public string Position_Set_Pos(Position_Set_Pos vEn)
{
if (vEn.v00.cmdName == eDev485obj.Free)
{
vEn.v00.cmdName = (eDev485obj)Enum.Parse(
typeof(eDev485obj),
vEn.GetType().Name);
}
return(doObjectToString(vEn));
}
/*
* 把需要的参数，顺序放到设备域的 bt_out数组中
* 此函数 取 数组中的数据放到 对象中，组合为字符串
* --- 用法比较麻烦 ---
* int _ref = vDevNo * _faim3.sect_iDev; // 偏移
* _faim3.Comm_Data._bt_out[0][_ref + 1] = 12;
* _faim3.Comm_Data._bt_out[0][_ref + 2] = X;
* _faim3.Comm_Data._bt_out[0][_ref + 3] = Y;
* call doProtocol_01(-1, "home_set_pos", 2)
* ------
*/
string doProtocol_01(int vAxisNum = -1, string vCmdName = "", int vDevNo = 0)
{
string _res = "";
if (string.IsNullOrEmpty(vCmdName))
{
return(_res); // 命令名为空
}
//if (vAxisNum < 0) return _res;
int _ref = vDevNo * _faim3.sect_iDev; // 偏移
if (vAxisNum < 0)
{
vAxisNum = _faim3.Comm_Data._bt_out[0][_ref + 1]; // 无轴号，则自动取轴号
}
int i = 0;
switch (vCmdName.ToLower())
{
#region //..
case "home_set_pos":
_res = home_Set_Pos(vAxisNum);
break;
case "home_set_posa":
_res = home_Set_PosA(vAxisNum);
break;
case "motoron":
_res = MotorOn(vAxisNum);
break;
case "motoroff":
_res = MotorOff(vAxisNum);
break;
case "motoralarmreset":
_res = MotorAlarmReset(vAxisNum);
break;
case "readstatus":
_res = ReadStatus(vAxisNum);
break;
case "readpos":
_res = ReadPOS(vAxisNum);
break;
case "stopmove":
_res = StopMove(vAxisNum);
break;
case "position_a_move":
_res = Position_A_Move(vAxisNum);
break;
case "position_r_move":
_res = Position_R_Move(vAxisNum);
break;
case "setregistersub":
SetRegisterSub _en1 = new SetRegisterSub();
_en1.v00.cmdName = eDev485obj.SetRegisterSub;
_en1.v01.AxisNum = vAxisNum;
i = _ref + 2;
_en1.v02.Addr = _faim3.Comm_Data._bt_out[0][i++];
_en1.v03.Acc = _faim3.Comm_Data._bt_out[0][i++];
_res = SetRegisterSub(_en1);
break;
case "outputline":
OutputLine _OutputLine = new OutputLine();
_OutputLine.v00.cmdName = eDev485obj.OutputLine;
_OutputLine.v01.AxisNum = vAxisNum;
i = _ref + 2;
_OutputLine.v02.InputNum = _faim3.Comm_Data._bt_out[0][i++];
_OutputLine.v03.Condition = _faim3.Comm_Data._bt_out[0][i++];
_res = OutputLine(_OutputLine);
break;
case "seekhome":
SeekHome _SeekHome = new SeekHome();
_SeekHome.v00.cmdName = eDev485obj.SeekHome;
_SeekHome.v01.AxisNum = vAxisNum;
i = _ref + 2;
_SeekHome.v02.OutputNum = _faim3.Comm_Data._bt_out[0][i++];
_SeekHome.v03.Condition = _faim3.Comm_Data._bt_out[0][i++];
_res = SeekHome(_SeekHome);
break;
case "home_dir":
Home_Dir _Home_Dir = new Home_Dir();
_Home_Dir.v00.cmdName = eDev485obj.Home_Dir;
_Home_Dir.v01.AxisNum = vAxisNum;
i = _ref + 2;
_Home_Dir.v02.Acc = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v03.Dec = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v04.Vel = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v05.Location = _faim3.Comm_Data._bt_out[0][i++];
_Home_Dir.v06.Location = _faim3.Comm_Data._bt_out[0][i++];
_res = Home_Dir(_Home_Dir); // 一般使用
break;
case "position_set_pos":
Position_Set_Pos _Position_Set_Pos = new Position_Set_Pos();
_Position_Set_Pos.v00.cmdName = eDev485obj.Position_Set_Pos;
_Position_Set_Pos.v01.AxisNum = vAxisNum;
i = _ref + 2;
_Position_Set_Pos.v02.Acc = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v03.Dec = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v04.Vel = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v05.Location = _faim3.Comm_Data._bt_out[0][i++];
_Position_Set_Pos.v06.Location = _faim3.Comm_Data._bt_out[0][i++];
_res = Position_Set_Pos(_Position_Set_Pos);
break;
#endregion
}
return(_res);
}