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; //运动状态
private ProgramStates m_nProgramState; //程序状态
private object m_objReadVar = null;
private Array m_arrReadVector = null;
private double m_lfRPos, m_lfFPos, m_lfPE, m_lfFVEL; //参考位置，反馈位置 位置误差 反馈速度 double类型
private int m_nValues, m_nOutputState;
private Label[] m_lblLeftLimit; //左限位
private Label[] m_lblRightLimit;//右限位
private Label[] m_lblInput;
private Label[] m_lblOutput;
private Button[] m_btnOutput;
public MainForm()
{
InitializeComponent();
_ACS = new Api(); //初始化 ACS运动控制类
// Register Event 注册时间
_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]; //左限位
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];//有限位
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 (COMException comex)
{
MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
System.Diagnostics.Debug.WriteLine("Connection fail" + comex.Message);
m_bConnected = false;
return;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
System.Diagnostics.Debug.WriteLine(ex.Message);
}
}
private void btnClose_Click(object sender, EventArgs e)
{
if (m_bConnected) _ACS.CloseComm();
tmrMonitor.Stop();
btnOpen.Enabled = true;
btnClose.Enabled = false;
}
///
/// Terminate connections from SPiiPlus User Mode Driver
/// 终止来自 SPiiPlus 用户模式驱动程序的连接
/// - Maximum connections up to 10 in UMD
///
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
///
/// Update Motion Profile from Controller
///
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; // 运动中
if ((m_nMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Properties.Resources.On; else lblInPos.Image = Properties.Resources.Off; // 就位
if ((m_nMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Properties.Resources.On; else lblAcc.Image = Properties.Resources.Off; // 加速
if ((m_nMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Properties.Resources.On; else lblEnable.Image = Properties.Resources.Off; // 使能
// Reference position
// ACSPL+ Variable : RPOS (real)
m_lfRPos = _ACS.GetRPosition((Axis)iAxisNo); // 参考位置
// Feedback position (Encoder value)
// ACSPL+ Variable : FPO (real)
m_lfFPos = _ACS.GetFPosition((Axis)iAxisNo); //反馈位置
// 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); //位置误差
// Feedback Velocity
m_lfFVEL = (double)_ACS.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度
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 运动状态
// 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); //使用 halt 命令减速
}
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 速度标志
(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; //左移几位
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");
}
private void button8_Click(object sender, EventArgs e)
{
}
private void button9_Click(object sender, EventArgs e)
{
}
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
}
}