public bool IsMoveDone(short sAxis)
{
lock (lockObj)
{
return(Dmc1000.d1000_check_done(sAxis) == 0 ? false : true);
}
}
public bool StartSearchHome(short sAxis, double dAcc, double dDec, double dHomeSpd)
{
lock (lockObj)
{
Dmc1000.d1000_home_move(sAxis, 0, (int)dHomeSpd, 0);
}
return(true);
}
public bool SetCommandPos(short sAxis, double dPos)
{
lock (lockObj)
{
Dmc1000.d1000_set_command_pos(sAxis, dPos);
return(true);
}
}
public double GetVel(short sAxis)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
return(Dmc1000.d1000_get_speed((int)sAxis));
}
}
else
{
return(0.0);
}
}
public bool SetPulseMode(short sAxis, PulseMode plm)
{
lock (lockObj)
{
if (plm == PulseMode.PLDI)
{
Dmc1000.d1000_set_pls_outmode((ushort)sAxis, 0);
}
else
{
Dmc1000.d1000_set_pls_outmode((ushort)sAxis, 4);
}
}
return(true);
}
public bool AbsPosMove(short sAxis, double dAcc, double dDec, double dSpeed, double pos)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
Dmc1000.d1000_start_ta_move(sAxis, (int)pos, 0, (int)dSpeed, 0);
}
return(true);
}
else
{
return(false);
}
}
public bool SetAxisPos(short sAxis, double dPos)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
Dmc1000.d1000_set_command_pos(sAxis, dPos);
return(true);
}
}
else
{
return(false);
}
}
public bool JobMove(short sAxis, double dAcc, double dDec, double dVel)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
Dmc1000.d1000_start_tv_move((int)sAxis, 0, (int)dVel, 0);
}
return(true);
}
else
{
return(false);
}
}
public bool SetVel(short sAxis, double dVel)
{
lock (lockObj)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
Dmc1000.d1000_change_speed((ushort)sAxis, (int)dVel);
return(true);
}
else
{
return(false);
}
}
}
public bool SetOutBit(int iBit, bool bOn)
{
if (iBit < 128 && iBit > -1)
{
lock (lockObj)
{
int iValue = bOn ? (ushort)0 : (ushort)1;
Dmc1000.d1000_out_bit(iBit, iValue);
}
return(true);
}
else
{
return(false);
}
}
public bool StopMove(short sAxis)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
//减速停止
Dmc1000.d1000_decel_stop((ushort)sAxis);
}
return(true);
}
else
{
return(false);
}
}
public override bool Close()
{
try
{
StopMove(0);
StopMove(1);
StopMove(2);
StopMove(3);
Dmc1000.d1000_board_close();
}
catch (Exception)
{
}
return(true);
}
public void GetAllIOStatus()
{
lock (lockObj)
{
try
{
for (int index = 0; index < 48; index++)
{
//int iTemp = Dmc1000.d1000_in_bit(index);
_bArrayInputSta[index] = Dmc1000.d1000_in_bit(index) == 1 ? false : true;
_bArrayOutputSta[index] = Dmc1000.d1000_get_outbit(index) == 1 ? false : true;
}
}
catch
{
}
}
}
public bool ReferPosMove(short sAxis, double dAcc, double dDec, double dSpeed, double pos)
{
if (Enum.IsDefined(typeof(DefaultAxis), sAxis))
{
lock (lockObj)
{
if (dSpeed < 0)
{
pos = pos * -1;
}
dSpeed = Math.Abs(dSpeed);
Dmc1000.d1000_start_t_move(sAxis, (int)pos, 0, (int)dSpeed, 0);
}
return(true);
}
else
{
return(false);
}
}
override public bool Init(HardwareData hardwareData)
{
LeadShineMotionCardData tempInfo = (LeadShineMotionCardData)hardwareData;
if (iCardTotal > 0)
{
if (iCardTotal >= tempInfo.Index)
{
bInitOk = true;
}
else
{
bInitOk = false;
}
}
else
{
iCardTotal = Dmc1000.d1000_board_init();
if (iCardTotal <= 0)//控制卡初始化
{
bInitOk = false;
return(false);
}
if (iCardTotal >= tempInfo.Index)
{
bInitOk = true;
}
else
{
bInitOk = false;
}
}
iCardIndex = (ushort)tempInfo.Index;
System.Threading.Thread threadScan = new System.Threading.Thread(ScanThreadFunction);
threadScan.IsBackground = true;
threadScan.Start();
return(true);
}
public void GetAllMotionStatus()
{
lock (lockObj)
{
for (ushort iAxis = 0; iAxis < 4; iAxis++)
{
int iCurrent = 0;
try
{
_dArrayTargetPos[iAxis] = Dmc1000.d1000_get_command_pos(iAxis);
_dArrayCurrPos[iAxis] = Dmc1000.d1000_get_command_pos(iAxis);
_bArrayIsMoving[iAxis] = Dmc1000.d1000_check_done(iAxis) == 0 ? true : false;
iCurrent = Dmc1000.d1000_get_axis_status(iAxis);
}
catch
{
}
if ((iCurrent & 0x4) == 0)
{
_bArrayHomeSta[iAxis] = false;
}
else
{
_bArrayHomeSta[iAxis] = true;
}
//if ((uiCurrent & 0x1) == 0)
//{
// _bArrayAlarmSta[iAxis] = false;
//}
//else
//{
// _bArrayAlarmSta[iAxis] = true;
//}
//if ((uiCurrent & 0x2) == 0)
//{
// _bArrayCWLLimitSta[iAxis] = false;
//}
//else
//{
// _bArrayCWLLimitSta[iAxis] = true;
//}
//if ((uiCurrent & 0x4) == 0)
//{
// _bArrayCCWLLimitSta[iAxis] = false;
//}
//else
//{
// _bArrayCCWLLimitSta[iAxis] = true;
//}
//if ((uiCurrent & 0x10) == 0)
//{
// _bArrayHomeSta[iAxis] = false;
//}
//else
//{
// _bArrayHomeSta[iAxis] = true;
//}
}
}
}
