public string button_CwIndex_Click(object sender, EventArgs e)
{
string resultStr = "CwIndex OK";
string errStr = "";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
byte StopCode = 0;
ushort Cmd = 0;
uint LData = 0;
//*** INCREMENTAL INDEX DRIVE COMMAND ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Cmd = 0x14;
LData = 10000;
if (MC07.LWDrive(hDev, Cmd, ref LData, ref sResult) == false)
{
resultStr = "It failed in MC07.LWDrive(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
bool isResult = Ready_Wait(hDev, ref StopCode, false, ref errStr);
if (!isResult)
{
resultStr = errStr;
}
return(resultStr);
}
public string button_CwScan_Click(object sender, EventArgs e)
{
string resultStr = "CwScan OK";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
ushort Cmd = 0;
byte StopCode = 0;
string errStr = "";
//*** +CW SCAN DRIVE COMMAND ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Cmd = 0x12;
if (MC07.BWDriveCommand(hDev, ref Cmd, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveCommand(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
bool isResult = Ready_Wait(hDev, ref StopCode, false, ref errStr);
if (!isResult)
{
resultStr = errStr;
}
return(resultStr);
}
public string button_Org_Click(object sender, EventArgs e)
{
string resultStr = "Org OK";
string errStr = "";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
byte StopCode = 0;
//*** ORIGIN DRIVE ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
if (MC07.Org(hDev, MC07.MC07_ORG3, ref sResult) == false)
{
resultStr = "It failed in MC07.Org() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
bool isResult = Ready_Wait(hDev, ref StopCode, false, ref errStr);
if (!isResult)
{
resultStr = errStr;
}
return(resultStr);
}
public void MotorMotionTest()
{
ushort pStatus = 0;
bool resStatus = MC07.ReadOrgStatus(hDev, ref pStatus, ref sResult1);
MC07_S_ORG_PARAM psOrgParam = new MC07_S_ORG_PARAM();
bool resParam = MC07.ReadOrgParam(hDev, ref psOrgParam, ref sResult1);
}
public string button_Close_Click(object sender, EventArgs e)
{
string resultStr = "Close OK";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
//*** DEVICE CLOSE ***
if (MC07.BClose(hDev, ref sResult) == false)
{
resultStr = "It failed in MC07_BClose() : MC07_Result(1)=" + sResult.MC07_Result[1].ToString();
}
return(resultStr);
}
public string StepDrive(int step, out bool isRes)
{
DisplayAddress();
isRes = true;
//移動後パルスチェック
if (DataController.SETDATA.Origin[CcdF] == 1)
{
if ((gRData + step) < DataController.SETDATA.L_LimitPLS[CcdF] ||
(gRData + step) > DataController.SETDATA.U_LimitPLS[CcdF])
{
isRes = false;
return("StepDrive Range Over Error");
}
}
string resultStr = "StepDrive OK";
string errStr = "";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
byte StopCode = 0;
ushort Cmd = 0;
uint LData = 0;
//*** INCREMENTAL INDEX DRIVE COMMAND ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Cmd = 0x14;
if (step < 0)
{
LData = MC07.Unsigned32(step);
}
else
{
LData = (uint)step;
}
if (MC07.LWDrive(hDev, Cmd, ref LData, ref sResult) == false)
{
resultStr = "It failed in MC07.LWDrive(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
bool isResult = Ready_Wait(hDev, ref StopCode, false, ref errStr);
if (!isResult)
{
resultStr = errStr;
}
return(resultStr);
}
public string button_ClrError_Click(object sender, EventArgs e)
{
string resultStr = "ClrError OK";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
if (MC07.ClrError(hDev, ref sResult) == false)
{
resultStr = "It failed in MC07.ClrError() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
}
return(resultStr);
}
public string button_Open_Click(object sender, EventArgs e)
{
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
string resultStr = "Open OK";
//DEVICE OPEN
if (MC07.BOpen(MC07.MC07_USB_UNIT_0, MC07.MC07_X, ref hDev, ref sResult) == false)
{
resultStr = "It failed in MC07_BOpen() : MC07_Result(1)=" + sResult.MC07_Result[1].ToString();
}
return(resultStr);
}
public string button_SlowStop_Click(object sender, EventArgs e)
{
string resultStr = "SlowStop OK";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
ushort Cmd = 0;
//*** SLOW STOP COMMAND ***
Cmd = 0xFE;
if (MC07.BWDriveCommand(hDev, ref Cmd, ref sResult) == false)
{
resultStr = "It failed in MC07_BWDriveCommand(H'" + Cmd.ToString("X") + ") : MC07_Result(1)=" + sResult.MC07_Result[1].ToString();
}
return(resultStr);
}
public string button_Reset_Click(object sender, EventArgs e)
{
string resultStr = "Reset OK";
uint LData = 0;
ushort Cmd = 0;
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
//*** ADDRESS COUNTER PRESET ***
Cmd = 0x80;
LData = 0;
if (MC07.LWDrive(hDev, Cmd, ref LData, ref sResult) == false)
{
resultStr = "It failed in MC07_LWDrive(H'" + Cmd.ToString("X") + ") : MC07_Result(1)=" + sResult.MC07_Result[1].ToString();
}
return(resultStr);
}
public void Release()
{
#if false
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
Boolean Ret = false;
Ret = MC07.BClose(hDev, ref sResult);
Ret = MC07.UWExUnitCommControl(hUnit, MC07.MC07_EX_UNIT_COMM_STOP, ref sResult);
Ret = MC07.UClose(hUnit, ref sResult);
Ret = MC07.BPortClose(hInPort, ref sResult);
Ret = MC07.BPortClose(hOutPort, ref sResult);
#endif
}
private Boolean CheckStatus1(uint hDevice, ref string errStr)
{
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
ushort Cmd = 0;
ushort Status1 = 0;
ushort Data1 = 0;
//*** CHECK STATUS1 BUSY BIT = 0 (WAIT TIME = 1000ms)***
if (MC07.BWaitDriveCommand(hDevice, 1000, ref sResult) == false)
{
errStr = "It failed in MC07.BWaitDriveCommand() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(false);
}
//*** READ STATUS1 ***
if (MC07.BRStatus1(hDevice, ref Status1, ref sResult) == false)
{
errStr = "It failed in MC07.BRStatus1() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(false);
}
//*** CHECK STATUS1 ERROR BIT = 0 ***
if ((Status1 & 0x0010) != 0)
{
//*** READ ERROR STATUS ***
Cmd = 0xD1;
if (MC07.BWDriveCommand(hDevice, ref Cmd, ref sResult) == false)
{
errStr = "It failed in MC07.BWDriveCommand(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(false);
}
if (MC07.BRDriveData1(hDevice, ref Data1, ref sResult) == false)
{
errStr = "It failed in MC07.BRDriveData1(): MC07.Result(1) = " + sResult.MC07_Result[1].ToString();
return(false);
}
errStr = "STATUS1 ERROR = 1 : ERROR STATUS = H'" + Data1.ToString("X") + "\r\n Please click 'Clear Error'";
return(false);
}
return(true);
}
public void LedLightOff() //LED消灯
{
//*** UNIT OPEN ***
MC07.UOpen(MC07.MC07_USB_UNIT_0, ref hUnit, ref sResult1);
//*** UNIT COMMUNICATION MODE ***
MC07.UWExUnitCommMode(hUnit, MC07.MC07_EX_UNIT_COMM_RATE_5, 1, MC07.MC07_EX_UNIT_COMM_16BIT, ref sResult1);
//*** UNIT COMMUNICATION CONTROL ***
MC07.UWExUnitCommControl(hUnit, MC07.MC07_EX_UNIT_COMM_START, ref sResult1);
Thread.Sleep(20);
//*** BPORT OPEN ***
MC07.BPortOpen(MC07.MC07_USB_UNIT_0, MC07.MC07_EXP0_OUT, ref hPort, ref sResult1);
//*** BPORT WRITE ***
pData = 0x02;
MC07.BPortOut(hPort, ref pData, ref sResult1);
//*** BPORT CLOSE ***
MC07.BPortClose(hPort, ref sResult1);
}
public string DisplayPulse()
{
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
uint WData = 0;
uint RData = 0;
ushort Cmd = 0;
string resultStr = "";
//*** PULSE COUNTER READ COMMAND ***
Cmd = 0xD9;
if (MC07.LWRDrive(hDev, Cmd, ref WData, ref RData, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveCommand(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
gPulse = (int)RData;
resultStr = string.Format("{0:#,###,###,##0}", MC07.Signed32(RData));
return(resultStr);
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public string button_Env_Click(object sender, EventArgs e)
{
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
MC07_S_UNIT_INFO unitInfo = new MC07_S_UNIT_INFO();
string resultStr = "Environment OK";
if (MC07.Environment(MC07.MC07_USB_UNIT_0, ref sResult) == false)
{
resultStr = "It failed in MC07_Environment() : MC07_Result(1)=" + sResult.MC07_Result[1].ToString();
}
if (MC07.ReadUnitInfo(MC07.MC07_USB_UNIT_0, ref unitInfo, ref sResult) == false)
{
resultStr = "It failed in MC07_ReadUnitInfo() : MC07_Result(1)=" + sResult.MC07_Result[1].ToString();
}
if (unitInfo.UnitType[0] == 0xFF)
{
resultStr = "NO CONTROLLER UNIT:Please Check USB connection";
}
return(resultStr);
}
public int M_NgBoxCheck()
{
bool result = false;
string resultStr = "";
// ushort extUnitStatus = 0;
//*** UNIT OPEN ***
result = MC07.UOpen(MC07.MC07_USB_UNIT_0, ref hUnit, ref sResult1);
if (!result)
{
resultStr = "It failed in MC07.UOpen() : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
}
//*** UNIT COMMUNICATION MODE ***
result = MC07.UWExUnitCommMode(hUnit, MC07.MC07_EX_UNIT_COMM_RATE_5, 1, MC07.MC07_EX_UNIT_COMM_16BIT, ref sResult1);
if (!result)
{
resultStr = "It failed in MC07.UWExUnitCommMode() : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
}
//*** UNIT COMMUNICATION CONTROL ***
result = MC07.UWExUnitCommControl(hUnit, MC07.MC07_EX_UNIT_COMM_START, ref sResult1);
if (!result)
{
resultStr = "It failed in MC07.UWExUnitCommControl(START) \r\n : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
}
//*** WAIT CONNECT BIT = 1 ***
// do
// {
// //*** READ UNIT COMMUNICATION STATUS ***
// if (MC07.URExUnitCommStatus(hUnit, ref extUnitStatus, ref sResult1) == false)
// {
// resultStr = "It failed in MC07.URExUnitCommStatus() : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
// //Because it is avoided double Unit Open Error
// MC07.UClose(hUnit,ref sResult1);
// }
//
// //*** CHECK POLLING BIT ***
// if ((extUnitStatus & 0x1) == 0)
// {
// resultStr = "EXTEND UNIT STATUS is not Polling. \r\nPlease Check EXTEND UNIT connection";
// //Because it is avoided double Unit Open Error
// MC07.UClose(hUnit,ref sResult1);
// }
//
// //*** CHECK DISCONNECT LATCH BIT ***
// if ((extUnitStatus & 0x4) !=0)
// {
// resultStr = "EXTEND UNIT STATUS is DISCONNECT LATCH. \r\n Please Check EXTEND UNIT connection";
//
// //*** UNIT COMMUNICATION CONTROL ***
// if (MC07.UWExUnitCommControl(hUnit, MC07.MC07_EX_UNIT_COMM_DISC_LATCH_CLR,ref sResult1) == false)
// {
// resultStr = "It failed in MC07.UWExUnitCommControl(LATCH_CLR) \r\n : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
// //Because it is avoided double Unit Open Error
// MC07.UClose(hUnit,ref sResult1);
// }
//
// //Because it is avoided double Unit Open Error
// MC07.UClose(hUnit,ref sResult1);
// }
// //*** CHECK CONNECT BIT ***
// }while((extUnitStatus & 0x2) == 0);
//
//*** BPORT OPEN ***
result = MC07.BPortOpen(MC07.MC07_USB_UNIT_0, MC07.MC07_EXP0_IN, ref hPort, ref sResult1);
if (!result)
{
resultStr = "It failed in MC07.BPortOpen() : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
}
//*** BPORT READ ***
pData = 0;
result = MC07.BPortIn(hPort, ref pData, ref sResult1);
if (!result)
{
resultStr = "It failed in MC07.BPortIn() : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
}
//*** BPORT CLOSE ***
result = MC07.BPortClose(hPort, ref sResult1);
if (!result)
{
resultStr = "It failed in MC07.BPortClose() : MC07.Result(1)=" + sResult1.MC07_Result[1].ToString();
}
short retData = (short)pData;
retData &= 0x0100;
retData >>= 8;
return(retData);
}
private bool Ready_Wait(uint hDevice, ref byte StopCode, bool OriginDriveFlag, ref string errStr)
{
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
ushort Status1 = 0;
do
{
// Now_Address_Display( hDevice );
Application.DoEvents();
// Now_Address_Display( hDevice );
if (MC07.BRStatus1(hDevice, ref Status1, ref sResult) == false)
{
errStr = "It failed in MC07.BRStatus1() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
StopCode = 7;
return(false);
}
}while((Status1 & 0x0001) != 0);
// Now_Address_Display( hDevice );
if (OriginDriveFlag)
{
if (MC07.ReadOrgStatus(hDevice, ref Status1, ref sResult) == false)
{
errStr = "It failed in MC07.ReadOrgStatus() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
StopCode = 7;
return(false);
}
if ((Status1 & 0x8000) != 0)
{
StopCode = 6; // ADDRESS ERROR
}
else if ((Status1 & 0x4000) != 0)
{
StopCode = 5; // ERROR PULSE ERROR
}
else if ((Status1 & 0x2000) != 0)
{
StopCode = 4; // SENSOR ERROR
}
else if ((Status1 & 0x0020) != 0)
{
StopCode = 3; // LSEND
}
else if ((Status1 & 0x0040) != 0)
{
StopCode = 2; // SSEND
}
else if ((Status1 & 0x0080) != 0)
{
StopCode = 1; // FSEND
}
else
{
StopCode = 0; // PASS
}
}
else
{
if ((Status1 & 0x0020) != 0)
{
StopCode = 3; // LSEND
}
else if ((Status1 & 0x0040) != 0)
{
StopCode = 2; // SSEND
}
else if ((Status1 & 0x0080) != 0)
{
StopCode = 1; // FSEND
}
else
{
StopCode = 0; // PASS
}
}
return(true);
}
public string button_DataSet_Click(object sender, EventArgs e)
{
string resultStr = "DataSet OK";
MC07_S_RESULT sResult = new MC07_S_RESULT(0);
ushort Data = 0;
ushort Cmd = 0;
uint LData = 0;
string errStr = "";
//*** FSPD SET COMMAND : 5000Hz ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Cmd = 0x5;
LData = 5000;
if (MC07.LWDrive(hDev, Cmd, ref LData, ref sResult) == false)
{
resultStr = "It failed in MC07.LWDrive(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
//*** JSPD SET COMMAND : 1000Hz ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Cmd = 0xC;
LData = 1000;
if (MC07.LWDrive(hDev, Cmd, ref LData, ref sResult) == false)
{
resultStr = "It failed in MC07.LWDrive(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
//*** HIGH SPEED SET COMMAND ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Data = 5000; // HSPD : 5000Hz;
if (MC07.BWDriveData1(hDev, ref Data, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveData1() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
Data = 0x3; // RESOL No. : 3;
if (MC07.BWDriveData2(hDev, ref Data, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveData2() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
Cmd = 0x6;
if (MC07.BWDriveCommand(hDev, ref Cmd, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveCommand(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
//*** LOW SPEED SET COMMAND ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Data = 1000; // LSPD : 1000Hz
if (MC07.BWDriveData1(hDev, ref Data, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveData1() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
Data = 1000; // ELSPD : 1000Hz
if (MC07.BWDriveData2(hDev, ref Data, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveData2() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
Cmd = 0x7;
if (MC07.BWDriveCommand(hDev, ref Cmd, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveCommand(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
//*** RATE SET COMMAND ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
Data = 200; // UCYCLE : 100μs
if (MC07.BWDriveData1(hDev, ref Data, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveData1() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
Data = 200; // DCYCLE : 100μs
if (MC07.BWDriveData2(hDev, ref Data, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveData2() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
Cmd = 0x8;
if (MC07.BWDriveCommand(hDev, ref Cmd, ref sResult) == false)
{
resultStr = "It failed in MC07.BWDriveCommand(H'" + Cmd.ToString("X") + ") : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
//*** ORIGIN SPEC SET ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
if (MC07.SetOrgSpec(hDev, 0x8000, ref sResult) == false)
{
resultStr = "It failed in MC07.SetOrgSpec() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
//*** MARGIN PULSE : 5 Pulse ***
if (CheckStatus1(hDev, ref errStr) == false)
{
return(errStr);
}
if (MC07.SetOrgMarginPulse(hDev, 5, ref sResult) == false)
{
resultStr = "It failed in MC07.SetOrgMarginPulse() : MC07.Result(1)=" + sResult.MC07_Result[1].ToString();
return(resultStr);
}
return(resultStr);
}
