//scan m1x1 slave IO status
private void systemScan()
{
while (true)
{
if (keyOfIOStatus)
{
U32 status = 0;
I16 rt = CMNET_L132.CS_mnet_m1_get_io_status((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, ref status);
this.status.RDY = BitConverterEx.TestB(status, 0);
this.status.ALM = BitConverterEx.TestB(status, 1);
this.status.LimitP = BitConverterEx.TestB(status, 2);
this.status.LimitN = BitConverterEx.TestB(status, 3);
this.status.ORG = BitConverterEx.TestB(status, 4);
this.status.DIR = BitConverterEx.TestB(status, 5);
this.status.EMG = BitConverterEx.TestB(status, 6);
this.status.PCS = BitConverterEx.TestB(status, 7);
this.status.ERC = BitConverterEx.TestB(status, 8);
this.status.ZPhase = BitConverterEx.TestB(status, 9);
this.status.CLR = BitConverterEx.TestB(status, 10);
this.status.Latch = BitConverterEx.TestB(status, 11);
this.status.SD = BitConverterEx.TestB(status, 12);
this.status.INP = BitConverterEx.TestB(status, 13);
this.status.SVON = BitConverterEx.TestB(status, 14);
this.status.RALM = BitConverterEx.TestB(status, 15);
if (this.status.ALM || this.status.EMG)
{
this.status.Home = false;
}
Thread.Sleep(50);
}
}
}
private void masterCardInitialize()
{
Thread.Sleep(100);
I16 rc;
U16 ringStatus = 0;
int getRingStatusRt = CMNET_L132.CS_mnet_get_ring_status((U16)Parameter.CardSwitchNo, (U16)Parameter.RingNoOfCard, ref ringStatus);
if (getRingStatusRt != 0)
{
I16 exitsCard = 0;
CPCI_L132.CS_l132_open(ref exitsCard);
if (exitsCard == 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("DidntFindL132")));
}
Thread.Sleep(30);
rc = CPCI_L132.CS_l132_dsp_pci_boot((U16)Parameter.CardSwitchNo);
Thread.Sleep(30);
rc = CMNET_L132.CS_mnet_initial((U16)Parameter.CardSwitchNo, (U16)Parameter.RingNoOfCard);
if (rc != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("InitializeErrorL132")));
}
}
Thread.Sleep(30);
rc = CMNET_L132.CS_mnet_reset_ring((U16)Parameter.CardSwitchNo, (U16)Parameter.RingNoOfCard);
Thread.Sleep(30);
rc = CMNET_L132.CS_mnet_start_ring((U16)Parameter.CardSwitchNo, (U16)Parameter.RingNoOfCard);
if (rc != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("StartupErrorL132")));
}
}
public bool SetSoftLimit(I32 positiveLimit, I32 negativeLimit, CmdStatus sw, StopType stopType)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (sw == CmdStatus.ON)
{
/*
* 0 INT only
* 1 Immediately stop
* 2 Slow down then stop
* 3 Reserved
*/
if (stopType == StopType.Emergency)
{
rc = CMNET_L132.CS_mnet_m1_enable_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 1);
}
else
{
rc = CMNET_L132.CS_mnet_m1_enable_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 2);
}
rc = CMNET_L132.CS_mnet_m1_set_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, positiveLimit, negativeLimit);
}
else
{
rc = CMNET_L132.CS_mnet_m1_disable_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
}
}
return(rc == 0 ? true : false);
}
/// <summary>
/// 吋動 (自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="speed">速度值 (millimeter).</param>
/// <param name="dir">吋動方向</param>
public void JogM(double speed, RotationDirection dir)
{
byte bDir;
if (dir == RotationDirection.CW)
{
bDir = 1;
}
else
{
bDir = 0;
}
if (axisPara.IsActive && axisPara.Enabled)
{
int 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);
/*
* //不確定速度設定與速度移動是否有先後順序，所以才這樣寫。
* if (!this.IsBusy)
* {
* CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, i / 2, i, axisPara.AccVelM, axisPara.DecVelM);
* }
* else
* {
* CMNET_L132.CS_mnet_m1_v_change((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, (double)i, 0.1);
* }
* if (!this.IsBusy)
* {
* CMNET_L132.CS_mnet_m1_v_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, bDir);
* }*/
}
}
/// <summary>
/// 清除所有DO點狀態
/// </summary>
public void ClearAllOutput()
{
CMNET_L132.CS_mnet_io_output((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, 0, 0);
CMNET_L132.CS_mnet_io_output((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, 1, 0);
CMNET_L132.CS_mnet_io_output((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, 2, 0);
CMNET_L132.CS_mnet_io_output((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, 3, 0);
}
/// <summary>
/// 清除警報
/// </summary>
/// <param name="status">OFF=Don't Output ON=Output</param>
public void ResetAlarm(CmdStatus status)
{
if (axisPara.IsActive && axisPara.Enabled)
{
CMNET_L132.CS_mnet_m1_set_ralm((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, (U16)status);
}
}
//將軸參寫入m1x1 slave
private void setMotion()
{
U16 hMode;
//初始化給1 且限制在 1~3，這邊又把home mode變成12 or 9
if (axisPara.HomeMode == HomeMode.TwoPoint)
{
hMode = 12;
}
else
{
hMode = 9;
}
initErr = CMNET_L132.CS_mnet_m1_set_alm((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicALM), 0);
initErr = CMNET_L132.CS_mnet_m1_set_inp((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, Convert.ToUInt16(axisPara.LogicINP));
initErr = CMNET_L132.CS_mnet_m1_set_erc((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicERC), 0, 0);
initErr = CMNET_L132.CS_mnet_m1_set_home_config((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, hMode, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
initErr = CMNET_L132.CS_mnet_m1_set_sd((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, Convert.ToUInt16(axisPara.LogicSD), 0, 0);
initErr = CMNET_L132.CS_mnet_m1_set_ltc_logic((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicLTC));
initErr = CMNET_L132.CS_mnet_m1_set_feedback_src((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 3);
initErr = CMNET_L132.CS_mnet_m1_set_pls_outmode((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, (U16)axisPara.PulseMode);
initErr = CMNET_L132.CS_mnet_m1_set_pls_iptmode((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, (U16)axisPara.EncMode, (U16)axisPara.EncDir);
initErr = CMNET_L132.CS_mnet_m1_fix_speed_range((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, MmToPulse(axisPara.MaxVel));
}
/// <summary>
/// 絕對移動 (需要自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="dest">目標位置 (millimeter).</param>
/// <param name="speed"> 速度值 </param>
public void MoveM(double dest, double speed)
{
if (axisPara.IsActive && axisPara.Enabled)
{
CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, MmToPulse(speed) / 2, MmToPulse(speed), axisPara.AccVelM, axisPara.DecVelM);
nPos = MmToPulse(dest);
CMNET_L132.CS_mnet_m1_start_a_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, nPos);
}
}
public bool DisableSoftLimit()
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
rc = CMNET_L132.CS_mnet_m1_disable_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
}
return(rc == 0 ? true : false);
}
private void doHomeLim()
{
//if (axisPara.IsActive && axisPara.Enabled )
//{
// CMNET_L132.CS_mnet_m1_set_home_config((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 6, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
// CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, MmToPulse(axisPara.CreepDevVelH), axisPara.CreepAccVelH, axisPara.CreepDecVelH);
// CMNET_L132.CS_mnet_m1_start_home_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0);
//}
CMNET_L132.CS_mnet_m1_set_home_config((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 6, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, MmToPulse(axisPara.CreepDevVelH), axisPara.CreepAccVelH, axisPara.CreepDecVelH);
CMNET_L132.CS_mnet_m1_start_home_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0);
}
//set command counter
private void setPos(double s)
{
//if (axisPara.IsActive && axisPara.Enabled )
//{
// int cmdPos = new int();
// cmdPos = Convert.ToInt32(Math.Round(s / axisPara.DistPerRole * axisPara.PulsePerRole));
// CMNET_L132.CS_mnet_m1_set_command((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, cmdPos);
//}
int cmdPos = new int();
cmdPos = Convert.ToInt32(Math.Round(s / axisPara.DistPerRole * axisPara.PulsePerRole));
CMNET_L132.CS_mnet_m1_set_command((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, cmdPos);
}
/// <summary>
/// 絕對移動 (需選擇使用軸參的手動速度或是自動速度)
/// </summary>
/// <param name="dest">目標位置 (millimeter).</param>
/// <param name="inAuto">手動或自動速度</param>
public void Move(double dest, SpeedMode inAuto)
{
if (axisPara.IsActive && axisPara.Enabled)
{
if (inAuto == SpeedMode.Manual)
{
CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, MmToPulse(axisPara.StrVelM), MmToPulse(axisPara.DevVelM), axisPara.AccVelM, axisPara.DecVelM);
}
if (inAuto == SpeedMode.Auto)
{
CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, MmToPulse(axisPara.StrVelA), MmToPulse(axisPara.DevVelA), axisPara.AccVelA, axisPara.DecVelA);
}
nPos = MmToPulse(dest);
CMNET_L132.CS_mnet_m1_start_a_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, nPos);
}
}
public bool EnableSoftLimit(StopType stopType)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (stopType == StopType.Emergency)
{
rc = CMNET_L132.CS_mnet_m1_enable_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 1);
}
else
{
rc = CMNET_L132.CS_mnet_m1_enable_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 2);
}
}
return(rc == 0 ? true : false);
}
///// <summary>
///// 停止M1X1裝置 (復歸流程中使用，不停止homeTask)
///// </summary>
//public void Stop(StopType type)
//{
// if (type == StopType.Emergency)
// {
// CMNET_L132.CS_mnet_m1_emg_stop((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
// }
// if (type == StopType.SlowDown)
// {
// CMNET_L132.CS_mnet_m1_sd_stop((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
// }
//}
/// <summary>
/// 停止M1X1裝置 (復歸流程中不停止homeTask)
/// </summary>
public void Stop(StopType type, bool isStopTask)
{
if (axisPara.IsActive && axisPara.Enabled)
{
if (type == StopType.Emergency)
{
CMNET_L132.CS_mnet_m1_emg_stop((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
}
if (type == StopType.SlowDown)
{
CMNET_L132.CS_mnet_m1_sd_stop((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
}
if (isStopTask)
{
itemHome.TProcVar.Step1 = 9000;
homeTask.TurnOffAll();
}
}
}
/// <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);
}
}
//scan DIO slave status
private void systemScan()
{
while (true)
{
if (keyOfIOScan)
{
I16 status;
U8 val = 0;
for (byte portNo = 0; portNo < 4; portNo++)
{
status = CMNET_L132.CS_mnet_io_input((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, portNo, ref val);
for (int i = 0; i < 8; i++)
{
Status1[portNo * 8 + i] = BitConverterEx.TestB(val, (byte)i);
Status2[portNo, i] = BitConverterEx.TestB(val, (byte)i);
}
}
Thread.Sleep(15);
}
}
}
/// <summary>
/// 設定Output數值
/// </summary>
/// <param name="portNo">Port Number</param>
/// <param name="bitNo">Bit Number</param>
/// <param name="status">寫入成功回傳true，反之false(DI點一定false)</param>
/// <returns></returns>
public bool SetOutput2(PortNo portNo, BitNo bitNo, bool status)
{
if (dIOPara.IsActive)
{
U8 val = 0;
CMNET_L132.CS_mnet_io_input((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, (U8)portNo, ref val);
BitConverterEx.SetBit(ref val, (byte)bitNo, status);
I16 retOfSetOutput = CMNET_L132.CS_mnet_io_output((U16)dIOPara.CardSwitchNo, (U16)dIOPara.RingNoOfCard, dIOPara.SlaveIP, (U8)portNo, val);
if (retOfSetOutput >= 0)
{
return(true);
}
else
{
return(false);
}
}
else
{
return(false);
}
}
/// <summary>
/// M1X1 裝置啟停
/// </summary>
/// <param name="option">The option.</param>
public void ServoOn(CmdStatus option)
{
if (axisPara != null)
{
if (axisPara.IsActive)
{
if (option == CmdStatus.OFF)
{
status.Home = false;
axisPara.Enabled = false;
CMNET_L132.CS_mnet_m1_set_svon((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0);
}
if (option == CmdStatus.ON)
{
if (axisPara.IsActive)
{
axisPara.Enabled = true;
CMNET_L132.CS_mnet_m1_set_svon((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 1);
CMNET_L132.CS_mnet_m1_disable_soft_limit((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
}
}
}
}
}
//get command counter
private double getPos()
{
int cmdPos = new int();
double CmdPosx;
CMNET_L132.CS_mnet_m1_get_command((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, ref cmdPos);
CmdPosx = cmdPos;
if (axisPara.PulsePerRole != 0)
{
//if (axisPara.IsActive && axisPara.Enabled )
//{
// return CmdPosx / axisPara.PulsePerRole * axisPara.DistPerRole;
//}
//else
//{
// return 0;
//}
return(CmdPosx / axisPara.PulsePerRole * axisPara.DistPerRole);
}
else
{
return(0);
}
}
private void slaveModuleInitialize()
{
I16 rc;
uint mask = 0x00000001;
uint[] deviceTable = new uint[2];
rc = CMNET_L132.CS_mnet_get_ring_active_table((U16)dacPara.CardSwitchNo, (U16)dacPara.RingNoOfCard, ref deviceTable[0]);
if (rc != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("DeviceTableError") + "(" + DeviceName + ")"));
}
if ((deviceTable[0] == 0) && (deviceTable[1] == 0))
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("DidntFindA104DAC") + "(" + DeviceName + ")"));
}
for (int i = 0; i < 64; i++)
{
if (dacPara.SlaveIP > 63)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongSlaveIP") + "(" + DeviceName + ")"));
}
if (dacPara.SlaveIP == i)
{
if (i < 32)
{
if ((deviceTable[0] & mask) == 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongSlaveIP") + "(" + DeviceName + ")"));
}
}
else
{
if (i == 32)
{
mask = 0x00000001;
}
if ((deviceTable[1] & mask) == 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongSlaveIP") + "(" + DeviceName + ")"));
}
}
}
mask = mask << 1;
}
U8 slaveType = 0;
rc = CMNET_L132.CS_mnet_get_slave_type((U16)dacPara.CardSwitchNo, (U16)dacPara.RingNoOfCard, (U16)dacPara.SlaveIP, ref slaveType);
if (rc == 0)
{
if (slaveType != 0xD0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongDeviceTypeA104DAC") + "(" + DeviceName + ")"));
}
}
else
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("DeviceTableError") + "(" + DeviceName + ")"));
}
rc = CA104_L132.CS_mnet_ao4_initial((U16)dacPara.CardSwitchNo, (U16)dacPara.RingNoOfCard, (U16)dacPara.SlaveIP);
if (rc != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("InitializeErrorA104DAC") + "(" + DeviceName + ")"));
}
}
/// <summary>
/// 清除postion和command的counter
/// </summary>
public void ResetPos()
{
CMNET_L132.CS_mnet_m1_reset_position((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
CMNET_L132.CS_mnet_m1_reset_command((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
}
private void slaveModuleInitialize()
{
uint mask = 0x00000001;
uint[] deviceTable = new uint[2];
I16 retOfGetTable = CMNET_L132.CS_mnet_get_ring_active_table((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, ref deviceTable[0]);
if (retOfGetTable != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("DeviceTableError") + "(" + DeviceName + ")"));
}
if ((deviceTable[0] == 0) && (deviceTable[1] == 0))
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("DidntFindM1X1") + "(" + DeviceName + ")"));
}
for (int i = 0; i < 64; i++)
{
if (axisPara.SlaveIP > 63)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongSlaveIP") + "(" + DeviceName + ")"));
}
if (axisPara.SlaveIP == i)
{
if (i < 32)
{
if ((deviceTable[0] & mask) == 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongSlaveIP") + "(" + DeviceName + ")"));
}
}
else
{
if (i == 32)
{
mask = 0x00000001;
}
if ((deviceTable[1] & mask) == 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongSlaveIP") + "(" + DeviceName + ")"));
}
}
}
mask = mask << 1;
}
I16 retOfStartRing = CMNET_L132.CS_mnet_start_ring((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard);
if (retOfStartRing != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("StartCommError") + "(" + DeviceName + ")"));
}
U8 slaveType = 0;
I16 retOfGetSlaveType = CMNET_L132.CS_mnet_get_slave_type((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, ref slaveType);
if (retOfGetSlaveType == 0)
{
if (slaveType != 0xA3)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("WrongDeviceTypeM1X1") + "(" + DeviceName + ")"));
}
}
else
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("DeviceTableError") + "(" + DeviceName + ")"));
}
I16 retOfInitial = CMNET_L132.CS_mnet_m1_initial((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP);
if (retOfInitial != 0)
{
throw new Exception(ExceptionHelper.GetFullCurrentMethod(ResourceHelper.Language.GetString("InitializeErrorM1X1") + "(" + DeviceName + ")"));
}
}
