基于 ACS 进阶例程，初版提交

2022-09-02 08:41:21 +08:00
commit 2e4d43679e
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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.27428.1
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ACS Motion", "ACS Motion\ACS Motion.csproj", "{19741897-37D8-43EE-94A2-637975035CEA}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{19741897-37D8-43EE-94A2-637975035CEA}.Debug|x64.ActiveCfg = Debug|x64
+		{19741897-37D8-43EE-94A2-637975035CEA}.Debug|x64.Build.0 = Debug|x64
+		{19741897-37D8-43EE-94A2-637975035CEA}.Debug|x86.ActiveCfg = Debug|x86
+		{19741897-37D8-43EE-94A2-637975035CEA}.Debug|x86.Build.0 = Debug|x86
+		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x64.ActiveCfg = Release|x64
+		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x64.Build.0 = Release|x64
+		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x86.ActiveCfg = Release|x86
+		{19741897-37D8-43EE-94A2-637975035CEA}.Release|x86.Build.0 = Release|x86
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {2AD1F058-954D-4783-8021-C4C483496DBA}
+	EndGlobalSection
+EndGlobal
@@ -0,0 +1,119 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">x86</Platform>
+    <ProductVersion>8.0.30703</ProductVersion>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectGuid>{19741897-37D8-43EE-94A2-637975035CEA}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>ACS_DotNET_Library_Advanced_Demo</RootNamespace>
+    <AssemblyName>ACS_DotNET_Library_Advanced_Demo</AssemblyName>
+    <TargetFrameworkVersion>v2.0</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <SccProjectName>SAK</SccProjectName>
+    <SccLocalPath>SAK</SccLocalPath>
+    <SccAuxPath>SAK</SccAuxPath>
+    <SccProvider>SAK</SccProvider>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
+    <PlatformTarget>x86</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
+    <PlatformTarget>x86</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <DebugSymbols>true</DebugSymbols>
+    <OutputPath>bin\x64\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <DebugType>full</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <ErrorReport>prompt</ErrorReport>
+    <CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <OutputPath>bin\x64\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <Optimize>true</Optimize>
+    <DebugType>pdbonly</DebugType>
+    <PlatformTarget>x64</PlatformTarget>
+    <ErrorReport>prompt</ErrorReport>
+    <CodeAnalysisRuleSet>MinimumRecommendedRules.ruleset</CodeAnalysisRuleSet>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="ACS.SPiiPlusNET, Version=2.50.0.26599, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\ACS.SPiiPlusNET.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="MainForm.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="MainForm.Designer.cs">
+      <DependentUpon>MainForm.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <EmbeddedResource Include="MainForm.resx">
+      <DependentUpon>MainForm.cs</DependentUpon>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+      <DesignTime>True</DesignTime>
+    </Compile>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Images\Error.bmp" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Images\Off.bmp" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Images\On.bmp" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+</Project>
@@ -0,0 +1,881 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Text;
+using System.Windows.Forms;
+using System.Threading;
+using System.IO;
+
+using ACS.SPiiPlusNET;      // ACS .NET Library
+using System.Runtime.InteropServices;
+
+namespace ACS_DotNET_Library_Advanced_Demo
+{
+	public partial class MainForm : Form
+	{
+        private Api _ACS;
+
+		private const int MAX_AXIS_COUNT = 32;
+		private const int MAX_BUFFER_CNT = 64;
+
+		private const int MAX_UI_LIMIT_CNT = 8;
+		private const int MAX_UI_IO_CNT = 8;
+
+		private int m_nTotalAxis = 0;
+		private int m_nTotalBuffer = 0;
+		private Axis[] m_arrAxisList = null;
+
+		private bool m_bConnected = false;
+
+		// For update values
+		private MotorStates m_nMotorState;
+        private ProgramStates m_nProgramState;
+		private object m_objReadVar = null;
+		private Array m_arrReadVector = null;
+		private double m_lfRPos, m_lfFPos, m_lfPE, m_lfFVEL;
+		private int m_nValues, m_nOutputState;
+
+		
+		private Label[] m_lblLeftLimit;
+		private Label[] m_lblRightLimit;
+		private Label[] m_lblInput;
+		private Label[] m_lblOutput;
+		private Button[] m_btnOutput;
+
+		public MainForm()
+		{
+			InitializeComponent();
+
+            _ACS = new Api();
+
+            // Register Event
+            _ACS.PHYSICALMOTIONEND += _ACS_PHYSICALMOTIONEND;
+            _ACS.PROGRAMEND += _ACS_PROGRAMEND;
+		}
+
+		#region Initialize
+		private void Form1_Load(object sender, EventArgs e)
+		{
+			rdoTCP.Checked   = true;
+			btnOpen.Enabled  = true;
+			btnClose.Enabled = false;
+
+			m_lblLeftLimit = new Label[MAX_UI_LIMIT_CNT];
+			m_lblLeftLimit[0] = lblLL0;
+			m_lblLeftLimit[1] = lblLL1;
+			m_lblLeftLimit[2] = lblLL2;
+			m_lblLeftLimit[3] = lblLL3;
+			m_lblLeftLimit[4] = lblLL4;
+			m_lblLeftLimit[5] = lblLL5;
+			m_lblLeftLimit[6] = lblLL6;
+			m_lblLeftLimit[7] = lblLL7;
+
+			m_lblRightLimit = new Label[MAX_UI_LIMIT_CNT];
+			m_lblRightLimit[0] = lblRL0;
+			m_lblRightLimit[1] = lblRL1;
+			m_lblRightLimit[2] = lblRL2;
+			m_lblRightLimit[3] = lblRL3;
+			m_lblRightLimit[4] = lblRL4;
+			m_lblRightLimit[5] = lblRL5;
+			m_lblRightLimit[6] = lblRL6;
+			m_lblRightLimit[7] = lblRL7;
+
+			m_lblInput = new Label[MAX_UI_IO_CNT];
+			m_lblInput[0] = lblIN0;
+			m_lblInput[1] = lblIN1;
+			m_lblInput[2] = lblIN2;
+			m_lblInput[3] = lblIN3;
+			m_lblInput[4] = lblIN4;
+			m_lblInput[5] = lblIN5;
+			m_lblInput[6] = lblIN6;
+			m_lblInput[7] = lblIN7;
+
+			m_lblOutput = new Label[MAX_UI_IO_CNT];
+			m_lblOutput[0] = lblOUT0;
+			m_lblOutput[1] = lblOUT1;
+			m_lblOutput[2] = lblOUT2;
+			m_lblOutput[3] = lblOUT3;
+			m_lblOutput[4] = lblOUT4;
+			m_lblOutput[5] = lblOUT5;
+			m_lblOutput[6] = lblOUT6;
+			m_lblOutput[7] = lblOUT7;
+
+			m_btnOutput = new Button[MAX_UI_IO_CNT];
+			m_btnOutput[0] = btnSW0;
+			m_btnOutput[1] = btnSW1;
+			m_btnOutput[2] = btnSW2;
+			m_btnOutput[3] = btnSW3;
+			m_btnOutput[4] = btnSW4;
+			m_btnOutput[5] = btnSW5;
+			m_btnOutput[6] = btnSW6;
+			m_btnOutput[7] = btnSW7;
+			
+			//m_nFault = new int[MAX_AXIS_COUNT];
+			//Array.Clear(m_nFault, 0, MAX_AXIS_COUNT);
+			m_nOutputState = 0;
+
+			// Clear connection list from SPiiPlus UserMode-Driver (UMD)
+			TernminateUMD_Connection();
+		}
+
+		private void rdoTCP_CheckedChanged(object sender, EventArgs e)
+		{
+			txtIP.Enabled = true;
+			txtPort.Enabled = true;
+		}
+
+		private void rdoSimu_CheckedChanged(object sender, EventArgs e)
+		{
+			txtIP.Enabled = false;
+			txtPort.Enabled = false;
+		}
+		#endregion 
+
+		#region Communication - Open / Close
+		private void btnOpen_Click(object sender, EventArgs e)
+		{
+			string strTemp;
+			int i;
+            //double lfTemp = 0.0f;
+
+			try
+			{
+				if (rdoTCP.Checked)
+				{	
+					// TCP/IP (Ethernet) 
+					_ACS.OpenCommEthernetTCP(
+						txtIP.Text,								// IP Address (Default : 10.0.0.100)
+						Convert.ToInt32(txtPort.Text.Trim())	// TCP/IP Port nubmer (default : 701)
+						);
+				}
+				else if (rdoSimu.Checked)
+				{
+					// Simmulation mode
+                    _ACS.OpenCommSimulator();
+				}
+				m_bConnected = true;
+
+				// Get Total number of axes
+                // Using Transaction function : return string text from controller, we need to convert to integer value
+				strTemp = _ACS.Transaction("?SYSINFO(13)");
+				m_nTotalAxis = Convert.ToInt32(strTemp.Trim());
+
+                // Using Sysinfo function
+                //_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);
+
+                // When we are using multi axes command (ex) ToPointM, HaltM, ...), we need to allocate the array size more 1.
+                // Because of the last delimeter (-1)
+				m_arrAxisList = new Axis[m_nTotalAxis + 1];
+				for (i = 0; i < m_nTotalAxis; i++)
+				{
+					cboAxisNo.Items.Add(i.ToString());
+					m_arrAxisList[i] = (Axis)i;
+				}
+				// Insert '-1' at the last
+                m_arrAxisList[m_nTotalAxis] = Axis.ACSC_NONE;
+				cboAxisNo.SelectedIndex = 0;
+
+				// Update current motion paramter to UI.
+				UpdateProfile();
+
+				strTemp = _ACS.Transaction("?SYSINFO(10)");
+				m_nTotalBuffer = Convert.ToInt32(strTemp.Trim());
+				for (i = 0; i < m_nTotalBuffer; i++) { cboBufferNo.Items.Add(i.ToString()); }
+				cboBufferNo.SelectedIndex = 0;
+
+				btnOpen.Enabled = false;
+				btnClose.Enabled = true;
+
+				// Set updating timer
+				tmrMonitor.Interval = 50;
+				tmrMonitor.Start();
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+			//catch (COMException comex)
+			//{
+			//    MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
+			//    System.Diagnostics.Debug.WriteLine("Connection fail" + comex.Message);
+
+			//    m_bConnected = false;
+			//    return;
+			//}
+		}
+
+		private void btnClose_Click(object sender, EventArgs e)
+		{
+			if (m_bConnected) _ACS.CloseComm();
+
+			tmrMonitor.Stop();
+
+			btnOpen.Enabled = true;
+			btnClose.Enabled = false;
+		}
+
+
+		/// <summary>
+		/// Terminate connections from SPiiPlus User Mode Driver
+        ///  - Maximum connections up to 10 in UMD
+		/// </summary>
+		private void TernminateUMD_Connection()
+		{
+			try
+			{
+				string terminateExceptionConnName =  "ACS.Framework.exe";
+
+                ACSC_CONNECTION_DESC[] connectionList = _ACS.GetConnectionsList();
+                for (int index = 0; index < connectionList.Length; index++)
+				{
+
+                    if (terminateExceptionConnName.CompareTo((string)connectionList[index].Application) != 0)
+                        _ACS.TerminateConnection(connectionList[index]);
+				}
+			}
+			catch (Exception ex)
+			{
+				System.Diagnostics.Debug.WriteLine(ex.ToString());
+			}
+		}
+		#endregion 
+
+		#region Update UI data from Controller
+		/// <summary>
+		/// Update Motion Profile from Controller
+		/// </summary>
+		private void UpdateProfile()
+		{
+			if (m_bConnected)
+			{
+				txtVel.Text  = _ACS.GetVelocity((Axis)cboAxisNo.SelectedIndex).ToString();
+                txtAcc.Text = _ACS.GetAcceleration((Axis)cboAxisNo.SelectedIndex).ToString();
+                txtDec.Text = _ACS.GetDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
+                txtKdec.Text = _ACS.GetKillDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
+                txtJerk.Text = _ACS.GetJerk((Axis)cboAxisNo.SelectedIndex).ToString();
+			}
+		}
+
+		private void cboAxisNo_SelectedIndexChanged(object sender, EventArgs e)
+		{
+			UpdateProfile();
+		}
+
+		private void tmrMonitor_Tick(object sender, EventArgs e)
+		{
+            // Get selected axis number
+            int iAxisNo = cboAxisNo.SelectedIndex;
+            // Get selected buffer number
+            int iBufferNo = cboBufferNo.SelectedIndex;
+
+			if (m_bConnected)
+			{
+				try
+				{
+                    // Instruction 1. Using library functions - acsc_GetFPosition, acsc_GetRPosition, ....
+                    // Instruction 2. Read ACS variable - Already defined almost things (FPOS, RPOS, ...)
+                    //                Motion parameters and state is array (Max length is total number of axes)
+                    //
+                    // * Library function can read only 1 axis information, so if you want to read several axes, you have to call the function many times.
+                    //   (This may cause communication delay.)
+                    //   Recommand (if you want to read many axes) : read/write variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
+
+					//   
+					// Get Motor State 
+					// ACSPL+ Variable : MST (integer)
+                    m_nMotorState = _ACS.GetMotorState((Axis)iAxisNo);
+
+					// Returned value is integer, you need to use bitmaks 
+					if ((m_nMotorState & MotorStates.ACSC_MST_MOVE)   != 0) lblMoving.Image = Properties.Resources.On; else lblMoving.Image = Properties.Resources.Off;
+                    if ((m_nMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Properties.Resources.On; else lblInPos.Image = Properties.Resources.Off;
+                    if ((m_nMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Properties.Resources.On; else lblAcc.Image = Properties.Resources.Off;
+                    if ((m_nMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Properties.Resources.On; else lblEnable.Image = Properties.Resources.Off;
+
+					// Reference position
+					// ACSPL+ Variable : RPOS (real)
+                    m_lfRPos = _ACS.GetRPosition((Axis)iAxisNo);
+
+					// Feedback position (Encoder value)
+					// ACSPL+ Variable : FPO (real)
+                    m_lfFPos = _ACS.GetFPosition((Axis)iAxisNo);  
+
+					// PE (Position Error)
+                    // There is no function in library. We need to use ReadVariable function
+                    m_lfPE = (double)_ACS.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo);
+
+                    // Feedback Velocity
+                    m_lfFVEL = (double)_ACS.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo);
+
+					txtRPOS.Text = String.Format("{0:0.0000}", m_lfRPos);
+					txtFPOS.Text = String.Format("{0:0.0000}", m_lfFPos);
+					txtPE.Text   = String.Format("{0:0.0000}", m_lfPE);
+                    txtFVEL.Text = String.Format("{0:0.0000}", m_lfFVEL);
+
+					// Program State 
+					// State : Compiled, Running, Suspended, Autoroutine is running (ON syntax)
+					// 
+					// ACSPL+ Variable : PST (integer)
+                    m_nProgramState = _ACS.GetProgramState((ProgramBuffer)iBufferNo);
+					if ((m_nProgramState & ProgramStates.ACSC_PST_RUN) != 0)
+					{
+						lblPRG_Status_LED.Image = Properties.Resources.On;
+						lblPRG_Status.Text = "Running";
+					}
+					else
+					{
+						lblPRG_Status_LED.Image = Properties.Resources.Off;
+						lblPRG_Status.Text = "Stop";
+					}
+
+					// Read left/right hardware limits state
+					// ACSPL+ Variable : FAULT (integer)
+					m_objReadVar = _ACS.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, m_nTotalAxis - 1, -1, -1);
+					if (m_objReadVar != null)
+					{
+						m_arrReadVector = m_objReadVar as Array;
+						if (m_arrReadVector != null)
+						{
+							for (int i = 0; i < m_nTotalAxis; i++)
+							{
+								UpdateLimitState(i, (int)m_arrReadVector.GetValue(i));
+							}
+						}
+					}
+
+					// Read digital input/output (Port means all of bits)
+                    // If you want to read only 1 bit (not an integer), use "GetInput" function
+					m_nValues = _ACS.GetInputPort(0);			// _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
+					UpdateIOState(m_nValues, true);
+
+					m_nOutputState = _ACS.GetOutputPort(0);		// _ACS.ReadVariableAsVector("OUT", -1, 0, 0, -1, -1);
+					UpdateIOState(m_nOutputState, false);
+				}
+				catch (Exception ex)
+				{
+					MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+					System.Diagnostics.Debug.WriteLine(ex.Message);
+				}
+			}
+		}
+
+		// Update limit state
+		private void UpdateLimitState(int axisNo, int fault)
+		{
+			if (axisNo < MAX_UI_LIMIT_CNT)
+			{
+                if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0) m_lblLeftLimit[axisNo].Image = Properties.Resources.Error; else m_lblLeftLimit[axisNo].Image = Properties.Resources.Off;
+                if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0) m_lblRightLimit[axisNo].Image = Properties.Resources.Error; else m_lblRightLimit[axisNo].Image = Properties.Resources.Off;
+			}
+		}
+
+		// Update general I/O stae
+		private void UpdateIOState(int value, bool isInput)
+		{
+			int bitUpCnt = 0x01;
+
+			for (int i = 0; i < MAX_UI_IO_CNT; i++)
+			{
+				if (isInput)
+				{	
+					// Input state
+					if ((value & bitUpCnt) != 0) m_lblInput[i].Image = Properties.Resources.On;
+					else m_lblInput[i].Image = Properties.Resources.Off;
+				}
+				else
+				{
+					// Output state
+					if ((value & bitUpCnt) != 0)
+					{
+						m_btnOutput[i].Text = "OFF";
+						m_lblOutput[i].Image = Properties.Resources.On;
+					}
+					else
+					{
+						m_btnOutput[i].Text = "ON";
+						m_lblOutput[i].Image = Properties.Resources.Off;
+					}
+				}
+
+				// 0x01 => 0x02 => 0x04 => 0x08 ... increase bit number
+				bitUpCnt = (0x01) << (i + 1);
+			}
+		}
+		#endregion
+
+		#region Motor Enable / Disable
+		private void btnEnable_Click(object sender, EventArgs e)
+		{
+            // Enable selected axis
+			_ACS.Enable((Axis)cboAxisNo.SelectedIndex);
+			
+			// If you want to enable several axes, 
+            // 
+            // Ex) Eanble three axes (0, 1, 6)
+			//
+            // int[] AxisList = new int[] { 0, 1, 6, -1 };      !!!! Important !! Must insert '-1' at the last
+			// _ACS.EnableM(AxisList);
+		}
+
+		private void btnDisable_Click(object sender, EventArgs e)
+		{
+            // Disable selected axis
+			_ACS.Disable((Axis)cboAxisNo.SelectedIndex);
+            // Disable multi axes : DisableM(int[] axisList)
+		}
+
+		private void btnDisableAll_Click(object sender, EventArgs e)
+		{
+            // Disable all of axes
+			_ACS.DisableAll();
+		}
+		#endregion
+
+		private void btnSetZero_Click(object sender, EventArgs e)
+		{
+			// Change current poisition as you want
+            // SetFPosition(Axis number, new position)
+			_ACS.SetFPosition((Axis)cboAxisNo.SelectedIndex, 0);
+		}
+
+        #region Move to absolute position
+        private void btnPTP_Click(object sender, EventArgs e)
+		{
+			double lfTargetPos = 0.0f;
+			try
+			{
+				if (txtPTP_Pos.Text.Length > 0)
+				{
+					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
+					_ACS.ToPoint(
+						0,							// '0' - Absolute position
+						(Axis)cboAxisNo.SelectedIndex,	// Axis number
+						lfTargetPos					// Target position
+						);
+				}
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+		#endregion
+
+        #region Move to relative position (from current position)
+		private void btnPTP_R_Neg_Click(object sender, EventArgs e)
+		{
+			double lfTargetPos = 0.0f;
+			try
+			{
+				if (txtPTP_Pos.Text.Length > 0)
+				{
+					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
+					if (lfTargetPos > 0) lfTargetPos = lfTargetPos * (-1);		// Target position (from current position, step move)
+
+					_ACS.ToPoint(
+                        MotionFlags.ACSC_AMF_RELATIVE,      // Flat
+                        (Axis)cboAxisNo.SelectedIndex,		// Axis number
+						lfTargetPos						    // Move distance
+						);
+				}
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+
+		private void btnPTP_R_Pos_Click(object sender, EventArgs e)
+		{
+			double lfTargetPos = 0.0f;
+			try
+			{
+				if (txtPTP_Pos.Text.Length > 0)
+				{
+					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
+					if (lfTargetPos < 0) lfTargetPos = lfTargetPos * (-1);
+
+					_ACS.ToPoint(MotionFlags.ACSC_AMF_RELATIVE, (Axis)cboAxisNo.SelectedIndex, lfTargetPos);
+				}
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+		#endregion
+
+		#region Stop motion using deceleration (halt command)
+		private void btnHalt_Click(object sender, EventArgs e)
+		{
+			try
+			{
+				_ACS.Halt((Axis)cboAxisNo.SelectedIndex);
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+
+		private void btnHallAll_Click(object sender, EventArgs e)
+		{
+			try
+			{
+				// There is no halt all command, so you need to user HaltM function
+				// 
+				// ex) You want to stop 0, 2, 5 axis
+				//     int[] m_arrAxisList = new int[] { 0, 2, 5, -1 };
+				// 
+				if (m_arrAxisList != null) _ACS.HaltM(m_arrAxisList);
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+		#endregion
+
+		#region JOG Command
+		// Move negative direction
+		private void btnJogNeg_MouseDown(object sender, MouseEventArgs e)
+		{
+			double lfVelocity = 0.0f;
+
+			try
+			{
+				if (chkUseVel.Checked)
+				{
+					lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
+					if (lfVelocity > 0) lfVelocity = lfVelocity * (-1);		// Negative direction : Using - (minus) velocity
+
+					_ACS.Jog(
+                        MotionFlags.ACSC_AMF_VELOCITY,		// Velocity flag
+						(Axis)cboAxisNo.SelectedIndex,	// Axis number
+						lfVelocity					// Velocity
+						);
+				}
+				else
+				{
+                    _ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
+				}
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+		// 정방향 이동 동작
+		private void btnJogPos_MouseDown(object sender, MouseEventArgs e)
+		{
+			double lfVelocity = 0.0f;
+
+			try
+			{
+				if (chkUseVel.Checked)
+				{
+					lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
+					if (lfVelocity < 0) lfVelocity = lfVelocity * (-1);	
+
+					_ACS.Jog(MotionFlags.ACSC_AMF_VELOCITY, (Axis)cboAxisNo.SelectedIndex, lfVelocity);
+				}
+				else
+				{
+					_ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_POSITIVE_DIRECTION);
+				}
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+		// Stop JOG motion
+		private void btnJog_MouseUp(object sender, MouseEventArgs e)
+		{
+			_ACS.Halt((Axis)cboAxisNo.SelectedIndex);
+		}
+		#endregion
+
+		#region Run/Stop Buffer Program
+		private void btnRunBuffer_Click(object sender, EventArgs e)
+		{
+			string temp;
+
+			try
+			{
+				if (txtLabelName.Text.Length > 0)
+				{
+					temp = txtLabelName.Text.ToUpper();
+					// Allow _ (Under bar) or A ~ Z characters
+					if (temp[0] != 0x5F && (temp[0] < 0x41 || temp[0] > 0x5A))
+					{
+						MessageBox.Show("Wrong 'Label' name inputed.", "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Information);
+						return;
+					}
+
+					// Run buffer program from label position
+					_ACS.RunBuffer((ProgramBuffer)cboBufferNo.SelectedIndex, txtLabelName.Text.Trim());
+				}
+				else
+				{
+					// Run buffer program from first line
+					_ACS.RunBuffer((ProgramBuffer)cboBufferNo.SelectedIndex, null);
+				}
+			}
+			catch (Exception ex)
+			{
+				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
+				System.Diagnostics.Debug.WriteLine(ex.Message);
+			}
+		}
+
+		private void btnStopBuffer_Click(object sender, EventArgs e)
+		{
+			// Stop program
+            _ACS.StopBuffer((ProgramBuffer)cboBufferNo.SelectedIndex);
+		}
+		#endregion
+
+		#region Change motion profile
+		private void TextBoxes_KeyPress(object sender, KeyPressEventArgs e)
+		{
+			try
+			{
+				double lfTemp = 0.0f;
+				TextBox textBox = sender as TextBox;
+				if (textBox != null)
+				{
+					// Allow numbers (0 ~ 9), . (DOT), Backspace
+					if ((e.KeyChar >= 0x30 && e.KeyChar <= 0x39) || e.KeyChar == 0x2E || e.KeyChar == 0x08 || e.KeyChar == (char)Keys.Return || e.KeyChar == (char)Keys.Enter)
+					{
+						if ((e.KeyChar == 0x2E) && (textBox.Text.Contains(Convert.ToString(0x2E)))) e.KeyChar = (char)0x00;
+						if (e.KeyChar == (char)Keys.Return || e.KeyChar == (char)Keys.Enter)
+						{
+							e.Handled = true;
+
+							lfTemp = Convert.ToDouble(textBox.Text.Trim());
+							switch (textBox.TabIndex)
+							{
+								// Immediately change value (On the fly) : SetVelocityImm() 
+								// Affect next motion	: SetVelocity()	
+								
+								case 0: _ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                                case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                                case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                                case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                                case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+							}
+
+							textBox.SelectAll();
+						}
+					}
+					else e.KeyChar = (char)0x00;
+				}
+			}
+			catch (Exception ex)
+			{
+				System.Diagnostics.Debug.WriteLine("TextBoxes_KeyPress() Error\n" + ex.ToString());
+			}
+		}
+
+		private void TextBoxes_Enter(object sender, EventArgs e)
+		{
+			try
+			{
+				TextBox textBox = sender as TextBox;
+				if (textBox != null) textBox.SelectAll();
+			}
+			catch (Exception ex)
+			{
+				System.Diagnostics.Debug.WriteLine("TextBoxes_Enter() Error\n" + ex.ToString());
+			}
+		}
+
+		private void TextBoxes_Leave(object sender, EventArgs e)
+		{
+			try
+			{
+				double lfTemp = 0.0f;
+
+				TextBox textBox = sender as TextBox;
+				if (textBox == null) return;
+
+				lfTemp = Convert.ToDouble(textBox.Text.Trim());
+				switch (textBox.TabIndex)
+				{
+                    case 0: _ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                    case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                    case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                    case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+                    case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
+				}
+
+				textBox.SelectAll();
+			}
+			catch (Exception ex)
+			{
+				System.Diagnostics.Debug.WriteLine("TextBoxes_Leave() Error\n" + ex.ToString());
+			}
+		}
+		#endregion
+
+		#region On and Off General Output
+		private void btnSW_Click(object sender, EventArgs e)
+		{
+			int nBitNo = 0x01;
+
+			try
+			{
+				Button btn = sender as Button;
+				if (btn == null) return;
+
+				nBitNo = btn.TabIndex;
+				nBitNo = (0x01) << nBitNo;
+
+				if ((m_nOutputState & nBitNo) != 0)
+				{
+					// Set only 1 bit
+					_ACS.SetOutput(
+						0,				// Port number
+						btn.TabIndex,	// Bit number
+						0				// 0 = OFF, 1 = ON
+						);
+
+                    // If your I/O device is EtherCAT type, you cannot use this function
+                    // You can use WriteVariable function and Command function   
+                    // 
+                    // Ex) If EtherCAT mapped variable is 'EC_DOUT'
+                    //     Want to ON bit '3'
+                    //     _ACS.Command("EC_DOUT.3=1");
+				}
+				else
+				{
+					_ACS.SetOutput(0, btn.TabIndex, 1);
+				}
+			}
+			catch (Exception ex)
+			{
+				System.Diagnostics.Debug.WriteLine("btnSW_Click() Error\n" + ex.ToString());
+			}
+		}
+		#endregion
+
+        #region Event 
+        private void btnEventMotionEnd_Click(object sender, EventArgs e)
+        {
+            //_ACS.PHYSICALMOTIONEND +=_ACS_PHYSICALMOTIONEND;
+            _ACS.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
+            lstLog.Items.Add("PHYSICAL_MOTION_END event enabled");
+        }
+
+        void _ACS_PHYSICALMOTIONEND(AxisMasks axis)
+        {
+            int bit = 0x01;
+            int axisNo = 0;
+            // Param value is bit number 
+            // Bit Number = Axis Number
+            for (int i = 0; i < 64; i++)
+            {
+                if ((int)axis == bit)
+                {
+                    axisNo = i;
+                    break;
+                }
+                bit = bit << 1;
+            }
+
+            // Add log to ListBox
+            this.Invoke((MethodInvoker)delegate
+            {
+                lstLog.Items.Add(String.Format(" - Axis {0}, Stoppped", axisNo));
+                lstLog.SelectedIndex = lstLog.Items.Count - 1;
+            });
+            
+        }
+
+        private void btnEventProgramEnd_Click(object sender, EventArgs e)
+        {
+            //_ACS.PROGRAMEND += _ACS_PROGRAMEND;
+            _ACS.EnableEvent(Interrupts.ACSC_INTR_PROGRAM_END);
+            lstLog.Items.Add("PROGRAM_END event enabled");
+        }
+
+        void _ACS_PROGRAMEND(BufferMasks buffer)
+        {
+            int bit = 0x01;
+            int bufferNo = 0;
+            // Param value is bit number 
+            // Bit Number = Axis Number
+            for (int i = 0; i < 32; i++)
+            {
+                if ((int)buffer == bit)
+                {
+                    bufferNo = i;
+                    break;
+                }
+                bit = bit << 1;
+            }
+
+            // Add log to ListBox
+            this.Invoke((MethodInvoker)delegate
+            {
+                lstLog.Items.Add(String.Format(" - Buffer {0}, Stoppped", bufferNo));
+                lstLog.SelectedIndex = lstLog.Items.Count - 1;
+            });
+        }
+        #endregion
+
+        #region Communication Termial - Using Transaction function
+        private void txtCommand_KeyPress(object sender, KeyPressEventArgs e)
+        {
+            if (e.KeyChar == (char)Keys.Enter)
+                btnSend.PerformClick();
+        }
+
+        private void btnSend_Click(object sender, EventArgs e)
+        {
+            string temp = string.Empty;
+            if (m_bConnected)
+            {
+                try
+                {
+                    AppendTextToTextBox("> " + txtCommand.Text.Trim());
+                    temp = _ACS.Transaction(txtCommand.Text.Trim());
+                }
+                catch (ACS.SPiiPlusNET.ACSException ex)
+                {
+                    temp = String.Format("?{0}", ex.ErrorCode);
+                }
+                finally
+                {
+                    if (temp.Length > 0)
+                    {
+                        AppendTextToTextBox(temp);
+                        AppendTextToTextBox(":");
+                    }
+                }
+
+                txtCommand.Focus();
+                txtCommand.SelectAll();
+            }
+        }
+
+        private void AppendTextToTextBox(string text)
+        {
+            rtxtTerminal.AppendText(text);
+            rtxtTerminal.AppendText(Environment.NewLine);
+            rtxtTerminal.ScrollToCaret();
+        }
+        #endregion
+    }
+}
+
@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Windows.Forms;
+
+namespace ACS_DotNET_Library_Advanced_Demo
+{
+	static class Program
+	{
+		[STAThread]
+		static void Main()
+		{
+			Application.EnableVisualStyles();
+			Application.SetCompatibleTextRenderingDefault(false);
+			Application.Run(new MainForm());
+		}
+	}
+}
@@ -0,0 +1,23 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+
+[assembly: AssemblyTitle("ACS_DotNET_Library_Advanced_Demo")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("ACS_DotNET_Library_Advanced_Demo")]
+[assembly: AssemblyCopyright("Copyright ©  2019")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+
+[assembly: ComVisible(false)]
+
+
+[assembly: Guid("6215eb36-92d3-4f96-9331-1e8cbda161f4")]
+
+
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]
@@ -0,0 +1,93 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     이 코드는 도구를 사용하여 생성되었습니다.
+//     런타임 버전:4.0.30319.18408
+//
+//     파일 내용을 변경하면 잘못된 동작이 발생할 수 있으며, 코드를 다시 생성하면
+//     이러한 변경 내용이 손실됩니다.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace ACS_DotNET_Library_Advanced_Demo.Properties {
+    using System;
+    
+    
+    /// <summary>
+    ///   지역화된 문자열 등을 찾기 위한 강력한 형식의 리소스 클래스입니다.
+    /// </summary>
+    // 이 클래스는 ResGen 또는 Visual Studio와 같은 도구를 통해 StronglyTypedResourceBuilder
+    // 클래스에서 자동으로 생성되었습니다.
+    // 멤버를 추가하거나 제거하려면 .ResX 파일을 편집한 다음 /str 옵션을 사용하여 ResGen을
+    // 다시 실행하거나 VS 프로젝트를 다시 빌드하십시오.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources {
+        
+        private static global::System.Resources.ResourceManager resourceMan;
+        
+        private static global::System.Globalization.CultureInfo resourceCulture;
+        
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources() {
+        }
+        
+        /// <summary>
+        ///   이 클래스에서 사용하는 캐시된 ResourceManager 인스턴스를 반환합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager {
+            get {
+                if (object.ReferenceEquals(resourceMan, null)) {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("ACS_DotNET_Library_Advanced_Demo.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+        
+        /// <summary>
+        ///   이 강력한 형식의 리소스 클래스를 사용하여 모든 리소스 조회에 대한 현재 스레드의 CurrentUICulture
+        ///   속성을 재정의합니다.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture {
+            get {
+                return resourceCulture;
+            }
+            set {
+                resourceCulture = value;
+            }
+        }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap Error {
+            get {
+                object obj = ResourceManager.GetObject("Error", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap Off {
+            get {
+                object obj = ResourceManager.GetObject("Off", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+        
+        /// <summary>
+        ///   Looks up a localized resource of type System.Drawing.Bitmap.
+        /// </summary>
+        internal static System.Drawing.Bitmap On {
+            get {
+                object obj = ResourceManager.GetObject("On", resourceCulture);
+                return ((System.Drawing.Bitmap)(obj));
+            }
+        }
+    }
+}
@@ -0,0 +1,130 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
+  <data name="Error" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Images\Error.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="Off" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Images\Off.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+  <data name="On" type="System.Resources.ResXFileRef, System.Windows.Forms">
+    <value>..\Images\On.bmp;System.Drawing.Bitmap, System.Drawing, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
+  </data>
+</root>
@@ -0,0 +1,30 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.18408
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace ACS_DotNET_Library_Advanced_Demo.Properties
+{
+
+
+	[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+	[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "10.0.0.0")]
+	internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
+	{
+
+		private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+
+		public static Settings Default
+		{
+			get
+			{
+				return defaultInstance;
+			}
+		}
+	}
+}
@@ -0,0 +1,7 @@
+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
+<assembly xmlns="urn:schemas-microsoft-com:asm.v1" manifestVersion="1.0">
+  <assemblyIdentity version="1.0.0.0" name="MyApplication.app"/>
+  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v2">
+    <security>
+      <requestedPrivileges xmlns="urn:schemas-microsoft-com:asm.v3">
+        <requestedExecutionLevel level="asInvoker" uiAccess="false"/>
+      </requestedPrivileges>
+    </security>
+  </trustInfo>
+</assembly>
@@ -0,0 +1,5 @@
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x64\Debug\ACS Motion.csprojAssemblyReference.cache
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x64\Debug\ACS_DotNET_Library_Advanced_Demo.MainForm.resources
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x64\Debug\ACS_DotNET_Library_Advanced_Demo.Properties.Resources.resources
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x64\Debug\ACS Motion.csproj.GenerateResource.cache
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x64\Debug\ACS Motion.csproj.CoreCompileInputs.cache
@@ -0,0 +1,20 @@
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\bin\Debug\ACS_DotNET_Library_Advanced_Demo.exe
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\bin\Debug\ACS_DotNET_Library_Advanced_Demo.pdb
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\bin\Debug\ACS.SPiiPlusNET.dll
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\.NET Library (Advanced) Demo.csprojResolveAssemblyReference.cache
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.Form1.resources
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.Properties.Resources.resources
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\.NET Library (Advanced) Demo.csproj.GenerateResource.Cache
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.exe
+C:\Program Files (x86)\ACS Motion Control\SPiiPlus ADK Suite v3.02\SPiiPlus .NET Library\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.pdb
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\bin\Debug\ACS_DotNET_Library_Advanced_Demo.exe
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\bin\Debug\ACS_DotNET_Library_Advanced_Demo.pdb
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\bin\Debug\ACS.SPiiPlusNET.dll
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\.NET Library (Advanced) Demo.csprojAssemblyReference.cache
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.Form1.resources
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.Properties.Resources.resources
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\.NET Library (Advanced) Demo.csproj.GenerateResource.cache
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\.NET Library (Advanced) Demo.csproj.CoreCompileInputs.cache
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\.NET Library (Advanced) Demo.csproj.CopyComplete
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.exe
+C:\Users\zhengxuan.zhang\Desktop\直线运动平台\.NET Library (Advanced) Demo\.NET Library (Advanced) Demo\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.pdb
@@ -0,0 +1,10 @@
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\bin\Debug\ACS_DotNET_Library_Advanced_Demo.exe
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\bin\Debug\ACS_DotNET_Library_Advanced_Demo.pdb
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS Motion.csprojAssemblyReference.cache
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.MainForm.resources
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.Properties.Resources.resources
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS Motion.csproj.GenerateResource.cache
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS Motion.csproj.CoreCompileInputs.cache
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS Motion.csproj.CopyComplete
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.exe
+E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS_DotNET_Library_Advanced_Demo.pdb