zhengxuan.zhang
1224 lines
34 KiB
C#
1224 lines
34 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Text;
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using System.Windows.Forms;
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using System.Threading;
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using System.IO;
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using ACS.SPiiPlusNET; // ACS .NET Library
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using System.Runtime.InteropServices;
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namespace ACS_DotNET_Library_Advanced_Demo
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{
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public partial class MainForm : Form
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{
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private Api _ACS;
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private const int MAX_AXIS_COUNT = 32;
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private const int MAX_BUFFER_CNT = 64;
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private const int MAX_UI_LIMIT_CNT = 8;
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private const int MAX_UI_IO_CNT = 8;
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private int m_nTotalAxis = 0;
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private int m_nTotalBuffer = 0;
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private Axis[] m_arrAxisList = null;
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private bool m_bConnected = false;
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// For update values
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private MotorStates m_nMotorState; //运动状态
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private ProgramStates m_nProgramState; //程序状态
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private object m_objReadVar = null;
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private Array m_arrReadVector = null;
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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
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private int m_nValues, m_nOutputState;
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private Label[] m_lblLeftLimit; //左限位
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private Label[] m_lblRightLimit;//右限位
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private Label[] m_lblInput;
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private Label[] m_lblOutput;
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private Button[] m_btnOutput;
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//定一个point结构体，用于存储点的坐标
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public struct Point
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{
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public double x;
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public double y;
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public double z;
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}
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//定义一个point结构体的列表，用于存储多个点的坐标
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public List<Point> pointList = new List<Point>();
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//定一个point结构体的对象
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public Point point = new Point();
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// 记录标志位
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private bool record = false;
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private int record_count = 0; //时间计数
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public MainForm()
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{
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InitializeComponent();
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_ACS = new Api(); //初始化 ACS运动控制类
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// Register Event 注册时间
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_ACS.PHYSICALMOTIONEND += _ACS_PHYSICALMOTIONEND;
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_ACS.PROGRAMEND += _ACS_PROGRAMEND;
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}
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#region Initialize
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private void Form1_Load(object sender, EventArgs e)
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{
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rdoTCP.Checked = true;
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btnOpen.Enabled = true;
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btnClose.Enabled = false;
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m_lblLeftLimit = new Label[MAX_UI_LIMIT_CNT]; //左限位
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m_lblLeftLimit[0] = lblLL0;
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m_lblLeftLimit[1] = lblLL1;
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m_lblLeftLimit[2] = lblLL2;
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m_lblLeftLimit[3] = lblLL3;
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m_lblLeftLimit[4] = lblLL4;
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m_lblLeftLimit[5] = lblLL5;
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m_lblLeftLimit[6] = lblLL6;
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m_lblLeftLimit[7] = lblLL7;
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m_lblRightLimit = new Label[MAX_UI_LIMIT_CNT];//有限位
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m_lblRightLimit[0] = lblRL0;
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m_lblRightLimit[1] = lblRL1;
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m_lblRightLimit[2] = lblRL2;
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m_lblRightLimit[3] = lblRL3;
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m_lblRightLimit[4] = lblRL4;
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m_lblRightLimit[5] = lblRL5;
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m_lblRightLimit[6] = lblRL6;
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m_lblRightLimit[7] = lblRL7;
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m_lblInput = new Label[MAX_UI_IO_CNT];
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m_lblInput[0] = lblIN0;
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m_lblInput[1] = lblIN1;
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m_lblInput[2] = lblIN2;
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m_lblInput[3] = lblIN3;
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m_lblInput[4] = lblIN4;
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m_lblInput[5] = lblIN5;
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m_lblInput[6] = lblIN6;
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m_lblInput[7] = lblIN7;
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m_lblOutput = new Label[MAX_UI_IO_CNT];
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m_lblOutput[0] = lblOUT0;
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m_lblOutput[1] = lblOUT1;
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m_lblOutput[2] = lblOUT2;
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m_lblOutput[3] = lblOUT3;
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m_lblOutput[4] = lblOUT4;
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m_lblOutput[5] = lblOUT5;
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m_lblOutput[6] = lblOUT6;
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m_lblOutput[7] = lblOUT7;
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m_btnOutput = new Button[MAX_UI_IO_CNT];
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m_btnOutput[0] = btnSW0;
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m_btnOutput[1] = btnSW1;
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m_btnOutput[2] = btnSW2;
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m_btnOutput[3] = btnSW3;
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m_btnOutput[4] = btnSW4;
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m_btnOutput[5] = btnSW5;
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m_btnOutput[6] = btnSW6;
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m_btnOutput[7] = btnSW7;
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//m_nFault = new int[MAX_AXIS_COUNT];
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//Array.Clear(m_nFault, 0, MAX_AXIS_COUNT);
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m_nOutputState = 0;
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// Clear connection list from SPiiPlus UserMode-Driver (UMD)
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//TernminateUMD_Connection();
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}
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private void rdoTCP_CheckedChanged(object sender, EventArgs e)
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{
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txtIP.Enabled = true;
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txtPort.Enabled = true;
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}
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private void rdoSimu_CheckedChanged(object sender, EventArgs e)
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{
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txtIP.Enabled = false;
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txtPort.Enabled = false;
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}
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#endregion
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#region Communication - Open / Close
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private void btnOpen_Click(object sender, EventArgs e)
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{
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string strTemp;
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int i;
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//double lfTemp = 0.0f;
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try
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{
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if (rdoTCP.Checked)
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{
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// TCP/IP (Ethernet)
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_ACS.OpenCommEthernetTCP(
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txtIP.Text, // IP Address (Default : 10.0.0.100)
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Convert.ToInt32(txtPort.Text.Trim())); // TCP/IP Port nubmer (default : 701)
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}
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else if (rdoSimu.Checked)
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{
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// Simmulation mode
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_ACS.OpenCommSimulator();
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}
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m_bConnected = true;
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// Get Total number of axes
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// Using Transaction function : return string text from controller, we need to convert to integer value
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strTemp = _ACS.Transaction("?SYSINFO(13)");
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m_nTotalAxis = Convert.ToInt32(strTemp.Trim());
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// Using Sysinfo function
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//_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);
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// When we are using multi axes command (ex) ToPointM, HaltM, ...), we need to allocate the array size more 1.
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// Because of the last delimeter (-1)
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m_arrAxisList = new Axis[m_nTotalAxis + 1];
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for (i = 0; i < m_nTotalAxis; i++)
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{
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cboAxisNo.Items.Add(i.ToString());
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m_arrAxisList[i] = (Axis)i;
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}
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// Insert '-1' at the last
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m_arrAxisList[m_nTotalAxis] = Axis.ACSC_NONE;
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cboAxisNo.SelectedIndex = 0;
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// Update current motion paramter to UI.
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UpdateProfile();
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strTemp = _ACS.Transaction("?SYSINFO(10)");
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m_nTotalBuffer = Convert.ToInt32(strTemp.Trim());
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for (i = 0; i < m_nTotalBuffer; i++) { cboBufferNo.Items.Add(i.ToString()); }
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cboBufferNo.SelectedIndex = 0;
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btnOpen.Enabled = false;
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btnClose.Enabled = true;
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// Set updating timer
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tmrMonitor.Interval = 50;
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tmrMonitor.Start();
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}
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catch (COMException comex)
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{
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MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
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System.Diagnostics.Debug.WriteLine("Connection fail" + comex.Message);
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m_bConnected = false;
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return;
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}
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catch (Exception ex)
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{
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MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
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System.Diagnostics.Debug.WriteLine(ex.Message);
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}
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}
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private void btnClose_Click(object sender, EventArgs e)
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{
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if (m_bConnected) _ACS.CloseComm();
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tmrMonitor.Stop();
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btnOpen.Enabled = true;
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btnClose.Enabled = false;
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}
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/// <summary>
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/// Terminate connections from SPiiPlus User Mode Driver
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/// 终止来自 SPiiPlus 用户模式驱动程序的连接
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/// - Maximum connections up to 10 in UMD
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/// </summary>
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private void TernminateUMD_Connection()
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{
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try
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{
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string terminateExceptionConnName = "ACS.Framework.exe";
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ACSC_CONNECTION_DESC[] connectionList = _ACS.GetConnectionsList();
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for (int index = 0; index < connectionList.Length; index++)
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{
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if (terminateExceptionConnName.CompareTo((string)connectionList[index].Application) != 0)
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_ACS.TerminateConnection(connectionList[index]);
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}
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}
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catch (Exception ex)
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{
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System.Diagnostics.Debug.WriteLine(ex.ToString());
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}
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}
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#endregion
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#region Update UI data from Controller
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/// <summary>
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/// Update Motion Profile from Controller
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/// </summary>
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private void UpdateProfile()
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{
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if (m_bConnected)
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{
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txtVel.Text = _ACS.GetVelocity((Axis)cboAxisNo.SelectedIndex).ToString();
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txtAcc.Text = _ACS.GetAcceleration((Axis)cboAxisNo.SelectedIndex).ToString();
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txtDec.Text = _ACS.GetDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
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txtKdec.Text = _ACS.GetKillDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
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txtJerk.Text = _ACS.GetJerk((Axis)cboAxisNo.SelectedIndex).ToString();
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}
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}
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private void cboAxisNo_SelectedIndexChanged(object sender, EventArgs e)
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{
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UpdateProfile();
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}
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private void tmrMonitor_Tick(object sender, EventArgs e)
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{
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// Get selected axis number
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int iAxisNo = cboAxisNo.SelectedIndex;
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// Get selected buffer number
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int iBufferNo = cboBufferNo.SelectedIndex;
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if (m_bConnected)
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{
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try
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{
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// Instruction 1. Using library functions - acsc_GetFPosition, acsc_GetRPosition, ....
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// Instruction 2. Read ACS variable - Already defined almost things (FPOS, RPOS, ...)
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// Motion parameters and state is array (Max length is total number of axes)
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//
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// * Library function can read only 1 axis information, so if you want to read several axes, you have to call the function many times.
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// (This may cause communication delay.)
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// Recommand (if you want to read many axes) : read/write variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
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//
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// Get Motor State
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// ACSPL+ Variable : MST (integer)
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m_nMotorState = _ACS.GetMotorState((Axis)iAxisNo);
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// Returned value is integer, you need to use bitmaks
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if ((m_nMotorState & MotorStates.ACSC_MST_MOVE) != 0) lblMoving.Image = Properties.Resources.On; else lblMoving.Image = Properties.Resources.Off; // 运动中
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if ((m_nMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Properties.Resources.On; else lblInPos.Image = Properties.Resources.Off; // 就位
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if ((m_nMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Properties.Resources.On; else lblAcc.Image = Properties.Resources.Off; // 加速
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if ((m_nMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Properties.Resources.On; else lblEnable.Image = Properties.Resources.Off; // 使能
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// Reference position
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// ACSPL+ Variable : RPOS (real)
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m_lfRPos = _ACS.GetRPosition((Axis)iAxisNo); // 参考位置
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// Feedback position (Encoder value)
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// ACSPL+ Variable : FPO (real)
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m_lfFPos = _ACS.GetFPosition((Axis)iAxisNo); //反馈位置
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// PE (Position Error)
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// There is no function in library. We need to use ReadVariable function
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m_lfPE = (double)_ACS.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差
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// Feedback Velocity
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m_lfFVEL = (double)_ACS.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度
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txtRPOS.Text = String.Format("{0:0.0000}", m_lfRPos);
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txtFPOS.Text = String.Format("{0:0.0000}", m_lfFPos);
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txtPE.Text = String.Format("{0:0.0000}", m_lfPE);
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txtFVEL.Text = String.Format("{0:0.0000}", m_lfFVEL);
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// Program State 运动状态
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// State : Compiled, Running, Suspended, Autoroutine is running (ON syntax)
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//
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// ACSPL+ Variable : PST (integer)
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m_nProgramState = _ACS.GetProgramState((ProgramBuffer)iBufferNo);
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if ((m_nProgramState & ProgramStates.ACSC_PST_RUN) != 0)
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{
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lblPRG_Status_LED.Image = Properties.Resources.On;
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lblPRG_Status.Text = "Running";
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}
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else
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{
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lblPRG_Status_LED.Image = Properties.Resources.Off;
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lblPRG_Status.Text = "Stop";
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}
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// Read left/right hardware limits state
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// ACSPL+ Variable : FAULT (integer)
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m_objReadVar = _ACS.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, m_nTotalAxis - 1, -1, -1);
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if (m_objReadVar != null)
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{
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m_arrReadVector = m_objReadVar as Array;
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if (m_arrReadVector != null)
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{
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for (int i = 0; i < m_nTotalAxis; i++)
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{
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UpdateLimitState(i, (int)m_arrReadVector.GetValue(i));
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}
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}
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}
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// Read digital input/output (Port means all of bits)
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// If you want to read only 1 bit (not an integer), use "GetInput" function
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m_nValues = _ACS.GetInputPort(0); // _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
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UpdateIOState(m_nValues, true);
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m_nOutputState = _ACS.GetOutputPort(0); // _ACS.ReadVariableAsVector("OUT", -1, 0, 0, -1, -1);
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UpdateIOState(m_nOutputState, false);
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}
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catch (Exception ex)
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{
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MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
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System.Diagnostics.Debug.WriteLine(ex.Message);
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}
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//编写代码，刷新0,1，8轴的位置
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point.x = _ACS.GetRPosition((Axis)0); //参考位置
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point.y = _ACS.GetRPosition((Axis)1); //参考位置
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point.z = _ACS.GetRPosition((Axis)8); //参考位置
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//对 point 保留3位小数
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label54.Text = point.x.ToString("0.000");
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label55.Text = point.y.ToString("0.000");
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label56.Text = point.z.ToString("0.000");
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if (record)
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{
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record_count++;
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pointList.Add(point);
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if (record_count > 200)
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{
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record_count = 0;
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record = false;
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//保存数据
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SaveFileDialog saveFileDialog = new SaveFileDialog();
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saveFileDialog.Filter = "文本文件|*.txt";
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saveFileDialog.Title = "保存数据";
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saveFileDialog.ShowDialog();
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if (saveFileDialog.FileName != "")
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{
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StreamWriter sw = new StreamWriter(saveFileDialog.FileName);
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foreach (Point p in pointList)
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{
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sw.WriteLine(p.x.ToString("0.000") + " " + p.y.ToString("0.000") + " " + p.z.ToString("0.000"));
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}
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sw.Close();
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}
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}
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}
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}
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}
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// Update limit state
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private void UpdateLimitState(int axisNo, int fault)
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{
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if (axisNo < MAX_UI_LIMIT_CNT)
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{
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if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0) m_lblLeftLimit[axisNo].Image = Properties.Resources.Error; else m_lblLeftLimit[axisNo].Image = Properties.Resources.Off;
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if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0) m_lblRightLimit[axisNo].Image = Properties.Resources.Error; else m_lblRightLimit[axisNo].Image = Properties.Resources.Off;
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}
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}
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// Update general I/O stae
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private void UpdateIOState(int value, bool isInput)
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{
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int bitUpCnt = 0x01;
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for (int i = 0; i < MAX_UI_IO_CNT; i++)
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{
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if (isInput)
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{
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// Input state
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if ((value & bitUpCnt) != 0) m_lblInput[i].Image = Properties.Resources.On;
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else m_lblInput[i].Image = Properties.Resources.Off;
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}
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else
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{
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// Output state
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if ((value & bitUpCnt) != 0)
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{
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m_btnOutput[i].Text = "OFF";
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m_lblOutput[i].Image = Properties.Resources.On;
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}
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else
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{
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m_btnOutput[i].Text = "ON";
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m_lblOutput[i].Image = Properties.Resources.Off;
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}
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}
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// 0x01 => 0x02 => 0x04 => 0x08 ... increase bit number
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bitUpCnt = (0x01) << (i + 1);
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}
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}
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#endregion
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#region Motor Enable / Disable
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private void btnEnable_Click(object sender, EventArgs e)
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{
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// Enable selected axis
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_ACS.Enable((Axis)cboAxisNo.SelectedIndex);
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|
||
// If you want to enable several axes,
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//
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||
// Ex) Eanble three axes (0, 1, 6)
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//
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||
// int[] AxisList = new int[] { 0, 1, 6, -1 }; !!!! Important !! Must insert '-1' at the last
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// _ACS.EnableM(AxisList);
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}
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||
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
|
||
|
||
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);
|
||
}
|
||
}
|
||
|
||
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);
|
||
}
|
||
}
|
||
|
||
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
|
||
|
||
|
||
#region 三轴插补运动
|
||
|
||
private void button11_Click(object sender, EventArgs e) //MultiPointM 方法
|
||
{
|
||
lstLog.Items.Add("MultiPointM");
|
||
int timeout = 5000;
|
||
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
|
||
double[] points = { 0, 0 };
|
||
_ACS.EnableM(axes); // Enable axis 0 and 1
|
||
// Wait axis 0 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
|
||
// Wait axis 1 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
|
||
// Create multi-point motion of axis 0 and 1 with default
|
||
// velocity without
|
||
// dwell in the points
|
||
_ACS.MultiPointM(MotionFlags.ACSC_NONE, axes, 0);
|
||
// Add some points
|
||
for (int index = 0; index < 5; index++)
|
||
{
|
||
|
||
points[0] = 100 * index;
|
||
points[1] = 100 * index;
|
||
_ACS.AddPointM(axes, points);
|
||
|
||
//将点添加到 lstLog.Items
|
||
lstLog.Items.Add("points[0]:" + points[0].ToString() + "points[1]:" + points[1].ToString());
|
||
|
||
}
|
||
lstLog.Items.Add("结束添加");
|
||
// Finish the motion
|
||
// End of the multi-point motion
|
||
_ACS.EndSequenceM(axes);
|
||
lstLog.Items.Add("执行");
|
||
record=true;
|
||
}
|
||
|
||
|
||
|
||
private void button12_Click(object sender, EventArgs e) //SplineM 方法
|
||
{
|
||
lstLog.Items.Add("SplineM");
|
||
int timeout = 5000;
|
||
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
|
||
double[] points = { 0, 0 ,0};
|
||
_ACS.EnableM(axes); // Enable axes 0 and 1
|
||
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
|
||
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
|
||
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
|
||
|
||
|
||
// Create the arbitrary path motion to axes 0 and 1 with
|
||
// uniform interval 10 ms use a cubic interpolation
|
||
// between the specified points
|
||
_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC |MotionFlags.ACSC_AMF_WAIT, axes, 5000);
|
||
|
||
// Add some points
|
||
// 定义三维点列表
|
||
int[,] pointsArray = new int[,]
|
||
{
|
||
{ 0, 0, 0 },
|
||
{ 10, 20, -10 },
|
||
{ 20, 30, -40 },
|
||
{ 30, 50, -20 },
|
||
{ 40, 70, -30 },
|
||
{ 50, 80, -50 },
|
||
{ 60, 70, -60 },
|
||
{ 70, 50, -70 },
|
||
{ 80, 30, -80 },
|
||
{ 90, 10, -90 }
|
||
};
|
||
|
||
// 遍历列表并添加点
|
||
for (int index = 0; index < pointsArray.GetLength(0); index++)
|
||
{
|
||
|
||
points[0] = pointsArray[index, 0];
|
||
points[1] = pointsArray[index, 1];
|
||
points[2] = pointsArray[index, 2];
|
||
|
||
// 使用AddPVPointM方法添加点
|
||
_ACS.AddPVPointM(axes, points, points);
|
||
|
||
// 将点信息添加到lstLog.Items
|
||
lstLog.Items.Add($"points[0]: {points[0]} points[1]: {points[1]} points[2]: {points[2]}");
|
||
}
|
||
|
||
//_ACS.GoM(axes);
|
||
// Finish the motion
|
||
// End of the multi-point motion
|
||
_ACS.EndSequenceM(axes);
|
||
|
||
_ACS.GoM(axes);
|
||
|
||
|
||
record = true;
|
||
|
||
}
|
||
|
||
|
||
|
||
private void button13_Click(object sender, EventArgs e) //AddPVTPointM 方法
|
||
{
|
||
lstLog.Items.Add("AddPVTPointM");
|
||
int timeout = 5000;
|
||
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
|
||
double[] points = { 0, 0 };
|
||
_ACS.EnableM(axes); // Enable axes 0 and 1
|
||
// Wait axis 0 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
|
||
// Wait axis 1 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
|
||
// PVT motion and uniform interval is not used
|
||
_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC |
|
||
MotionFlags.ACSC_AMF_VARTIME, axes, 0);
|
||
// Add some points
|
||
for (int index = 0; index < 5; index++)
|
||
{
|
||
points[0] = 100 * index; // 0, 100, 200, 300, 400
|
||
points[1] = 50 * index; // 0, 200, 400, 600, 800
|
||
_ACS.AddPVTPointM(axes, points, points, 1000);
|
||
}
|
||
// Finish the motion
|
||
// End of the multi-point motion
|
||
_ACS.EndSequenceM(axes);
|
||
|
||
|
||
record = true;
|
||
|
||
|
||
}
|
||
|
||
private void button14_Click(object sender, EventArgs e)//SegmentLine，平面内
|
||
{
|
||
lstLog.Items.Add("SegmentLine");
|
||
int timeout = 5000;
|
||
Axis[] axes = { Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
|
||
double[] points = { 0, 0, 0 };
|
||
_ACS.EnableM(axes); // Enable axes 0 and 1
|
||
// Wait axis 0 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
|
||
// Wait axis 1 enabled during 5 sec
|
||
_ACS.SegmentedMotion(MotionFlags.ACSC_AMF_VELOCITY, axes, points);
|
||
|
||
lstLog.Items.Add("SegmentLine 1");
|
||
points[0] = 500;
|
||
points[1] = -100;
|
||
//points[2] = -100;
|
||
_ACS.SegmentLine(MotionFlags.ACSC_NONE, axes, points, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
|
||
_ACS.Stopper(axes); //平滑
|
||
|
||
points[0] = 200;
|
||
points[1] = -200;
|
||
//points[2] = -200;
|
||
_ACS.SegmentLine(MotionFlags.ACSC_NONE, axes, points, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
|
||
|
||
_ACS.EndSequenceM(axes);
|
||
}
|
||
|
||
private void button18_Click(object sender, EventArgs e)
|
||
{
|
||
lstLog.Items.Add("记录");
|
||
record = true;
|
||
}
|
||
|
||
private void button15_Click(object sender, EventArgs e) //ExtLine
|
||
{
|
||
int timeout = 5000;
|
||
|
||
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8,Axis.ACSC_NONE };
|
||
double[] points = { 0, 0, 0 };
|
||
// Create segmented motion,coordinates of the initial point
|
||
// are(1000, 1000)
|
||
_ACS.EnableM(axes);
|
||
// Wait axis 0 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
|
||
// Wait axis 1 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
|
||
|
||
// Wait axis 8 enabled during 5 sec
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
|
||
_ACS.Segment(MotionFlags.ACSC_NONE, axes, points);
|
||
// Add line segment with final point (1000,-1000),vector
|
||
// velocity 25000
|
||
points[0] = 100;
|
||
points[1] = 100;
|
||
points[2] = -10;
|
||
_ACS.ExtLine(axes, points, 25000);
|
||
_ACS.Stopper(axes);
|
||
// Add line segment with final point (-1000,-1000),vector
|
||
// velocity 25000
|
||
points[0] = 100;
|
||
points[1] = 200;
|
||
points[2] = -100;
|
||
_ACS.ExtLine(axes, points, 25000);
|
||
_ACS.Stopper(axes);
|
||
// Add line segment with final point (-1000,1000),vector
|
||
// velocity 25000
|
||
points[0] = 200;
|
||
points[1] = 200;
|
||
points[2] = -200;
|
||
_ACS.ExtLine(axes, points, 25000);
|
||
_ACS.Stopper(axes);
|
||
// Add line segment with final point (1000,1000), vector
|
||
// velocity 25000
|
||
points[0] = 200;
|
||
points[1] = 100;
|
||
points[2] = -100;
|
||
_ACS.ExtLine(axes, points, 25000);
|
||
// Finish the motion
|
||
// End of the multi-point motion
|
||
_ACS.EndSequenceM(axes);
|
||
}
|
||
|
||
private void button16_Click(object sender, EventArgs e) //BlendedLine
|
||
{
|
||
lstLog.Items.Add("BlendedLine ");
|
||
|
||
int timeout = 5000;
|
||
Axis[] Axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
|
||
double[] Point = { 1000, 1000 };
|
||
_ACS.BlendedSegmentMotionAsync(MotionFlags.ACSC_NONE, Axes,
|
||
Point,//Starting point of motion
|
||
1000, // Segment time
|
||
500, // Segment Acceleration time
|
||
200, // Segment jerk time
|
||
0);// Waiting call
|
||
|
||
_ACS.EnableM(Axes); // Enable axes 0 and 1
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
|
||
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
|
||
|
||
|
||
|
||
double[] FinalPoint = { 100, 100,-50};
|
||
_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes,
|
||
FinalPoint, 1000, 200, 300, 0);
|
||
_ACS.EndSequenceM(Axes);
|
||
|
||
record =true;
|
||
}
|
||
|
||
private void button17_Click(object sender, EventArgs e) //MoveM 方法
|
||
{
|
||
|
||
|
||
}
|
||
|
||
private void button1_Click(object sender, EventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
#endregion
|
||
|
||
|
||
|
||
|
||
|
||
|
||
}
|
||
}
|
||
|