload.fs");
bot.LoadSFC(@"../../manager.fs");
bot.EvaluateScript(@"marker -feeder .user-para");
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 0")).Start();
break;
case 16:
bot.EvaluateScript(@"reset-overrun 32 user-para! .user-para");
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 16")).Start();
break;
case 32:
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 32")).Start();
bot.EvaluateScript(@".devices-info .feeder-para .ec-links 64 user-para! .user-para");
break;
case 64:
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 64")).Start();
string cmd = null;
for (int i = 1; i <= slavesLen; i++)
{
cmd += (i.ToString() + @" .slave ");
}
bot.EvaluateScript(cmd);
hasSFC = true;
break;
default:
break;
}
}
private void OnUserParameterCB(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 0x10
// 如果此範例重新執行不會再載入以下 SFC
//botnana.EvaluateScript("$10 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
botnana.EvaluateScript("0sfc ignore-overrun -work marker -work ");
botnana.LoadSFC(@"mpg.sfc");
botnana.LoadSFC(@"manager.sfc");
// 等待 SFC 設置完成
botnana.SendScript("reset-overrun");
break;
default:
break;
}
hasSFC = true;
}
private void OnUserParameterCallback(IntPtr dataPtr, string str)
{
int para = Int32.Parse(str);
switch (para)
{
case 0:
// 設定 user parameter 為 16
// 如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("16 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
// 載入後再執行 `reset-overrun`
bot.EvaluateScript(@"0sfc ignore-overrun -work marker -work");
bot.LoadSFC(@"config.fs");
bot.LoadSFC(@"demo.fs");
bot.LoadSFC(@"torque.fs");
bot.LoadSFC(@"manager.fs");
bot.EvaluateScript(@"marker -torque .user-para");
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 0")).Start();
break;
case 16:
bot.EvaluateScript(@"reset-overrun 32 user-para! .user-para");
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 16")).Start();
break;
case 32:
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 32")).Start();
bot.EvaluateScript(@".device-infos .ec-links 64 user-para! .user-para");
break;
case 64:
//new Thread(() => System.Windows.Forms.MessageBox.Show("OnUserParameterCallback 64")).Start();
string cmd = null;
// +coordinator : 啟動軸組控制的功能
cmd += @"+coordinator ";
if (torqueDriveSlave != 0)
{
// 1 .slave 回應的訊息範例如下:
// vendor.1|0x000001DD|product.1|0x10305070|description.1||ec_alias.1|0|slave_state.1|0x23
// |device_type.1|0x04020192|profile_deceleration.1.1|100000|profile_acceleration.1.1|100000
// |profile_velocity.1.1|50000|operation_mode.1.1|6|home_offset.1.1|0|homing_method.1.1|35
// |homing_speed_1.1.1|10000|homing_speed_2.1.1|1000|homing_acceleration.1.1|50000
// |supported_drive_mode.1.1|0x000003ED|target_velocity.1.1|0|drive_polarity.1.1|0x00
// |min_position_limit.1.1|-2147483648|max_position_limit.1.1|2147483647|target_torque.1.1|0
// |torque_slope.1.1|200|max_motor_speed.1.1|5000|drive_homed.1.1|0|drive_douts.1.1|0
// |drive_douts_mask.1.1|0|control_word.1.1|0x0000|target_position.1.1|0|status_word.1.1|0x0250
// |real_position.1.1|0|digital_inputs.1.1|0x00000004|real_torque.1.1|0|pds_state.1.1|Switch On Disabled
// |pds_goal.1.1|Switch On Disabled
cmd += torqueDriveSlave.ToString() + @" .slave ";
}
if (torqueAxisNumber != 0)
{
// "1 .axiscfg" 回應的訊息範例如下:
// axis_name.1|A2|axis_home_offset.1|0.0000000|encoder_length_unit.1|Meter
// |encoder_ppu.1|1000000.00000|encoder_direction.1|1|ext_encoder_ppu.1|60000.00000
// |ext_encoder_direction.1|-1|closed_loop_filter.1|15.0|max_position_deviation.1|0.001000
// |drive_alias.1 |0|drive_slave_position.1|1|drive_channel.1|1|ext_encoder_alias.1|0
// |ext_encoder_slave_position.1|0|ext_encoder_channel.1|0|axis_amax.1|5.00000
// |axis_vmax.1|0.10000|axis_vff.1|0.00|axis_vfactor.1|1.00000|axis_aff.1|0.00
// |axis_afactor.1|1.00000
// 其中 encoder_length_unit 是設定 Encoder 解析度的單位距離
// encoder_ppu 是設定 Encoder 單位距離有幾個脈波數
// axis_vmax 是運動軸的最大速度 [m/s]
// axis_amax 是運動軸的最大加速度 [m/s^2]
// drive_alias, drive_slave_position, drive_channel 用來指定對應的驅動器，
// 如果 drive_alias > 0 就採用 drive_alias 與 drive_channel，
// 如果 drive_alias == 0 就採用 drive_slave_position 與 drive_channel，
// 如果沒有對應的驅動器，該運動軸及為虛擬軸
cmd += torqueAxisNumber.ToString() + @" .axiscfg ";
}
if (torqueGroupNumber != 0)
{
// "1 .grpcfg" 回應的訊息範例如下:
// group_name.1|G1X|group_type.1|1D|group_mapping.1|1|group_vmax.1|0.05000
// |group_amax.1|2.00000|group_jmax.1|40.00000
// 其中 group_type 是設定軸組型態
// group_mapping 是設定軸組會使用哪幾個運動軸
// group_vmax 是運動軸的最加速度 [m/s]
// group_amax 是運動軸的最大加速度 [m/s^2]
// group_jmax 是運動軸的最大加加速度 [m/s^3]
cmd += torqueGroupNumber.ToString() + @" .grpcfg ";
}
bot.EvaluateScript(cmd);
hasSFC = true;
break;
default:
break;
}
}
public FormApp()
{
InitializeComponent();
bot = new Botnana("192.168.7.2");
// 啟動終端機，可幫助除錯，若不使用可不啟動。
RunConsole();
// On WebSocket open callback.
onWSOpen = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 2;
rebooting = false;
BeginInvoke(new Appdeg(() =>
{
buttonWSState.Text = "WebSocket ready";
buttonWSState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
// 送出 .user-para 命令，讓為回傳的訊息去觸發 OnUserParameterCallback
// 若重複執行從 32 開始，因為需要 .device-infos 取得周邊裝置的資訊
// .user-para 回應的訊息範例如下:
// user_parameter|0
bot.EvaluateScript(@"user-para@ 32 min user-para! .user-para");
Console.WriteLine("WebSocket connected.");
});
bot.SetOnOpenCB(IntPtr.Zero, onWSOpen);
// On WebSocket error callback.
onWSError = new HandleMessage((IntPtr dataPtr, string str) =>
{
webSocketState = 0;
slavesCount = 0;
hasSFC = false;
BeginInvoke(new Appdeg(() => {
buttonWSState.Text = "WebSocket not ready";
buttonWSState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
formTorque.Reset();
formFeeder.Reset();
formRCON.Reset();
Console.WriteLine("WS error : " + str);
});
bot.SetOnErrorCB(IntPtr.Zero, onWSError);
// On Message callback.
onMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
Console.WriteLine("OnMessage : " + str);
});
bot.SetOnMessageCB(IntPtr.Zero, onMessage);
// On Error tag callback
onErrorMessage = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (errorsLen < 3)
{
errorsLen += 1;
new Thread(() =>
{
System.Windows.Forms.MessageBox.Show("Error|" + str);
errorsLen -= 1;
}).Start();
}
Console.WriteLine("Error|" + str);
});
bot.SetTagCB(@"error", 0, IntPtr.Zero, onErrorMessage);
// On user_parameter tag callback.
onUserParameter = new HandleMessage((IntPtr dataPtr, string str) =>
{
switch (Int32.Parse(str))
{
case 0:
Console.WriteLine("OnUserParameterCallback 0");
if (webSocketState == 2 && !rebooting)
{
// 設定 user parameter 為 16，如果此範例重新執行不會再載入以下 SFC
bot.EvaluateScript("16 user-para!");
// 清除SFC 邏輯，載入 SFC 時會造成 real time cycle overrun，所以要暫時 ignore-overrun
bot.EvaluateScript(@"ignore-overrun 0sfc -work marker -work");
bot.LoadSFC(@"config.fs");
bot.LoadSFC(@"sdo.fs");
bot.LoadSFC(@"torque.fs");
bot.LoadSFC(@"feeder.fs");
bot.LoadSFC(@"rcon.fs");
bot.LoadSFC(@"manager.fs");
bot.EvaluateScript(@"marker -app .user-para");
}
break;
case 16:
Console.WriteLine("OnUserParameterCallback 16");
// 載入後執行 `reset-overrun`
BotEvaluateScript(@"reset-overrun 32 user-para! .user-para");
break;
case 32:
Console.WriteLine("OnUserParameterCallback 32");
formTorque.Initialize();
formFeeder.Initialize();
formRCON.Initialize();
BotEvaluateScript(@"+coordinator 64 user-para! .user-para");
break;
case 64:
Console.WriteLine("OnUserParameterCallback 64");
hasSFC = true;
break;
default:
break;
}
});
bot.SetTagCB(@"user_parameter", 0, IntPtr.Zero, onUserParameter);
// On ec_ready tag callback.
onECReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "1")
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonECState.Text = "EtherCAT not ready(" + slavesCount.ToString() + ")";
buttonECState.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"ec_ready", 0, IntPtr.Zero, onECReady);
// On slaves_responding tag callback.
onSlavesResponding = new HandleMessage((IntPtr dataPtr, string str) =>
{
slavesCount = int.Parse(str);
});
bot.SetTagCB(@"slaves_responding", 0, IntPtr.Zero, onSlavesResponding);
// On system_ready tag callback.
onSystemReady = new HandleMessage((IntPtr dataPtr, string str) =>
{
if (str == "-1")
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System ready";
buttonSystemReady.BackColor = Color.FromArgb(0x53, 0xFF, 0x53);
}));
}
else
{
BeginInvoke(new Appdeg(() => {
buttonSystemReady.Text = "System not ready";
buttonSystemReady.BackColor = Color.FromArgb(0xFF, 0x2D, 0x2D);
}));
}
});
bot.SetTagCB(@"system_ready", 0, IntPtr.Zero, onSystemReady);
formTorque = new FormTorque();
formFeeder = new FormFeeder();
formRCON = new FormRCON();
}
