upload

.vs/VSWorkspaceState.json

+{
+  "ExpandedNodes": [
+    ""
+  ],
+  "PreviewInSolutionExplorer": false
+}
\ No newline at end of file

Rmaxis.sln

+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 16
+VisualStudioVersion = 16.0.30717.126
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Rmaxis", "Rmaxis\Rmaxis.csproj", "{C2340D11-8D0E-417D-94FE-F91D5D05B004}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Test", "Test\Test.csproj", "{A367D23D-969F-4CD5-8073-25EBD2F2F422}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{C2340D11-8D0E-417D-94FE-F91D5D05B004}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{C2340D11-8D0E-417D-94FE-F91D5D05B004}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{C2340D11-8D0E-417D-94FE-F91D5D05B004}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{C2340D11-8D0E-417D-94FE-F91D5D05B004}.Release|Any CPU.Build.0 = Release|Any CPU
+		{A367D23D-969F-4CD5-8073-25EBD2F2F422}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{A367D23D-969F-4CD5-8073-25EBD2F2F422}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{A367D23D-969F-4CD5-8073-25EBD2F2F422}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{A367D23D-969F-4CD5-8073-25EBD2F2F422}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {02577B26-01E2-4DBF-A3F0-084CCAE7105A}
+	EndGlobalSection
+EndGlobal

Rmaxis/MotorMaster.Sdk.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+using System.Reflection;
+
+namespace MotorMaster.Sdk
+{
+    public class RMAxis
+    {
+        private static class Win32
+        {
+            [DllImport("kernel32.dll", CharSet = CharSet.Auto)]
+            public static extern IntPtr LoadLibrary(string path);
+
+            [DllImport("kernel32.dll", CharSet = CharSet.Auto)]
+            public static extern bool FreeLibrary(IntPtr handle);
+
+            [DllImport("kernel32.dll", CharSet = CharSet.Ansi)]
+            public static extern IntPtr GetProcAddress(IntPtr handle, string method_name);
+        }
+
+        public static class Native
+        {
+            [StructLayout(LayoutKind.Sequential, Pack = 4)]
+            public struct EXCEPTION_POINTERS
+            {
+                public IntPtr pExceptionRecord;
+                public IntPtr pContext;
+            }
+            [StructLayout(LayoutKind.Sequential, Pack = 4)]
+            public struct EXCEPTION_RECORD
+            {
+                public UInt32 ExceptionCode;
+                public UInt32 ExceptionFlags;
+                public IntPtr pExceptionRecord;
+                public IntPtr ExceptionAddress;
+                public UInt32 NumberParameters;
+                [MarshalAs(UnmanagedType.ByValArray, SizeConst = 15)]
+                public UInt32[] ExceptionInformation;
+            }
+
+            [StructLayout(LayoutKind.Sequential, Pack = 4, CharSet = CharSet.Ansi)]
+            public struct RawException
+            {
+                [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 0xFF)]
+                public string message;
+
+                [MarshalAs(UnmanagedType.I4)]
+                public int line_number;
+
+                [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 0xFF)]
+                public string src_file;
+            }
+
+            public static Exception ToManagedException(SEHException ex)
+            {
+                Exception result = new Exception("Unknown Error", ex);
+
+                int iExceptionCode = Marshal.GetExceptionCode();
+                IntPtr pExceptionPointers = Marshal.GetExceptionPointers();
+
+                EXCEPTION_POINTERS exception_pointers = (EXCEPTION_POINTERS)Marshal.PtrToStructure(pExceptionPointers, typeof(EXCEPTION_POINTERS));
+
+                EXCEPTION_RECORD exception_record = (EXCEPTION_RECORD)Marshal.PtrToStructure(exception_pointers.pExceptionRecord, typeof(EXCEPTION_RECORD));
+
+                if (((UInt32)iExceptionCode == 100) && (exception_record.NumberParameters > 0))
+                {
+                    RawException native = (RawException)Marshal.PtrToStructure((IntPtr)(exception_record.ExceptionInformation[0]), typeof(RawException));
+
+                    result = new Exception(native.message, ex);
+                    result.Data["line_number"] = native.line_number;
+                    result.Data["src_file"] = native.src_file;
+
+                    Marshal.DestroyStructure((IntPtr)(exception_record.ExceptionInformation[0]), typeof(RawException));
+                    Marshal.FreeCoTaskMem((IntPtr)(exception_record.ExceptionInformation[0]));
+                }
+
+                return result;
+            }
+
+            public enum PARAM_TYPE : uint
+            {
+                BOOLEAN = 0,
+                INT32 = 1,
+                FLOAT = 2,
+                ENUM = 3
+            }
+
+            public enum PARAM_EDIT : uint
+            {
+                NORMAL = 0,
+                FACTORY = 1,
+                FUNCTION = 2,
+                READYONLY = 3
+            }
+
+            public const int MAX_STRING_SIZE = 0xFF;
+            public const int MAX_ARRAY_SIZE = 0x03EB;
+
+            [StructLayout(LayoutKind.Sequential, Pack = 4, CharSet = CharSet.Ansi)]
+            public struct parameter_info_t
+            {
+                [MarshalAs(UnmanagedType.U4)]
+                public PARAM_TYPE type;
+                [MarshalAs(UnmanagedType.U4)]
+                public PARAM_EDIT editability;
+                [MarshalAs(UnmanagedType.ByValTStr, SizeConst = MAX_STRING_SIZE)]
+                public string description;
+                [MarshalAs(UnmanagedType.ByValTStr, SizeConst = MAX_STRING_SIZE)]
+                public string enum_type;
+            }
+
+            public enum MOTION_COMMAND : uint
+            {
+                NONE = 0,
+                GO_HOME = 1,
+                DELAY = 2,
+                MOVE_ABSOLUTE = 3,
+                PUSH = 4,
+                MOVE_RELATIVE = 5,
+                CLOSE_LOOP_PUSH = 6
+            };
+
+            [StructLayout(LayoutKind.Sequential, Pack = 4)]
+            public struct motion_command_t
+            {
+                public MOTION_COMMAND type;
+                public float position;
+                public float velocity;
+                public float acceleration;
+                public float deacceleration;
+                public float band;
+                public float push_force;
+                public float push_distance;
+                public int delay;
+                public int next_command_index;
+            }
+
+            [StructLayout(LayoutKind.Sequential, Pack = 4)]
+            public struct version_t
+            {
+                public int major;
+                public int minor;
+                public int build;
+                public int type;
+            }
+
+            public static List<string> ToStringArray(IntPtr array_ptr, int count)
+            {
+                var result = new List<string>(count);
+
+                for (int i = 0; i < count; i++)
+                {
+                    var temp = Marshal.PtrToStringAnsi(array_ptr + Native.MAX_STRING_SIZE * i, Native.MAX_STRING_SIZE);
+                    result.Add(temp.Substring(0, temp.IndexOf('\0')));
+                }
+                    
+
+                return result;
+            }
+
+            // Exception Settings
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_set_exception_throw_delegate([MarshalAs(UnmanagedType.U1)] bool enable);
+            public static rm_set_exception_throw_delegate rm_set_exception_throw;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_get_exception_delegate();
+            public static rm_get_exception_delegate rm_get_exception;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_set_config_path_delegate([MarshalAs(UnmanagedType.LPStr)]string path);
+            public static rm_set_config_path_delegate rm_set_config_path;
+
+            // Factroy Create
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_create_modbus_rtu_delegate([MarshalAs(UnmanagedType.LPStr)]string device, int baudrate, byte slave_id);
+            public static rm_create_modbus_rtu_delegate rm_create_modbus_rtu;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_create_modbus_tcp_delegate([MarshalAs(UnmanagedType.LPStr)]string address, int port);
+            public static rm_create_modbus_tcp_delegate rm_create_modbus_tcp;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_create_modbus_rtu_tcp_delegate([MarshalAs(UnmanagedType.LPStr)]string device, int baudrate, byte slave_id, int port);
+            public static rm_create_modbus_rtu_tcp_delegate rm_create_modbus_rtu_tcp;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_create_canopen_delegate([MarshalAs(UnmanagedType.LPStr)]string device, int bitrate, byte node_id);
+            public static rm_create_canopen_delegate rm_create_canopen;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_create_mock_delegate(version_t version);
+            public static rm_create_mock_delegate rm_create_mock;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_destroy_delegate(IntPtr handle);
+            public static rm_destroy_delegate rm_destroy;
+
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate version_t rm_get_version_delegate(IntPtr handle);
+            public static rm_get_version_delegate rm_get_version;
+
+            // io
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate int rm_get_input_count_delegate(IntPtr handle);
+            public static rm_get_input_count_delegate rm_get_input_count;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate int rm_get_output_count_delegate(IntPtr handle);
+            public static rm_get_output_count_delegate rm_get_output_count;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate int rm_list_input_signal_delegate(IntPtr handle, IntPtr signal_out);
+            public static rm_list_input_signal_delegate rm_list_input_signal;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate int rm_list_output_signal_delegate(IntPtr handle, IntPtr signal_out);
+            public static rm_list_input_signal_delegate rm_list_output_signal;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate void rm_set_input_signal_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string signal, [MarshalAs(UnmanagedType.U1)]bool level);
+            public static rm_set_input_signal_delegate rm_set_input_signal;
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            [return: MarshalAs(UnmanagedType.U1)]
+            public delegate bool rm_get_input_signal_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string signal);
+            public static rm_get_input_signal_delegate rm_get_input_signal;
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            [return: MarshalAs(UnmanagedType.U1)]
+            public delegate bool rm_get_output_signal_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string signal);
+            public static rm_get_output_signal_delegate rm_get_output_signal;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_get_map_input_delegate(IntPtr handle, int port);
+            public static rm_get_map_input_delegate rm_get_map_input;
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate IntPtr rm_get_map_output_delegate(IntPtr handle, int port);
+            public static rm_get_map_output_delegate rm_get_map_output;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate void rm_set_map_input_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string signal, int port);
+            public static rm_set_map_input_delegate rm_set_map_input;
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate void rm_set_map_output_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string signal, int port);
+            public static rm_set_map_output_delegate rm_set_map_output;
+
+            // motion
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_config_motion_delegate(IntPtr handle, float velocity, float acceleration, float deacceleration);
+            public static rm_config_motion_delegate rm_config_motion;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_move_to_delegate(IntPtr handle, float position);
+            public static rm_move_to_delegate rm_move_to;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_go_home_delegate(IntPtr handle);
+            public static rm_go_home_delegate rm_go_home;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_move_absolute_delegate(IntPtr handle, float position, float velocity, float acceleration, float deacceleration, float band);
+            public static rm_move_absolute_delegate rm_move_absolute;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_push_delegate(IntPtr handle, float force, float distance, float velocity);
+            public static rm_push_delegate rm_push;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_precise_push_delegate(IntPtr handle, float force, float distance, float velocity, float force_band, uint force_check_time);
+            public static rm_precise_push_delegate rm_precise_push;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            [return: MarshalAs(UnmanagedType.U1)]
+            public delegate bool rm_wait_complete_delegate(IntPtr handle, uint timeout_ms);
+            public static rm_wait_complete_delegate rm_wait_complete;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            [return: MarshalAs(UnmanagedType.U1)]
+            public delegate bool rm_is_moving_delegate(IntPtr handle);
+            public static rm_is_moving_delegate rm_is_moving;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            [return: MarshalAs(UnmanagedType.U1)]
+            public delegate bool rm_is_reached_delegate(IntPtr handle);
+            public static rm_is_reached_delegate rm_is_reached;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            [return: MarshalAs(UnmanagedType.U1)]
+            public delegate bool rm_is_push_empty_delegate(IntPtr handle);
+            public static rm_is_push_empty_delegate rm_is_push_empty;
+
+            // command
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_set_command_delegate(IntPtr handle, int index, motion_command_t command);
+            public static rm_set_command_delegate rm_set_command;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate motion_command_t rm_get_command_delegate(IntPtr handle, int index);
+            public static rm_get_command_delegate rm_get_command;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_execute_command_delegate(IntPtr handle, motion_command_t command);
+            public static rm_execute_command_delegate rm_execute_command;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_trig_command_delegate(IntPtr handle, int index);
+            public static rm_trig_command_delegate rm_trig_command;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_load_commands_delegate(IntPtr handle);
+            public static rm_load_commands_delegate rm_load_commands;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_save_commands_delegate(IntPtr handle);
+            public static rm_save_commands_delegate rm_save_commands;
+
+            // property
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate float rm_position_delegate(IntPtr handle);
+            public static rm_position_delegate rm_position;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate float rm_velocity_delegate(IntPtr handle);
+            public static rm_velocity_delegate rm_velocity;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate float rm_torque_delegate(IntPtr handle);
+            public static rm_torque_delegate rm_torque;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate float rm_force_sensor_delegate(IntPtr handle);
+            public static rm_force_sensor_delegate rm_force_sensor;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate UInt32 rm_error_code_delegate(IntPtr handle);
+            public static rm_error_code_delegate rm_error_code;
+
+            // parameters
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate int rm_list_parameters_delegate(IntPtr handle, IntPtr param_name_out, IntPtr param_out);
+            public static rm_list_parameters_delegate rm_list_parameters;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate int rm_list_enum_types_delegate(IntPtr handle, IntPtr types_out);
+            public static rm_list_enum_types_delegate rm_list_enum_types;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate int rm_list_enum_def_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string enum_type, IntPtr keys_out, IntPtr values_out);
+            public static rm_list_enum_def_delegate rm_list_enum_def;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate IntPtr rm_get_enum_type_string_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string enum_type, int enum_value);
+            public static rm_get_enum_type_string_delegate rm_get_enum_type_string;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate int rm_get_enum_type_value_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string enum_type, [MarshalAs(UnmanagedType.LPStr)]string enum_type_string);
+            public static rm_get_enum_type_value_delegate rm_get_enum_type_value;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate void rm_get_parameter_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string name, IntPtr data);
+            public static rm_get_parameter_delegate rm_get_parameter;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi, ThrowOnUnmappableChar = true)]
+            public delegate void rm_set_parameter_delegate(IntPtr handle, [MarshalAs(UnmanagedType.LPStr)]string name, IntPtr data);
+            public static rm_set_parameter_delegate rm_set_parameter;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_load_parameters_delegate(IntPtr handle);
+            public static rm_load_parameters_delegate rm_load_parameters;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_save_parameters_delegate(IntPtr handle);
+            public static rm_save_parameters_delegate rm_save_parameters;
+
+            // misc
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_reset_error_delegate(IntPtr handle);
+            public static rm_reset_error_delegate rm_reset_error;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_set_servo_on_off_delegate(IntPtr handle, [MarshalAs(UnmanagedType.U1)]bool enable);
+            public static rm_set_servo_on_off_delegate rm_set_servo_on_off;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            [return: MarshalAs(UnmanagedType.U1)]
+            public delegate bool rm_get_servo_on_off_delegate(IntPtr handle);
+            public static rm_get_servo_on_off_delegate rm_get_servo_on_off;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_stop_delegate(IntPtr handle);
+            public static rm_stop_delegate rm_stop;
+
+            [UnmanagedFunctionPointer(CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
+            public delegate void rm_debug_delegate(IntPtr handle, IntPtr info);
+            public static rm_debug_delegate rm_debug;
+
+        }
+
+        private static IntPtr handle = IntPtr.Zero;
+
+        public static void Initialize(string sdk_path)
+        {
+            handle = Win32.LoadLibrary(sdk_path);
+            if (handle != IntPtr.Zero)
+            {
+                FieldInfo[] fields = typeof(Native).GetFields(BindingFlags.Static | BindingFlags.Public);
+                foreach (FieldInfo field in fields)
+                    if (field.FieldType != typeof(int))
+                        field.SetValue(null, Marshal.GetDelegateForFunctionPointer(Win32.GetProcAddress(handle, field.Name), field.FieldType));
+
+                //Native.rm_set_exception_throw(true);
+                return;
+            }
+            throw new Exception($"{sdk_path} 无法加载");
+        }
+
+        private IntPtr instance = IntPtr.Zero;
+        public RMAxis(IntPtr instance)
+        {
+            this.instance = instance;
+        }
+
+        private T RunWithManaged<T>(Func<T> function)
+        {
+            if (disposed)
+                return default(T);
+            return StaticRunWithManaged(function);
+        }
+
+        private void RunWithManaged(Action function)
+        {
+            if (disposed)
+                return;
+            StaticRunWithManaged(function);
+        }
+
+        private static T StaticRunWithManaged<T>(Func<T> function)
+        {
+            var result = function();
+            var exception_ptr = Native.rm_get_exception();
+            if (exception_ptr == IntPtr.Zero)
+                return result;
+            else
+            {
+                Native.RawException native = (Native.RawException)Marshal.PtrToStructure(exception_ptr, typeof(Native.RawException));
+
+                var ex = new Exception(native.message);
+                ex.Data["line_number"] = native.line_number;
+                ex.Data["src_file"] = native.src_file;
+                throw ex;
+            }
+        }
+
+        private static void StaticRunWithManaged(Action function)
+        {
+            function();
+            var exception_ptr = Native.rm_get_exception();
+            if (exception_ptr == IntPtr.Zero)
+                return;
+            else
+            {
+                Native.RawException native = (Native.RawException)Marshal.PtrToStructure(exception_ptr, typeof(Native.RawException));
+
+                var ex = new Exception(native.message);
+                ex.Data["line_number"] = native.line_number;
+                ex.Data["src_file"] = native.src_file;
+                throw ex;
+            }
+        }
+
+        public static void SetConfigPath(string path)
+        {
+            StaticRunWithManaged(() => Native.rm_set_config_path(path));
+        }
+
+        public static RMAxis CreateModbus(string device, int baudrate, ushort slave_id)
+        {
+            return new RMAxis(StaticRunWithManaged(() => Native.rm_create_modbus_rtu(device, baudrate, (byte)slave_id)));
+        }
+
+        public static RMAxis CreateModbus(string device, int baudrate, ushort slave_id, int port)
+        {
+            return new RMAxis(StaticRunWithManaged(() => Native.rm_create_modbus_rtu_tcp(device, baudrate, (byte)slave_id, port)));
+        }
+
+        public static RMAxis CreateModbus(string address, int port)
+        {
+            return new RMAxis(StaticRunWithManaged(() => Native.rm_create_modbus_tcp(address, port)));
+        }
+
+        public static RMAxis CreateCanOpen(string device, int bitrate, ushort node_id)
+        {
+            return new RMAxis(StaticRunWithManaged(() => Native.rm_create_canopen(device, bitrate, (byte)node_id)));
+        }
+
+        public static RMAxis CreateMock(Native.version_t version)
+        {
+            return new RMAxis(StaticRunWithManaged(() => Native.rm_create_mock(version)));
+        }
+
+        public static void Destroy(RMAxis axis)
+        {
+            axis.disposed = true;
+            StaticRunWithManaged(() => Native.rm_destroy(axis.instance));
+        }
+
+        private bool disposed = false;
+
+        public Native.version_t Version
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_get_version(this.instance));
+            }
+        }
+
+        public int InputCount
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_get_input_count(this.instance));
+            }
+        }
+
+        public int OutputCount
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_get_output_count(this.instance));
+            }
+        }
+
+        public List<string> InputSignal
+        {
+            get
+            {
+                return RunWithManaged(() =>
+                {
+                    IntPtr data_out = Marshal.AllocHGlobal(Native.MAX_ARRAY_SIZE * Native.MAX_STRING_SIZE + 0x100);
+                    var count = Native.rm_list_input_signal(this.instance, data_out);
+
+                    var result = Native.ToStringArray(data_out, count);
+
+                    Marshal.FreeHGlobal(data_out);
+                    return result;
+                });
+            }
+        }
+
+        public List<string> OutputSignal
+        {
+            get
+            {
+                return RunWithManaged(() =>
+                {
+                    IntPtr data_out = Marshal.AllocHGlobal(Native.MAX_ARRAY_SIZE * Native.MAX_STRING_SIZE + 0x100);
+                    var count = Native.rm_list_output_signal(this.instance, data_out);
+
+                    var result = Native.ToStringArray(data_out, count);
+
+                    Marshal.FreeHGlobal(data_out);
+                    return result;
+                });
+            }
+        }
+
+        public void SetInputSignal(string signal, bool level)
+        {
+            RunWithManaged(() => Native.rm_set_input_signal(this.instance, signal, level));
+        }
+
+        public bool GetInputSignal(string signal)
+        {
+            return RunWithManaged(() => Native.rm_get_input_signal(this.instance, signal));
+        }
+
+        public bool GetOutputSignal(string signal)
+        {
+            return RunWithManaged(() => Native.rm_get_output_signal(this.instance, signal));
+        }
+
+        public string GetInputMap(int port)
+        {
+            return RunWithManaged(() =>
+            {
+                var str_ptr = Native.rm_get_map_input(this.instance, port);
+                var temp = Marshal.PtrToStringAnsi(str_ptr, Native.MAX_STRING_SIZE);
+                temp = temp.Substring(0, temp.IndexOf('\0'));
+                return temp;
+            });
+        }
+
+        public string GetOutputMap(int port)
+        {
+            return RunWithManaged(() =>
+            {
+                var str_ptr = Native.rm_get_map_output(this.instance, port);
+                var temp = Marshal.PtrToStringAnsi(str_ptr, Native.MAX_STRING_SIZE);
+                temp = temp.Substring(0, temp.IndexOf('\0'));
+                return temp;
+            });
+        }
+
+        public void SetInputMap(string signal, int port)
+        {
+            RunWithManaged(() => Native.rm_set_map_input(this.instance, signal, port));
+        }
+
+        public void SetOutputMap(string signal, int port)
+        {
+            RunWithManaged(() => Native.rm_set_map_output(this.instance, signal, port));
+        }
+
+        public void ConfigMotion(float velocity, float acceleration, float deacceleration)
+        {
+            RunWithManaged(() => Native.rm_config_motion(this.instance, velocity, acceleration, deacceleration));
+        }
+
+        public void MoveTo(float position)
+        {
+            RunWithManaged(() => Native.rm_move_to(this.instance, position));
+        }
+
+        public void GoHome()
+        {
+            RunWithManaged(() => Native.rm_go_home(this.instance));
+        }
+
+        public void MoveAbsolute(
+            float position, float velocity,
+            float acceleration, float deacceleration, float band
+            )
+        {
+            RunWithManaged(() => Native.rm_move_absolute(this.instance, position, velocity, acceleration, deacceleration, band));
+        }
+
+        public void Push(
+            float force,
+            float distance, float velocity
+            )
+        {
+            RunWithManaged(() => Native.rm_push(this.instance, force, distance, velocity));
+        }
+
+        public void PrecisePush(
+            float force,
+            float distance, float velocity,
+            float force_band, uint force_check_time
+            )
+        {
+            RunWithManaged(() => Native.rm_precise_push(this.instance, force, distance, velocity, force_band, force_check_time));
+        }
+
+        public bool WaitComplete(uint timeout_ms)
+        {
+            return RunWithManaged(() => Native.rm_wait_complete(this.instance, timeout_ms));
+        }
+
+        public bool IsMoving()
+        {
+            return RunWithManaged(() => Native.rm_is_moving(this.instance));
+        }
+
+        public bool IsReached()
+        {
+            return RunWithManaged(() => Native.rm_is_reached(this.instance));
+        }
+
+        public bool IsPushEmpty()
+        {
+            return RunWithManaged(() => Native.rm_is_push_empty(this.instance));
+        }
+
+        public void SetCommand(int index, Native.motion_command_t command)
+        {
+            RunWithManaged(() => Native.rm_set_command(this.instance, index, command));
+        }
+
+        public Native.motion_command_t GetCommand(int index)
+        {
+            return RunWithManaged(() => Native.rm_get_command(this.instance, index));
+        }
+
+        public void ExecuteCommand(Native.motion_command_t command)
+        {
+            RunWithManaged(() => Native.rm_execute_command(this.instance, command));
+        }
+
+        public void TrigCommand(int index)
+        {
+            RunWithManaged(() => Native.rm_trig_command(this.instance, index));
+        }
+
+        public void LoadCommands()
+        {
+            RunWithManaged(() => Native.rm_load_commands(this.instance));
+        }
+
+        public void SaveCommands()
+        {
+            RunWithManaged(() => Native.rm_save_commands(this.instance));
+        }
+
+        public float Position
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_position(this.instance));
+            }
+        }
+
+        public float Velocity
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_velocity(this.instance));
+            }
+        }
+
+        public float Torque
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_torque(this.instance));
+            }
+        }
+
+        public float ForceSensor
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_force_sensor(this.instance));
+            }
+        }
+
+        public uint ErrorCode
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_error_code(this.instance));
+            }
+        }
+
+        public Dictionary<string, Native.parameter_info_t> Parameters
+        {
+            get
+            {
+                return RunWithManaged(() =>
+                {
+                    var result = new Dictionary<string, Native.parameter_info_t>();
+
+                    int param_struct_size = Marshal.SizeOf(typeof(Native.parameter_info_t));
+                    IntPtr param_name_out = Marshal.AllocHGlobal(Native.MAX_ARRAY_SIZE * Native.MAX_STRING_SIZE + 0x100);
+                    IntPtr param_info_out = Marshal.AllocHGlobal(Native.MAX_ARRAY_SIZE * param_struct_size + 0x100);
+
+                    var count = Native.rm_list_parameters(this.instance, param_name_out, param_info_out);
+
+                    var names = Native.ToStringArray(param_name_out, count);
+
+                    for (int i = 0; i < count; i++)
+                        result[names[i]] =
+                            (Native.parameter_info_t)Marshal.PtrToStructure(
+                                param_info_out + param_struct_size * i,
+                                typeof(Native.parameter_info_t));
+
+                    Marshal.FreeHGlobal(param_name_out);
+                    Marshal.FreeHGlobal(param_info_out);
+
+                    return result;
+                });
+            }
+        }
+
+        public List<string> EnumTypes
+        {
+            get
+            {
+                return RunWithManaged(() =>
+                {
+                    IntPtr types_out = Marshal.AllocHGlobal(Native.MAX_ARRAY_SIZE * Native.MAX_STRING_SIZE + 0x100);
+
+                    var count = Native.rm_list_enum_types(this.instance, types_out);
+
+                    var result = Native.ToStringArray(types_out, count);
+
+                    Marshal.FreeHGlobal(types_out);
+
+                    return result;
+                });
+            }
+        }
+
+        public Dictionary<string, Dictionary<string, int>> EnumDefs
+        {
+            get
+            {
+                return RunWithManaged(() =>
+                {
+                    var result = new Dictionary<string, Dictionary<string, int>>();
+
+                    var enum_types = this.EnumTypes;
+                    foreach (var enum_type in enum_types)
+                    {
+                        IntPtr keys_out = Marshal.AllocHGlobal(Native.MAX_ARRAY_SIZE * Native.MAX_STRING_SIZE + 0x100);
+                        IntPtr values_out = Marshal.AllocHGlobal(Native.MAX_ARRAY_SIZE * 4 + 0x100);
+
+                        var count = Native.rm_list_enum_def(this.instance, enum_type, keys_out, values_out);
+
+                        var keys = Native.ToStringArray(keys_out, count);
+
+                        var typedef = new Dictionary<string, int>();
+
+                        for (int i = 0; i < count; i++)
+                            typedef[keys[i]] = Marshal.ReadInt32(values_out + 4 * i);
+
+                        Marshal.FreeHGlobal(keys_out);
+                        Marshal.FreeHGlobal(values_out);
+
+                        result[enum_type] = typedef;
+                    }
+
+                    return result;
+                });
+            }
+        }
+
+        public T GetParameter<T>(string name)
+        {
+            return RunWithManaged(() =>
+            {
+                var data_ptr = Marshal.AllocHGlobal(4);
+                Native.rm_get_parameter(this.instance, name, data_ptr);
+                var result = new byte[4];
+                Marshal.Copy(data_ptr, result, 0, 4);
+                Marshal.FreeHGlobal(data_ptr);
+
+                if (typeof(T) == typeof(int))
+                    return (T)(object)BitConverter.ToInt32(result, 0);
+                else if (typeof(T) == typeof(bool))
+                    return (T)(object)BitConverter.ToBoolean(result, 0);
+                else if (typeof(T) == typeof(float))
+                    return (T)(object)BitConverter.ToSingle(result, 0);
+                else
+                    return (T)(object)BitConverter.ToInt16(result, 0);
+            });
+        }
+
+        public void SetParameter<T>(string name, T value)
+        {
+            RunWithManaged(() =>
+            {
+                var data_ptr = Marshal.AllocHGlobal(4);
+                var data = new byte[4];
+                if (typeof(T) == typeof(int))
+                    data = BitConverter.GetBytes((int)(object)value);
+                else if (typeof(T) == typeof(bool))
+                    data = BitConverter.GetBytes((bool)(object)value);
+                else if (typeof(T) == typeof(float))
+                    data = BitConverter.GetBytes((float)(object)value);
+                else
+                    data = BitConverter.GetBytes((ushort)(object)value);
+                Marshal.Copy(data, 0, data_ptr, data.Length);
+                Native.rm_set_parameter(this.instance, name, data_ptr);
+                Marshal.FreeHGlobal(data_ptr);
+            });
+        }
+
+        public void LoadParameters()
+        {
+            RunWithManaged(() => Native.rm_load_parameters(this.instance));
+        }
+
+        public void SaveParameters()
+        {
+            RunWithManaged(() => Native.rm_save_parameters(this.instance));
+        }
+
+        public void ResetError()
+        {
+            RunWithManaged(() => Native.rm_reset_error(this.instance));
+        }
+
+        public bool ServoOnOff
+        {
+            get
+            {
+                return RunWithManaged(() => Native.rm_get_servo_on_off(this.instance));
+            }
+            set
+            {
+                RunWithManaged(() => Native.rm_set_servo_on_off(this.instance, value));
+            }
+        }
+
+        public void Stop()
+        {
+            RunWithManaged(() => Native.rm_stop(this.instance));
+        }
+
+        public void Debug(IntPtr info)
+        {
+            RunWithManaged(() => Native.rm_debug(this.instance, info));
+        }
+    }
+
+}

Rmaxis/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("Rmaxis")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("Rmaxis")]
+[assembly: AssemblyCopyright("Copyright ©  2021")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("c2340d11-8d0e-417d-94fe-f91d5d05b004")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

Rmaxis/Rmaxis.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using MotorMaster.Sdk;
+
+namespace Neotel
+{
+    /// <summary>
+    /// 增广智能电动夹爪（RM-C控制器）
+    /// </summary>
+    public class Rmaxis
+    {
+        private RMAxis device;
+        private readonly log4net.ILog LOG;
+        private readonly bool initOK;
+        public readonly string[] ErrorString = new string[] { "正常", "通用错误", "电机失相", "位置超差", "速度超差", "电机堵转", "初相励磁错误" };
+        
+        /// <summary>
+        /// 增广智能电动夹爪（RM-C控制器）
+        /// </summary>
+        /// <param name="logName">日志名</param>
+        public Rmaxis(string logName = "Rmaxis")
+        {
+            LOG = log4net.LogManager.GetLogger(logName);
+
+            try
+            {
+                //使用SDK前，动态加载DLL和Config
+                RMAxis.Initialize(Environment.CurrentDirectory + "\\SDK\\MotorMaster.Sdk.dll");
+                RMAxis.SetConfigPath(Environment.CurrentDirectory + "\\SDK\\MotorMaster.config");
+                LOG.Info("Rmaxis Init OK");
+                initOK = true;
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("Rmaxis Init", ex);
+                initOK = false;
+            }
+        }
+
+        /// <summary>
+        /// 串口是否连接
+        /// </summary>
+        public bool IsPortOpen { private set; get; } = false;
+
+        ///// <summary>
+        ///// 伺服是否打开
+        ///// </summary>
+        //public bool IsServoOn
+        //{
+        //    get => device.ServoOnOff;
+        //}
+
+        /// <summary>
+        /// 轴是否在运动
+        /// </summary>
+        public bool IsMoving { get => device.IsMoving(); }
+
+        /// <summary>
+        /// 轴是否到达运动目标
+        /// </summary>
+        public bool IsReached { get => device.IsReached(); }
+
+        /// <summary>
+        /// 轴是否推空（可以在Push完成后检测是否推压/夹持为空）
+        /// </summary>
+        public bool IsPushEmpty { get => device.IsPushEmpty(); }
+
+        /// <summary>
+        /// 错误代码
+        /// </summary>
+        public int ErrorCode { get => (int)device.ErrorCode; }
+
+        //========================================
+        /// <summary>
+        /// 打开串口
+        /// </summary>
+        /// <param name="portName">串口名</param>
+        /// <param name="axisNo">轴号</param>
+        /// <returns></returns>
+        public bool OpenPort(string portName, ushort axisNo = 0)
+        {
+            if (initOK)
+            {
+                try
+                {
+                    device = RMAxis.CreateModbus("\\\\.\\" + portName.ToUpper(), 115200, axisNo);
+                    LOG.Info("OpenPort OK");
+                    IsPortOpen = true;
+                }
+                catch (Exception ex)
+                {
+                    LOG.Error("OpenPort", ex);
+                    IsPortOpen = false;
+                }
+            }
+            else
+            {
+                IsPortOpen = false;
+            }
+            return IsPortOpen;
+        }
+
+        /// <summary>
+        /// 关闭串口
+        /// </summary>
+        public void ClosePort()
+        {
+            if (!initOK) return;
+            if (device == null) return;
+            IsPortOpen = false;
+
+            try
+            {
+                RMAxis.Destroy(device);
+                device = null;
+                LOG.Info("ClosePort OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("ClosePort", ex);
+            }
+        }
+
+        /// <summary>
+        /// 重置控制器错误
+        /// </summary>
+        public void ResetError()
+        {
+            if (!IsPortOpen) return;
+            try
+            {
+                device.ResetError();
+                LOG.Info("ResetError OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("ResetError", ex);
+            }
+        }
+
+        ///// <summary>
+        ///// 打开伺服
+        ///// </summary>
+        //public void ServoOn()
+        //{
+        //    if (!IsPortOpen) return;
+        //    try
+        //    {
+        //        if (!device.ServoOnOff)
+        //            device.ServoOnOff = true;
+        //        LOG.Info("ServoOn OK");
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        LOG.Error("ServoOn", ex);
+        //    }
+        //}
+
+        ///// <summary>
+        ///// 关闭伺服
+        ///// </summary>
+        //public void ServoOff()
+        //{
+        //    if (!IsPortOpen) return;
+        //    try
+        //    {
+        //        if (device.ServoOnOff)
+        //            device.ServoOnOff = false;
+        //        LOG.Info("ServoOff OK");
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        LOG.Error("ServoOff", ex);
+        //    }
+        //}
+
+        /// <summary>
+        /// 停止轴运动
+        /// </summary>
+        public void StopAxis()
+        {
+            if (!IsPortOpen) return;
+            try
+            {
+                device.Stop();
+                LOG.Info("StopAxis OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("StopAxis", ex);
+            }
+        }
+
+        //========================================
+        /// <summary>
+        /// 控制器版本号
+        /// </summary>
+        /// <returns></returns>
+        public string GetVersion()
+        {
+            RMAxis.Native.version_t version = device.Version;
+            return string.Format("{0}.{1}.{2}.{3}", version.major, version.minor, version.build, version.type);
+        }
+
+        /// <summary>
+        /// 获取当前设置的出力值
+        /// </summary>
+        /// <returns>出力，%</returns>
+        public float GetTorque()
+        {
+            float n = -1;
+            if (!IsPortOpen) return n;
+            try
+            {
+                n = device.Torque;
+                LOG.Info("GetTorque OK");
+            }
+            catch (Exception ex)
+            {
+                n = -1;
+                LOG.Error("GetTorque", ex);
+            }
+            return n;
+        }
+
+        ///// <summary>
+        ///// 获取电机运动中的出力
+        ///// </summary>
+        ///// <returns>出力，%</returns>
+        //public float GetForce()
+        //{
+        //    float n = -1;
+        //    if (!IsPortOpen) return n;
+        //    try
+        //    {
+        //        n = device.ForceSensor;
+        //        LOG.Info("GetForce OK");
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        n = -1;
+        //        LOG.Error("GetForce", ex);
+        //    }
+        //    return n;
+        //}
+
+        /// <summary>
+        /// 获取当前电机速度
+        /// </summary>
+        /// <returns>速度，mm/s</returns>
+        public float GetVelocity()
+        {
+            float n = -1;
+            if (!IsPortOpen) return n;
+            try
+            {
+                n = device.Velocity;
+                LOG.Info("GetVelocity OK");
+            }
+            catch (Exception ex)
+            {
+                n = -1;
+                LOG.Error("GetVelocity", ex);
+            }
+            return n;
+        }
+
+        /// <summary>
+        /// 获取当前位置
+        /// </summary>
+        /// <returns>位置，mm</returns>
+        public float GetPosition()
+        {
+            float n = -1;
+            if (!IsPortOpen) return n;
+            try
+            {
+                n = device.Position;
+                LOG.Info("GetPosition OK");
+            }
+            catch (Exception ex)
+            {
+                n = -1;
+                LOG.Error("GetPosition", ex);
+            }
+            return n;
+        }
+
+        //========================================
+        /// <summary>
+        /// 回原点
+        /// </summary>
+        public void GoHome()
+        {
+            if (!IsPortOpen) return;
+            LOG.Info("GoHome Start");
+
+            try
+            {
+                device.GoHome();
+                LOG.Info("GoHome OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("GoHome", ex);
+            }
+        }
+
+        /// <summary>
+        /// 推压运动
+        /// </summary>
+        /// <param name="force">出力，%</param>
+        /// <param name="distance">距离，mm</param>
+        /// <param name="velocity">速度，mm/s</param>
+        public void Push(float force, float distance, float velocity)
+        {
+            if (!IsPortOpen) return;
+            LOG.Info("Push Start");
+
+            try
+            {
+                device.Push(force, distance, velocity);
+                LOG.Info("Push OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("Push", ex);
+            }
+        }
+
+        /// <summary>
+        /// 绝对运动
+        /// </summary>
+        /// <param name="position">位置，mm</param>
+        /// <param name="velocity">速度，mm/s</param>
+        /// <param name="acceleration">加速度，mm/s^2</param>
+        /// <param name="deacceleration">减速度，mm/s^2</param>
+        /// <param name="band">定位范围，mm</param>
+        public void MoveAbsolute(float position, float velocity, float acceleration, float deacceleration, float band)
+        {
+            if (!IsPortOpen) return;
+            LOG.Info("MoveAbsolute Start");
+
+            try
+            {
+                device.MoveAbsolute(position, velocity, acceleration, deacceleration, band);
+                LOG.Info("MoveAbsolute OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("MoveAbsolute", ex);
+            }
+        }
+
+        /// <summary>
+        /// 直接运动到指定位置
+        /// </summary>
+        /// <param name="position">位置，mm</param>
+        public void MoveTo(float position)
+        {
+            if (!IsPortOpen) return;
+            LOG.Info("MoveTo Start");
+
+            try
+            {
+                device.MoveTo(position);
+                LOG.Info("MoveTo OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("MoveTo", ex);
+            }
+        }
+
+        /// <summary>
+        /// 直接运动的参数
+        /// </summary>
+        /// <param name="velocity">速度，mm/s</param>
+        /// <param name="acceleration">加速度，mm/s^2</param>
+        /// <param name="deacceleration">减速度，mm/s^2</param>
+        public void MoveConfig(float velocity, float acceleration, float deacceleration)
+        {
+            if (!IsPortOpen) return;
+            try
+            {
+                device.ConfigMotion(velocity, acceleration, deacceleration);
+                LOG.Info("MoveConfig OK");
+            }
+            catch (Exception ex)
+            {
+                LOG.Error("MoveConfig", ex);
+            }
+        }
+
+        /// <summary>
+        /// 回原点，并等到到位
+        /// </summary>
+        /// <param name="timeout">超时时间，ms</param>
+        /// <returns></returns>
+        public bool GoHomeWait(int timeout)
+        {
+            if (!IsPortOpen) return false;
+            LOG.Info("GoHomeWait Start");
+            bool result;
+
+            try
+            {
+                device.GoHome();
+                //device.WaitComplete((uint)timeout);
+                //result = device.IsReached();
+                result = Wait(timeout);
+                if (result)
+                    LOG.Info("GoHomeWait OK");
+                else
+                    LOG.Info("GoHomeWait Timeout");
+            }
+            catch (Exception ex)
+            {
+                result = false;
+                LOG.Error("GoHomeWait", ex);
+            }
+            return result;
+        }
+
+        /// <summary>
+        /// 推压运动，并等到到位
+        /// </summary>
+        /// <param name="force">出力，%</param>
+        /// <param name="distance">距离，mm</param>
+        /// <param name="velocity">速度，mm/s</param>
+        /// <param name="timeout">超时时间，ms</param>
+        /// <returns></returns>
+        public bool PushWait(float force, float distance, float velocity, int timeout)
+        {
+            if (!IsPortOpen) return false;
+            LOG.Info("PushWait Start");
+            bool result;
+
+            try
+            {
+                device.Push(force, distance, velocity);
+                //device.WaitComplete((uint)timeout);
+                //result = device.IsReached();
+                result = Wait(timeout);
+                if (result)
+                    LOG.Info("PushWait OK");
+                else
+                    LOG.Info("PushWait Timeout");
+            }
+            catch (Exception ex)
+            {
+                result = false;
+                LOG.Error("PushWait", ex);
+            }
+            return result;
+        }
+
+        /// <summary>
+        /// 绝对运动，并等到到位
+        /// </summary>
+        /// <param name="position">位置，mm</param>
+        /// <param name="velocity">速度，mm/s</param>
+        /// <param name="acceleration">加速度，mm/s^2</param>
+        /// <param name="deacceleration">减速度，mm/s^2</param>
+        /// <param name="band">定位范围，mm</param>
+        /// <param name="timeout">超时时间，ms</param>
+        /// <returns></returns>
+        public bool MoveAbsoluteWait(float position, float velocity, float acceleration, float deacceleration, float band, int timeout)
+        {
+            if (!IsPortOpen) return false;
+            LOG.Info("MoveAbsoluteWait Start");
+            bool result;
+
+            try
+            {
+                device.MoveAbsolute(position, velocity, acceleration, deacceleration, band);
+                //device.WaitComplete((uint)timeout);
+                //result = device.IsReached();
+                result = Wait(timeout);
+                if (result)
+                    LOG.Info("PushWait OK");
+                else
+                    LOG.Info("PushWait Timeout");
+            }
+            catch (Exception ex)
+            {
+                result = false;
+                LOG.Error("MoveAbsoluteWait", ex);
+            }
+            return result;
+        }
+
+        /// <summary>
+        /// 直接运动到指定位置，并等到到位
+        /// </summary>
+        /// <param name="position">位置，mm</param>
+        /// <param name="timeout">超时时间，ms</param>
+        /// <returns></returns>
+        public bool MoveToWait(float position, int timeout)
+        {
+            if (!IsPortOpen) return false;
+            LOG.Info("MoveToWait Start");
+            bool result;
+
+            try
+            {
+                device.MoveTo(position);
+                //device.WaitComplete((uint)timeout);
+                //result = device.IsReached();
+                result = Wait(timeout);
+                if (result)
+                    LOG.Info("PushWait OK");
+                else
+                    LOG.Info("PushWait Timeout");
+            }
+            catch (Exception ex)
+            {
+                result = false;
+                LOG.Error("MoveToWait", ex);
+            }
+            return result;
+        }
+
+
+
+        private bool Wait(int timeout)
+        {
+            int n = 0;
+            int mm = 10;
+            bool result = true;
+            System.Threading.Thread.Sleep(mm);
+
+            while (!device.IsReached())
+            {
+                if (n >= timeout)
+                {
+                    result = false;
+                    break;
+                }
+                n += mm;
+                System.Threading.Thread.Sleep(mm);
+                System.Windows.Forms.Application.DoEvents();
+            }
+            return result;
+        }
+
+
+
+    }
+}

Rmaxis/Rmaxis.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{C2340D11-8D0E-417D-94FE-F91D5D05B004}</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>Neotel</RootNamespace>
+    <AssemblyName>Neotel.Rmaxis</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <DocumentationFile>bin\Debug\Neotel.Rmaxis.xml</DocumentationFile>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="log4net, Version=2.0.12.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
+      <HintPath>..\packages\log4net.2.0.12\lib\net45\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Configuration" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Web" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Rmaxis.cs" />
+    <Compile Include="MotorMaster.Sdk.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="packages.config" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

Rmaxis/bin/Debug/Neotel.Rmaxis.xml

+<?xml version="1.0"?>
+<doc>
+    <assembly>
+        <name>Neotel.Rmaxis</name>
+    </assembly>
+    <members>
+        <member name="T:Neotel.Rmaxis">
+            <summary>
+            增广智能电动夹爪（RM-C控制器）
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.#ctor(System.String)">
+            <summary>
+            增广智能电动夹爪（RM-C控制器）
+            </summary>
+            <param name="logName">日志名</param>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsPortOpen">
+            <summary>
+            串口是否连接
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsMoving">
+            <summary>
+            轴是否在运动
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsReached">
+            <summary>
+            轴是否到达运动目标
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsPushEmpty">
+            <summary>
+            轴是否推空（可以在Push完成后检测是否推压/夹持为空）
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.ErrorCode">
+            <summary>
+            错误代码
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.OpenPort(System.String,System.UInt16)">
+            <summary>
+            打开串口
+            </summary>
+            <param name="portName">串口名</param>
+            <param name="axisNo">轴号</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.ClosePort">
+            <summary>
+            关闭串口
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.ResetError">
+            <summary>
+            重置控制器错误
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.StopAxis">
+            <summary>
+            停止轴运动
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetVersion">
+            <summary>
+            控制器版本号
+            </summary>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetTorque">
+            <summary>
+            获取当前设置的出力值
+            </summary>
+            <returns>出力，%</returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetVelocity">
+            <summary>
+            获取当前电机速度
+            </summary>
+            <returns>速度，mm/s</returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetPosition">
+            <summary>
+            获取当前位置
+            </summary>
+            <returns>位置，mm</returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GoHome">
+            <summary>
+            回原点
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.Push(System.Single,System.Single,System.Single)">
+            <summary>
+            推压运动
+            </summary>
+            <param name="force">出力，%</param>
+            <param name="distance">距离，mm</param>
+            <param name="velocity">速度，mm/s</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveAbsolute(System.Single,System.Single,System.Single,System.Single,System.Single)">
+            <summary>
+            绝对运动
+            </summary>
+            <param name="position">位置，mm</param>
+            <param name="velocity">速度，mm/s</param>
+            <param name="acceleration">加速度，mm/s^2</param>
+            <param name="deacceleration">减速度，mm/s^2</param>
+            <param name="band">定位范围，mm</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveTo(System.Single)">
+            <summary>
+            直接运动到指定位置
+            </summary>
+            <param name="position">位置，mm</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveConfig(System.Single,System.Single,System.Single)">
+            <summary>
+            直接运动的参数
+            </summary>
+            <param name="velocity">速度，mm/s</param>
+            <param name="acceleration">加速度，mm/s^2</param>
+            <param name="deacceleration">减速度，mm/s^2</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.GoHomeWait(System.Int32)">
+            <summary>
+            回原点，并等到到位
+            </summary>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.PushWait(System.Single,System.Single,System.Single,System.Int32)">
+            <summary>
+            推压运动，并等到到位
+            </summary>
+            <param name="force">出力，%</param>
+            <param name="distance">距离，mm</param>
+            <param name="velocity">速度，mm/s</param>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveAbsoluteWait(System.Single,System.Single,System.Single,System.Single,System.Single,System.Int32)">
+            <summary>
+            绝对运动，并等到到位
+            </summary>
+            <param name="position">位置，mm</param>
+            <param name="velocity">速度，mm/s</param>
+            <param name="acceleration">加速度，mm/s^2</param>
+            <param name="deacceleration">减速度，mm/s^2</param>
+            <param name="band">定位范围，mm</param>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveToWait(System.Single,System.Int32)">
+            <summary>
+            直接运动到指定位置，并等到到位
+            </summary>
+            <param name="position">位置，mm</param>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+    </members>
+</doc>

Rmaxis/obj/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = ".NET Framework 4.6.1")]

Rmaxis/obj/Debug/Rmaxis.csproj.CoreCompileInputs.cache

+c9564820a79ee9ecf18d331729e43a9bc2a948d1

Rmaxis/obj/Debug/Rmaxis.csproj.FileListAbsolute.txt

+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.dll
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.pdb
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\bin\Debug\log4net.dll
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\bin\Debug\log4net.xml
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csproj.CoreCompileInputs.cache
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csproj.CopyComplete
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.dll
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.pdb
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.xml
+C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csprojAssemblyReference.cache

Rmaxis/packages.config

+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="log4net" version="2.0.12" targetFramework="net461" />
+</packages>
\ No newline at end of file

Test/App.config

+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+    </startup>
+</configuration>
\ No newline at end of file

Test/FrmMain.Designer.cs

+
+namespace Test
+{
+    partial class FrmMain
+    {
+        /// <summary>
+        /// 必需的设计器变量。
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// 清理所有正在使用的资源。
+        /// </summary>
+        /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows 窗体设计器生成的代码
+
+        /// <summary>
+        /// 设计器支持所需的方法 - 不要修改
+        /// 使用代码编辑器修改此方法的内容。
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.CboPort = new System.Windows.Forms.ComboBox();
+            this.BtnOpenPort = new System.Windows.Forms.Button();
+            this.BtnGoHome = new System.Windows.Forms.Button();
+            this.BtnClosePort = new System.Windows.Forms.Button();
+            this.statusStrip1 = new System.Windows.Forms.StatusStrip();
+            this.TsslStatus = new System.Windows.Forms.ToolStripStatusLabel();
+            this.BtnPush = new System.Windows.Forms.Button();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.NudVelocity1 = new System.Windows.Forms.NumericUpDown();
+            this.NudDistance1 = new System.Windows.Forms.NumericUpDown();
+            this.NudForce1 = new System.Windows.Forms.NumericUpDown();
+            this.label3 = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.label1 = new System.Windows.Forms.Label();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.NudBand = new System.Windows.Forms.NumericUpDown();
+            this.NudDeacceleration = new System.Windows.Forms.NumericUpDown();
+            this.label7 = new System.Windows.Forms.Label();
+            this.label8 = new System.Windows.Forms.Label();
+            this.NudVelocity2 = new System.Windows.Forms.NumericUpDown();
+            this.NudAcceleration = new System.Windows.Forms.NumericUpDown();
+            this.NudPosition = new System.Windows.Forms.NumericUpDown();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label6 = new System.Windows.Forms.Label();
+            this.BtnAbsolute = new System.Windows.Forms.Button();
+            this.groupBox3 = new System.Windows.Forms.GroupBox();
+            this.LblStatus = new System.Windows.Forms.Label();
+            this.BtnReset = new System.Windows.Forms.Button();
+            this.groupBox4 = new System.Windows.Forms.GroupBox();
+            this.NudVelocity3 = new System.Windows.Forms.NumericUpDown();
+            this.NudDistance2 = new System.Windows.Forms.NumericUpDown();
+            this.NudForce2 = new System.Windows.Forms.NumericUpDown();
+            this.label9 = new System.Windows.Forms.Label();
+            this.label10 = new System.Windows.Forms.Label();
+            this.label11 = new System.Windows.Forms.Label();
+            this.BtnStability = new System.Windows.Forms.Button();
+            this.NudInterval = new System.Windows.Forms.NumericUpDown();
+            this.NudTimes = new System.Windows.Forms.NumericUpDown();
+            this.label12 = new System.Windows.Forms.Label();
+            this.label13 = new System.Windows.Forms.Label();
+            this.LblVersion = new System.Windows.Forms.Label();
+            this.statusStrip1.SuspendLayout();
+            this.groupBox1.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.NudVelocity1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudDistance1)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudForce1)).BeginInit();
+            this.groupBox2.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.NudBand)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudDeacceleration)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudVelocity2)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudAcceleration)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudPosition)).BeginInit();
+            this.groupBox3.SuspendLayout();
+            this.groupBox4.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.NudVelocity3)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudDistance2)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudForce2)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudInterval)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudTimes)).BeginInit();
+            this.SuspendLayout();
+            // 
+            // CboPort
+            // 
+            this.CboPort.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.CboPort.FormattingEnabled = true;
+            this.CboPort.Location = new System.Drawing.Point(12, 12);
+            this.CboPort.Name = "CboPort";
+            this.CboPort.Size = new System.Drawing.Size(75, 20);
+            this.CboPort.TabIndex = 0;
+            // 
+            // BtnOpenPort
+            // 
+            this.BtnOpenPort.Location = new System.Drawing.Point(12, 38);
+            this.BtnOpenPort.Name = "BtnOpenPort";
+            this.BtnOpenPort.Size = new System.Drawing.Size(75, 23);
+            this.BtnOpenPort.TabIndex = 1;
+            this.BtnOpenPort.Text = "打开串口";
+            this.BtnOpenPort.UseVisualStyleBackColor = true;
+            this.BtnOpenPort.Click += new System.EventHandler(this.BtnOpenPort_Click);
+            // 
+            // BtnGoHome
+            // 
+            this.BtnGoHome.Location = new System.Drawing.Point(12, 125);
+            this.BtnGoHome.Name = "BtnGoHome";
+            this.BtnGoHome.Size = new System.Drawing.Size(75, 23);
+            this.BtnGoHome.TabIndex = 2;
+            this.BtnGoHome.Text = "回原点";
+            this.BtnGoHome.UseVisualStyleBackColor = true;
+            this.BtnGoHome.Click += new System.EventHandler(this.BtnGoHome_Click);
+            // 
+            // BtnClosePort
+            // 
+            this.BtnClosePort.Location = new System.Drawing.Point(12, 67);
+            this.BtnClosePort.Name = "BtnClosePort";
+            this.BtnClosePort.Size = new System.Drawing.Size(75, 23);
+            this.BtnClosePort.TabIndex = 3;
+            this.BtnClosePort.Text = "关闭串口";
+            this.BtnClosePort.UseVisualStyleBackColor = true;
+            this.BtnClosePort.Click += new System.EventHandler(this.BtnClosePort_Click);
+            // 
+            // statusStrip1
+            // 
+            this.statusStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.TsslStatus});
+            this.statusStrip1.Location = new System.Drawing.Point(0, 384);
+            this.statusStrip1.Name = "statusStrip1";
+            this.statusStrip1.Size = new System.Drawing.Size(354, 22);
+            this.statusStrip1.TabIndex = 6;
+            this.statusStrip1.Text = "statusStrip1";
+            // 
+            // TsslStatus
+            // 
+            this.TsslStatus.Name = "TsslStatus";
+            this.TsslStatus.Size = new System.Drawing.Size(131, 17);
+            this.TsslStatus.Text = "toolStripStatusLabel1";
+            // 
+            // BtnPush
+            // 
+            this.BtnPush.Location = new System.Drawing.Point(41, 97);
+            this.BtnPush.Name = "BtnPush";
+            this.BtnPush.Size = new System.Drawing.Size(70, 23);
+            this.BtnPush.TabIndex = 7;
+            this.BtnPush.Text = "推压";
+            this.BtnPush.UseVisualStyleBackColor = true;
+            this.BtnPush.Click += new System.EventHandler(this.BtnPush_Click);
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.NudVelocity1);
+            this.groupBox1.Controls.Add(this.NudDistance1);
+            this.groupBox1.Controls.Add(this.NudForce1);
+            this.groupBox1.Controls.Add(this.label3);
+            this.groupBox1.Controls.Add(this.label2);
+            this.groupBox1.Controls.Add(this.label1);
+            this.groupBox1.Controls.Add(this.BtnPush);
+            this.groupBox1.Location = new System.Drawing.Point(93, 12);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(117, 180);
+            this.groupBox1.TabIndex = 8;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "推压运动";
+            // 
+            // NudVelocity1
+            // 
+            this.NudVelocity1.Location = new System.Drawing.Point(41, 70);
+            this.NudVelocity1.Maximum = new decimal(new int[] {
+            10000,
+            0,
+            0,
+            0});
+            this.NudVelocity1.Name = "NudVelocity1";
+            this.NudVelocity1.Size = new System.Drawing.Size(70, 21);
+            this.NudVelocity1.TabIndex = 13;
+            this.NudVelocity1.Value = new decimal(new int[] {
+            500,
+            0,
+            0,
+            0});
+            // 
+            // NudDistance1
+            // 
+            this.NudDistance1.Location = new System.Drawing.Point(41, 43);
+            this.NudDistance1.Maximum = new decimal(new int[] {
+            20,
+            0,
+            0,
+            0});
+            this.NudDistance1.Name = "NudDistance1";
+            this.NudDistance1.Size = new System.Drawing.Size(70, 21);
+            this.NudDistance1.TabIndex = 12;
+            this.NudDistance1.Value = new decimal(new int[] {
+            7,
+            0,
+            0,
+            0});
+            // 
+            // NudForce1
+            // 
+            this.NudForce1.Location = new System.Drawing.Point(41, 16);
+            this.NudForce1.Name = "NudForce1";
+            this.NudForce1.Size = new System.Drawing.Size(70, 21);
+            this.NudForce1.TabIndex = 11;
+            this.NudForce1.Value = new decimal(new int[] {
+            30,
+            0,
+            0,
+            0});
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(6, 72);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(29, 12);
+            this.label3.TabIndex = 10;
+            this.label3.Text = "速度";
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(6, 45);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(29, 12);
+            this.label2.TabIndex = 9;
+            this.label2.Text = "距离";
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(6, 18);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(29, 12);
+            this.label1.TabIndex = 8;
+            this.label1.Text = "出力";
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.NudBand);
+            this.groupBox2.Controls.Add(this.NudDeacceleration);
+            this.groupBox2.Controls.Add(this.label7);
+            this.groupBox2.Controls.Add(this.label8);
+            this.groupBox2.Controls.Add(this.NudVelocity2);
+            this.groupBox2.Controls.Add(this.NudAcceleration);
+            this.groupBox2.Controls.Add(this.NudPosition);
+            this.groupBox2.Controls.Add(this.label4);
+            this.groupBox2.Controls.Add(this.label5);
+            this.groupBox2.Controls.Add(this.label6);
+            this.groupBox2.Controls.Add(this.BtnAbsolute);
+            this.groupBox2.Location = new System.Drawing.Point(216, 12);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(129, 180);
+            this.groupBox2.TabIndex = 14;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "绝对运动";
+            // 
+            // NudBand
+            // 
+            this.NudBand.DecimalPlaces = 2;
+            this.NudBand.Location = new System.Drawing.Point(53, 124);
+            this.NudBand.Name = "NudBand";
+            this.NudBand.Size = new System.Drawing.Size(70, 21);
+            this.NudBand.TabIndex = 17;
+            this.NudBand.Value = new decimal(new int[] {
+            1,
+            0,
+            0,
+            65536});
+            // 
+            // NudDeacceleration
+            // 
+            this.NudDeacceleration.Location = new System.Drawing.Point(53, 97);
+            this.NudDeacceleration.Maximum = new decimal(new int[] {
+            10000,
+            0,
+            0,
+            0});
+            this.NudDeacceleration.Name = "NudDeacceleration";
+            this.NudDeacceleration.Size = new System.Drawing.Size(70, 21);
+            this.NudDeacceleration.TabIndex = 16;
+            this.NudDeacceleration.Value = new decimal(new int[] {
+            500,
+            0,
+            0,
+            0});
+            // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Location = new System.Drawing.Point(18, 126);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(29, 12);
+            this.label7.TabIndex = 15;
+            this.label7.Text = "范围";
+            // 
+            // label8
+            // 
+            this.label8.AutoSize = true;
+            this.label8.Location = new System.Drawing.Point(6, 99);
+            this.label8.Name = "label8";
+            this.label8.Size = new System.Drawing.Size(41, 12);
+            this.label8.TabIndex = 14;
+            this.label8.Text = "减速度";
+            // 
+            // NudVelocity2
+            // 
+            this.NudVelocity2.Location = new System.Drawing.Point(53, 43);
+            this.NudVelocity2.Maximum = new decimal(new int[] {
+            10000,
+            0,
+            0,
+            0});
+            this.NudVelocity2.Name = "NudVelocity2";
+            this.NudVelocity2.Size = new System.Drawing.Size(70, 21);
+            this.NudVelocity2.TabIndex = 13;
+            this.NudVelocity2.Value = new decimal(new int[] {
+            500,
+            0,
+            0,
+            0});
+            // 
+            // NudAcceleration
+            // 
+            this.NudAcceleration.Location = new System.Drawing.Point(53, 70);
+            this.NudAcceleration.Maximum = new decimal(new int[] {
+            10000,
+            0,
+            0,
+            0});
+            this.NudAcceleration.Name = "NudAcceleration";
+            this.NudAcceleration.Size = new System.Drawing.Size(70, 21);
+            this.NudAcceleration.TabIndex = 12;
+            this.NudAcceleration.Value = new decimal(new int[] {
+            500,
+            0,
+            0,
+            0});
+            // 
+            // NudPosition
+            // 
+            this.NudPosition.Location = new System.Drawing.Point(53, 16);
+            this.NudPosition.Maximum = new decimal(new int[] {
+            20,
+            0,
+            0,
+            0});
+            this.NudPosition.Name = "NudPosition";
+            this.NudPosition.Size = new System.Drawing.Size(70, 21);
+            this.NudPosition.TabIndex = 11;
+            this.NudPosition.Value = new decimal(new int[] {
+            18,
+            0,
+            0,
+            0});
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(18, 45);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(29, 12);
+            this.label4.TabIndex = 10;
+            this.label4.Text = "速度";
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(6, 72);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(41, 12);
+            this.label5.TabIndex = 9;
+            this.label5.Text = "加速度";
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Location = new System.Drawing.Point(18, 18);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(29, 12);
+            this.label6.TabIndex = 8;
+            this.label6.Text = "位置";
+            // 
+            // BtnAbsolute
+            // 
+            this.BtnAbsolute.Location = new System.Drawing.Point(53, 151);
+            this.BtnAbsolute.Name = "BtnAbsolute";
+            this.BtnAbsolute.Size = new System.Drawing.Size(70, 23);
+            this.BtnAbsolute.TabIndex = 7;
+            this.BtnAbsolute.Text = "绝对";
+            this.BtnAbsolute.UseVisualStyleBackColor = true;
+            this.BtnAbsolute.Click += new System.EventHandler(this.BtnAbsolute_Click);
+            // 
+            // groupBox3
+            // 
+            this.groupBox3.Controls.Add(this.LblStatus);
+            this.groupBox3.Location = new System.Drawing.Point(216, 198);
+            this.groupBox3.Name = "groupBox3";
+            this.groupBox3.Size = new System.Drawing.Size(129, 180);
+            this.groupBox3.TabIndex = 15;
+            this.groupBox3.TabStop = false;
+            this.groupBox3.Text = "当前状态";
+            // 
+            // LblStatus
+            // 
+            this.LblStatus.Location = new System.Drawing.Point(6, 16);
+            this.LblStatus.Name = "LblStatus";
+            this.LblStatus.Size = new System.Drawing.Size(117, 158);
+            this.LblStatus.TabIndex = 1;
+            this.LblStatus.Text = "Status";
+            // 
+            // BtnReset
+            // 
+            this.BtnReset.Location = new System.Drawing.Point(12, 96);
+            this.BtnReset.Name = "BtnReset";
+            this.BtnReset.Size = new System.Drawing.Size(75, 23);
+            this.BtnReset.TabIndex = 16;
+            this.BtnReset.Text = "复位";
+            this.BtnReset.UseVisualStyleBackColor = true;
+            this.BtnReset.Click += new System.EventHandler(this.BtnReset_Click);
+            // 
+            // groupBox4
+            // 
+            this.groupBox4.Controls.Add(this.NudInterval);
+            this.groupBox4.Controls.Add(this.NudTimes);
+            this.groupBox4.Controls.Add(this.label12);
+            this.groupBox4.Controls.Add(this.label13);
+            this.groupBox4.Controls.Add(this.NudVelocity3);
+            this.groupBox4.Controls.Add(this.NudDistance2);
+            this.groupBox4.Controls.Add(this.NudForce2);
+            this.groupBox4.Controls.Add(this.label9);
+            this.groupBox4.Controls.Add(this.label10);
+            this.groupBox4.Controls.Add(this.label11);
+            this.groupBox4.Controls.Add(this.BtnStability);
+            this.groupBox4.Location = new System.Drawing.Point(93, 198);
+            this.groupBox4.Name = "groupBox4";
+            this.groupBox4.Size = new System.Drawing.Size(117, 180);
+            this.groupBox4.TabIndex = 17;
+            this.groupBox4.TabStop = false;
+            this.groupBox4.Text = "推压稳定性测试";
+            // 
+            // NudVelocity3
+            // 
+            this.NudVelocity3.Location = new System.Drawing.Point(41, 70);
+            this.NudVelocity3.Maximum = new decimal(new int[] {
+            10000,
+            0,
+            0,
+            0});
+            this.NudVelocity3.Name = "NudVelocity3";
+            this.NudVelocity3.Size = new System.Drawing.Size(70, 21);
+            this.NudVelocity3.TabIndex = 20;
+            this.NudVelocity3.Value = new decimal(new int[] {
+            500,
+            0,
+            0,
+            0});
+            // 
+            // NudDistance2
+            // 
+            this.NudDistance2.Location = new System.Drawing.Point(41, 43);
+            this.NudDistance2.Maximum = new decimal(new int[] {
+            20,
+            0,
+            0,
+            0});
+            this.NudDistance2.Name = "NudDistance2";
+            this.NudDistance2.Size = new System.Drawing.Size(70, 21);
+            this.NudDistance2.TabIndex = 19;
+            this.NudDistance2.Value = new decimal(new int[] {
+            7,
+            0,
+            0,
+            0});
+            // 
+            // NudForce2
+            // 
+            this.NudForce2.Location = new System.Drawing.Point(41, 16);
+            this.NudForce2.Name = "NudForce2";
+            this.NudForce2.Size = new System.Drawing.Size(70, 21);
+            this.NudForce2.TabIndex = 18;
+            this.NudForce2.Value = new decimal(new int[] {
+            30,
+            0,
+            0,
+            0});
+            // 
+            // label9
+            // 
+            this.label9.AutoSize = true;
+            this.label9.Location = new System.Drawing.Point(6, 72);
+            this.label9.Name = "label9";
+            this.label9.Size = new System.Drawing.Size(29, 12);
+            this.label9.TabIndex = 17;
+            this.label9.Text = "速度";
+            // 
+            // label10
+            // 
+            this.label10.AutoSize = true;
+            this.label10.Location = new System.Drawing.Point(6, 45);
+            this.label10.Name = "label10";
+            this.label10.Size = new System.Drawing.Size(29, 12);
+            this.label10.TabIndex = 16;
+            this.label10.Text = "距离";
+            // 
+            // label11
+            // 
+            this.label11.AutoSize = true;
+            this.label11.Location = new System.Drawing.Point(6, 18);
+            this.label11.Name = "label11";
+            this.label11.Size = new System.Drawing.Size(29, 12);
+            this.label11.TabIndex = 15;
+            this.label11.Text = "出力";
+            // 
+            // BtnStability
+            // 
+            this.BtnStability.Location = new System.Drawing.Point(41, 151);
+            this.BtnStability.Name = "BtnStability";
+            this.BtnStability.Size = new System.Drawing.Size(70, 23);
+            this.BtnStability.TabIndex = 14;
+            this.BtnStability.Text = "测试";
+            this.BtnStability.UseVisualStyleBackColor = true;
+            this.BtnStability.Click += new System.EventHandler(this.BtnStability_Click);
+            // 
+            // NudInterval
+            // 
+            this.NudInterval.Location = new System.Drawing.Point(41, 124);
+            this.NudInterval.Maximum = new decimal(new int[] {
+            100000,
+            0,
+            0,
+            0});
+            this.NudInterval.Name = "NudInterval";
+            this.NudInterval.Size = new System.Drawing.Size(70, 21);
+            this.NudInterval.TabIndex = 24;
+            this.NudInterval.Value = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
+            // 
+            // NudTimes
+            // 
+            this.NudTimes.Location = new System.Drawing.Point(41, 97);
+            this.NudTimes.Maximum = new decimal(new int[] {
+            1000,
+            0,
+            0,
+            0});
+            this.NudTimes.Minimum = new decimal(new int[] {
+            1,
+            0,
+            0,
+            -2147483648});
+            this.NudTimes.Name = "NudTimes";
+            this.NudTimes.Size = new System.Drawing.Size(70, 21);
+            this.NudTimes.TabIndex = 23;
+            this.NudTimes.Value = new decimal(new int[] {
+            1,
+            0,
+            0,
+            -2147483648});
+            // 
+            // label12
+            // 
+            this.label12.AutoSize = true;
+            this.label12.Location = new System.Drawing.Point(6, 126);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(29, 12);
+            this.label12.TabIndex = 22;
+            this.label12.Text = "间隔";
+            // 
+            // label13
+            // 
+            this.label13.AutoSize = true;
+            this.label13.Location = new System.Drawing.Point(6, 99);
+            this.label13.Name = "label13";
+            this.label13.Size = new System.Drawing.Size(29, 12);
+            this.label13.TabIndex = 21;
+            this.label13.Text = "次数";
+            // 
+            // LblVersion
+            // 
+            this.LblVersion.Location = new System.Drawing.Point(12, 151);
+            this.LblVersion.Name = "LblVersion";
+            this.LblVersion.Size = new System.Drawing.Size(75, 41);
+            this.LblVersion.TabIndex = 18;
+            this.LblVersion.Text = "label14";
+            // 
+            // FrmMain
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(354, 406);
+            this.Controls.Add(this.LblVersion);
+            this.Controls.Add(this.groupBox4);
+            this.Controls.Add(this.BtnReset);
+            this.Controls.Add(this.groupBox3);
+            this.Controls.Add(this.groupBox2);
+            this.Controls.Add(this.groupBox1);
+            this.Controls.Add(this.statusStrip1);
+            this.Controls.Add(this.BtnClosePort);
+            this.Controls.Add(this.BtnGoHome);
+            this.Controls.Add(this.BtnOpenPort);
+            this.Controls.Add(this.CboPort);
+            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "FrmMain";
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "Form1";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmMain_FormClosing);
+            this.Load += new System.EventHandler(this.FrmMain_Load);
+            this.statusStrip1.ResumeLayout(false);
+            this.statusStrip1.PerformLayout();
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.NudVelocity1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudDistance1)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudForce1)).EndInit();
+            this.groupBox2.ResumeLayout(false);
+            this.groupBox2.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.NudBand)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudDeacceleration)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudVelocity2)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudAcceleration)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudPosition)).EndInit();
+            this.groupBox3.ResumeLayout(false);
+            this.groupBox4.ResumeLayout(false);
+            this.groupBox4.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.NudVelocity3)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudDistance2)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudForce2)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudInterval)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.NudTimes)).EndInit();
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.ComboBox CboPort;
+        private System.Windows.Forms.Button BtnOpenPort;
+        private System.Windows.Forms.Button BtnGoHome;
+        private System.Windows.Forms.Button BtnClosePort;
+        private System.Windows.Forms.StatusStrip statusStrip1;
+        private System.Windows.Forms.ToolStripStatusLabel TsslStatus;
+        private System.Windows.Forms.Button BtnPush;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.NumericUpDown NudVelocity1;
+        private System.Windows.Forms.NumericUpDown NudDistance1;
+        private System.Windows.Forms.NumericUpDown NudForce1;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label label1;
+        private System.Windows.Forms.GroupBox groupBox2;
+        private System.Windows.Forms.NumericUpDown NudVelocity2;
+        private System.Windows.Forms.NumericUpDown NudAcceleration;
+        private System.Windows.Forms.NumericUpDown NudPosition;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label6;
+        private System.Windows.Forms.Button BtnAbsolute;
+        private System.Windows.Forms.NumericUpDown NudBand;
+        private System.Windows.Forms.NumericUpDown NudDeacceleration;
+        private System.Windows.Forms.Label label7;
+        private System.Windows.Forms.Label label8;
+        private System.Windows.Forms.GroupBox groupBox3;
+        private System.Windows.Forms.Label LblStatus;
+        private System.Windows.Forms.Button BtnReset;
+        private System.Windows.Forms.GroupBox groupBox4;
+        private System.Windows.Forms.NumericUpDown NudInterval;
+        private System.Windows.Forms.NumericUpDown NudTimes;
+        private System.Windows.Forms.Label label12;
+        private System.Windows.Forms.Label label13;
+        private System.Windows.Forms.NumericUpDown NudVelocity3;
+        private System.Windows.Forms.NumericUpDown NudDistance2;
+        private System.Windows.Forms.NumericUpDown NudForce2;
+        private System.Windows.Forms.Label label9;
+        private System.Windows.Forms.Label label10;
+        private System.Windows.Forms.Label label11;
+        private System.Windows.Forms.Button BtnStability;
+        private System.Windows.Forms.Label LblVersion;
+    }
+}
+

Test/FrmMain.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace Test
+{
+    public partial class FrmMain : Form
+    {
+        private readonly log4net.ILog LOG;
+        private Neotel.Rmaxis axis;
+        private bool testLoop;
+        private System.Threading.Thread tStatus;
+        private System.Threading.Thread tTest;
+
+        public FrmMain()
+        {
+            InitializeComponent();
+            LOG = log4net.LogManager.GetLogger("Test");
+        }
+
+        private void ReadStatus()
+        {
+            while (true)
+            {
+                if (!axis.IsPortOpen) break;
+                LblStatus.Invoke(new Action(() =>
+                {
+                    LblStatus.Text = "出力：" + axis.GetTorque() + "\r\n速度：" + axis.GetVelocity() + "\r\n位置：" + axis.GetPosition() + "\r\n错误代码：" + axis.ErrorCode;
+                }));
+                System.Threading.Thread.Sleep(50);
+            }
+        }
+
+        private void PushTest(object obj)
+        {
+            int[] param = (int[])obj;
+            int times = 0;
+            int timeout = 5000;
+            bool push = false;
+            bool rtn;
+            
+            while (testLoop)
+            {
+                if (times == param[3])
+                {
+                    StopTest();
+                    break;
+                }
+                if (push)
+                {
+                    rtn = axis.PushWait(param[0], param[1], param[2], timeout);
+                    times++;
+                }
+                else
+                {
+                    rtn = axis.GoHomeWait(timeout);
+                }
+
+                Invoke(new Action(() => { TsslStatus.Text = string.Format("PushWait {0} 次数{1}", rtn, times); }));
+
+                if (!rtn)
+                {
+                    StopTest();
+                    break;
+                }
+
+                push = !push;
+                System.Threading.Thread.Sleep(param[4]);
+            }
+
+        }
+
+        private void StopTest()
+        {
+            testLoop = false;
+            BtnStability.Invoke(new Action(() => { BtnStability.Text = "测试"; }));
+        }
+
+        private void FrmMain_Load(object sender, EventArgs e)
+        {
+            for (int i = 1; i <= 30; i++)
+                CboPort.Items.Add("COM" + i);
+            axis = new Neotel.Rmaxis();
+        }
+
+        private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            axis.ClosePort();
+            if (tStatus != null) tStatus.Abort();
+        }
+
+        private void BtnOpenPort_Click(object sender, EventArgs e)
+        {
+            bool rtn = axis.OpenPort(CboPort.Text);
+            TsslStatus.Text = BtnOpenPort.Text + " " + rtn;
+            if (rtn)
+            {
+                LblVersion.Text = "版本号\r\n" + axis.GetVersion();
+                tStatus = new System.Threading.Thread(new System.Threading.ThreadStart(ReadStatus));
+                tStatus.Start();
+            }
+        }
+
+        private void BtnClosePort_Click(object sender, EventArgs e)
+        {
+            axis.ClosePort();
+            if (tStatus != null) tStatus.Abort();
+            TsslStatus.Text = BtnClosePort.Text;
+        }
+
+        private void BtnGoHome_Click(object sender, EventArgs e)
+        {
+            bool rtn = axis.GoHomeWait(5000);
+            TsslStatus.Text = "GoHomeWait " + rtn;
+        }
+
+        private void BtnPush_Click(object sender, EventArgs e)
+        {
+            bool rtn = axis.PushWait(Convert.ToSingle(NudForce1.Value),
+                Convert.ToSingle(NudDistance1.Value), Convert.ToSingle(NudVelocity1.Value), 5000);
+            TsslStatus.Text = "PushWait " + rtn + "  IsPushEmpty=" + axis.IsPushEmpty;
+        }
+
+        private void BtnAbsolute_Click(object sender, EventArgs e)
+        {
+            bool rtn = axis.MoveAbsoluteWait(Convert.ToSingle(NudPosition.Value),
+               Convert.ToSingle(NudVelocity2.Value), Convert.ToSingle(NudAcceleration.Value),
+               Convert.ToSingle(NudDeacceleration.Value), Convert.ToSingle(NudBand.Value), 5000);
+            TsslStatus.Text = "MoveAbsoluteWait " + rtn;
+        }
+
+        private void BtnReset_Click(object sender, EventArgs e)
+        {
+            axis.ResetError();
+        }
+
+        private void BtnStability_Click(object sender, EventArgs e)
+        {
+            if (testLoop)
+            {
+                StopTest();
+                return;
+            }
+
+            testLoop = true;
+            BtnStability.Text = "停止";
+            int[] param = new int[5];
+            param[0] = Convert.ToInt32(NudForce2.Value);
+            param[1] = Convert.ToInt32(NudDistance2.Value);
+            param[2] = Convert.ToInt32(NudVelocity3.Value);
+            param[3] = Convert.ToInt32(NudTimes.Value);
+            param[4] = Convert.ToInt32(NudInterval.Value);
+            tTest = new System.Threading.Thread(new System.Threading.ParameterizedThreadStart(PushTest));
+            tTest.Start(param);
+        }
+    }
+}

Test/FrmMain.resx

+<?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=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="statusStrip1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+</root>
\ No newline at end of file

Test/Program.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace Test
+{
+    static class Program
+    {
+        /// <summary>
+        /// 应用程序的主入口点。
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new FrmMain());
+        }
+    }
+}

Test/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("Test")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("Test")]
+[assembly: AssemblyCopyright("Copyright ©  2021")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("a367d23d-969f-4cd5-8073-25ebd2f2f422")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]
+
+[assembly: log4net.Config.XmlConfigurator(ConfigFile = "log4net.config", Watch = true)]
\ No newline at end of file

Test/Properties/Resources.Designer.cs

+//------------------------------------------------------------------------------
+// <auto-generated>
+//     此代码由工具生成。
+//     运行时版本: 4.0.30319.42000
+//
+//     对此文件的更改可能导致不正确的行为，如果
+//     重新生成代码，则所做更改将丢失。
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+
+namespace Test.Properties
+{
+    /// <summary>
+    ///   强类型资源类，用于查找本地化字符串等。
+    /// </summary>
+    // 此类是由 StronglyTypedResourceBuilder
+    // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
+    // 若要添加或删除成员，请编辑 .ResX 文件，然后重新运行 ResGen
+    // (以 /str 作为命令选项)，或重新生成 VS 项目。
+    [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>
+        ///   返回此类使用的缓存 ResourceManager 实例。
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager
+        {
+            get
+            {
+                if ((resourceMan == null))
+                {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("Test.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+
+        /// <summary>
+        ///   重写当前线程的 CurrentUICulture 属性，对
+        ///   使用此强类型资源类的所有资源查找执行重写。
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture
+        {
+            get
+            {
+                return resourceCulture;
+            }
+            set
+            {
+                resourceCulture = value;
+            }
+        }
+    }
+}

Test/Properties/Resources.resx

+<?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.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: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" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+            </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" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+            </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>
+</root>
\ No newline at end of file

Test/Properties/Settings.Designer.cs

+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+
+namespace Test.Properties
+{
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
+    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;
+            }
+        }
+    }
+}

Test/Properties/Settings.settings

+<?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>

Test/Test.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{A367D23D-969F-4CD5-8073-25EBD2F2F422}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <RootNamespace>Test</RootNamespace>
+    <AssemblyName>Test</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+    <Prefer32Bit>false</Prefer32Bit>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="log4net, Version=2.0.12.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
+      <HintPath>..\packages\log4net.2.0.12\lib\net45\log4net.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Configuration" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Web" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Net.Http" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="FrmMain.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="FrmMain.Designer.cs">
+      <DependentUpon>FrmMain.cs</DependentUpon>
+    </Compile>
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <EmbeddedResource Include="FrmMain.resx">
+      <DependentUpon>FrmMain.cs</DependentUpon>
+    </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>
+    </Compile>
+    <None Include="log4net.config">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
+    <None Include="packages.config" />
+    <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="App.config" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\Rmaxis\Rmaxis.csproj">
+      <Project>{c2340d11-8d0e-417d-94fe-f91d5d05b004}</Project>
+      <Name>Rmaxis</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+</Project>
\ No newline at end of file

Test/bin/Debug/Log/Rmaxis.log

+[2021-01-08 09:44:46,667][1][Rmaxis:33]INFO  Rmaxis Init OK
+[2021-01-08 09:44:50,920][1][Rmaxis:89]ERROR OpenPort
+System.Exception: ModbusRTU \\.\COM3:1 read input registers address 8 quantity 2 failed
+   在 MotorMaster.Sdk.RMAxis.StaticRunWithManaged[T](Func`1 function) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\MotorMaster.Sdk.cs:行号 457
+   在 MotorMaster.Sdk.RMAxis.CreateModbus(String device, Int32 baudrate, UInt16 slave_id) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\MotorMaster.Sdk.cs:行号 483
+   在 Neotel.Rmaxis.OpenPort(String portName, UInt16 axisNo) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\Rmaxis.cs:行号 89
+[2021-01-08 09:45:02,008][1][Rmaxis:33]INFO  Rmaxis Init OK
+[2021-01-08 09:45:06,089][1][Rmaxis:89]ERROR OpenPort
+System.Exception: ModbusRTU \\.\COM3:1 read input registers address 8 quantity 2 failed
+   在 MotorMaster.Sdk.RMAxis.StaticRunWithManaged[T](Func`1 function) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\MotorMaster.Sdk.cs:行号 457
+   在 MotorMaster.Sdk.RMAxis.CreateModbus(String device, Int32 baudrate, UInt16 slave_id) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\MotorMaster.Sdk.cs:行号 483
+   在 Neotel.Rmaxis.OpenPort(String portName, UInt16 axisNo) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\Rmaxis.cs:行号 89
+[2021-01-08 09:45:34,463][1][Rmaxis:33]INFO  Rmaxis Init OK
+[2021-01-08 09:45:38,288][1][Rmaxis:89]ERROR OpenPort
+System.Exception: ModbusRTU \\.\COM3:1 read input registers address 8 quantity 2 failed
+   在 MotorMaster.Sdk.RMAxis.StaticRunWithManaged[T](Func`1 function) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\MotorMaster.Sdk.cs:行号 457
+   在 MotorMaster.Sdk.RMAxis.CreateModbus(String device, Int32 baudrate, UInt16 slave_id) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\MotorMaster.Sdk.cs:行号 483
+   在 Neotel.Rmaxis.OpenPort(String portName, UInt16 axisNo) 位置 C:\Neotel\Program_Beta\Rmaxis\Rmaxis\Rmaxis.cs:行号 89
+[2021-01-08 09:46:20,084][1][Rmaxis:33]INFO  Rmaxis Init OK
+[2021-01-08 09:46:23,625][1][Rmaxis:90]INFO  OpenPort OK
+[2021-01-08 09:46:23,676][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:23,689][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:23,696][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:23,768][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:23,776][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:23,784][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:23,863][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:23,869][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:23,879][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:23,956][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:23,966][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:23,975][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,045][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,054][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,061][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,145][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,154][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,161][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,237][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,243][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,252][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,333][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,341][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,349][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,425][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,433][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,441][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,517][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,525][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,534][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,614][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,622][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,631][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,710][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,717][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,726][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,801][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,808][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,817][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,896][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,905][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:24,914][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:24,987][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:24,995][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,003][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,080][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,088][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,095][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,174][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,180][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,189][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,271][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,280][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,290][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,359][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,367][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,374][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,453][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,461][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,470][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,550][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,558][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,567][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,647][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,660][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,666][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,738][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,746][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,755][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,830][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,837][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,846][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:25,928][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:25,936][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:25,944][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,016][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,024][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,032][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,111][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,119][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,128][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,202][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,210][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,219][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,296][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,304][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,312][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,389][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,397][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,405][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,483][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,490][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,498][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,579][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,587][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,595][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,671][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,678][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,687][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,766][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,774][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,783][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,862][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,870][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,879][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:26,957][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:26,968][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:26,977][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,048][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,056][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,063][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,143][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,151][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,160][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,171][1][Rmaxis:406]INFO  GoHomeWait Start
+[2021-01-08 09:46:27,268][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,276][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,285][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,364][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,372][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,380][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,486][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,497][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,508][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,525][1][Rmaxis:416]INFO  GoHomeWait OK
+[2021-01-08 09:46:27,581][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,588][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,598][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,676][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,684][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,692][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,768][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,776][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,784][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,861][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,869][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,878][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:27,954][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:27,961][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:27,971][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,048][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,058][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,064][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,142][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,149][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,159][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,242][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,249][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,256][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,338][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,346][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,355][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,433][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,441][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,449][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,524][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,531][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,539][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,619][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,627][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,635][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,715][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,722][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,731][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,812][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,818][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,826][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:28,904][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:28,914][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:28,922][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,001][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,009][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,017][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,093][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,101][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,109][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,187][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,195][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,203][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,280][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,287][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,297][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,374][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,382][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,390][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,469][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,476][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,486][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,567][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,577][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,586][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,657][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,664][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,672][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,754][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,762][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,771][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,848][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,856][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,865][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:29,942][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:29,950][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:29,959][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,035][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,042][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,051][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,130][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,138][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,146][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,223][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,230][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,239][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,315][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,322][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,330][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,408][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,416][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,424][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,503][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,510][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,518][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,595][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,604][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,612][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,687][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,696][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,704][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,785][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,793][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,802][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,883][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,891][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,899][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:30,975][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:30,983][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:30,992][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,069][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,076][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,084][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,164][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,172][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,180][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,258][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,266][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,274][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,353][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,362][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,370][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,411][1][Rmaxis:474]INFO  MoveAbsoluteWait Start
+[2021-01-08 09:46:31,526][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,534][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,542][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,622][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,630][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,638][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,747][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,753][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,761][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,840][1][Rmaxis:484]INFO  PushWait OK
+[2021-01-08 09:46:31,848][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,856][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,864][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:31,935][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:31,943][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:31,951][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,030][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,038][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,047][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,123][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,131][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,139][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,217][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,225][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,233][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,312][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,320][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,328][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,410][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,418][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,426][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,502][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,511][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,519][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,592][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,601][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,609][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,686][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,694][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,703][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,780][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,788][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,796][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,871][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,879][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,888][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:32,970][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:32,978][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:32,986][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,060][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,068][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,075][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,153][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,161][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,169][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,246][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,254][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,263][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,343][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,351][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,359][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,431][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,438][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,448][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,527][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,535][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,543][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,625][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,633][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,641][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,719][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,727][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,736][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,812][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,820][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,829][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:33,906][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:33,914][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:33,923][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,001][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,008][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,017][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,091][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,098][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,107][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,155][1][Rmaxis:406]INFO  GoHomeWait Start
+[2021-01-08 09:46:34,247][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,255][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,263][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,378][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,388][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,395][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,504][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,512][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,520][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,630][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,638][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,646][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,757][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,765][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,773][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,881][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,889][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,897][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:34,974][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:34,982][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:34,990][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,068][1][Rmaxis:416]INFO  GoHomeWait OK
+[2021-01-08 09:46:35,076][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,084][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,092][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,166][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,173][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,182][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,265][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,273][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,281][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,352][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,360][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,368][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,450][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,458][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,466][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,545][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,553][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,561][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,637][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,644][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,653][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,728][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,735][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,743][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,827][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,835][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,843][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:35,918][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:35,925][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:35,934][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,016][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,024][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,033][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,111][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,119][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,129][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,204][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,211][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,221][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,301][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,309][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,318][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,397][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,405][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,413][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,490][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,499][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,507][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,586][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,594][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,602][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,679][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,686][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,695][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,771][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,780][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,789][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,869][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,877][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,885][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:36,965][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:36,974][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:36,983][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,061][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,071][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,079][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,156][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,165][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,173][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,245][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,252][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,262][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,339][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,347][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,354][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,434][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,442][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,450][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,530][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,539][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,547][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,625][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,633][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,641][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,717][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,725][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,734][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,816][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,824][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,833][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:37,910][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:37,919][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:37,927][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,003][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,013][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,021][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,095][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,101][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,111][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,190][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,197][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,206][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,286][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,292][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,301][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,379][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,387][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,395][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,472][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,481][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,489][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,569][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,577][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,585][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,659][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,668][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,677][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,751][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,760][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,769][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,846][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,854][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,863][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:38,938][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:38,945][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:38,954][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,031][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,039][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,048][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,125][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,134][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,143][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,219][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,227][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,235][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,311][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,319][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,327][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,405][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,413][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,420][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,500][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,509][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,518][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,592][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,598][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,608][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,687][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,696][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,706][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,781][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,790][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,799][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,874][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,883][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,891][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:39,970][1][Rmaxis:219]INFO  GetTorque OK
+[2021-01-08 09:46:39,979][1][Rmaxis:261]INFO  GetVelocity OK
+[2021-01-08 09:46:39,989][1][Rmaxis:282]INFO  GetPosition OK
+[2021-01-08 09:46:40,221][1][Rmaxis:119]INFO  ClosePort OK

Test/bin/Debug/Log/Test.log

+
\ No newline at end of file

Test/bin/Debug/Log/Test.log2021-01-07

+
\ No newline at end of file

Test/bin/Debug/Neotel.Rmaxis.xml

+<?xml version="1.0"?>
+<doc>
+    <assembly>
+        <name>Neotel.Rmaxis</name>
+    </assembly>
+    <members>
+        <member name="T:Neotel.Rmaxis">
+            <summary>
+            增广智能电动夹爪（RM-C控制器）
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.#ctor(System.String)">
+            <summary>
+            增广智能电动夹爪（RM-C控制器）
+            </summary>
+            <param name="logName">日志名</param>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsPortOpen">
+            <summary>
+            串口是否连接
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsMoving">
+            <summary>
+            轴是否在运动
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsReached">
+            <summary>
+            轴是否到达运动目标
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.IsPushEmpty">
+            <summary>
+            轴是否推空（可以在Push完成后检测是否推压/夹持为空）
+            </summary>
+        </member>
+        <member name="P:Neotel.Rmaxis.ErrorCode">
+            <summary>
+            错误代码
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.OpenPort(System.String,System.UInt16)">
+            <summary>
+            打开串口
+            </summary>
+            <param name="portName">串口名</param>
+            <param name="axisNo">轴号</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.ClosePort">
+            <summary>
+            关闭串口
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.ResetError">
+            <summary>
+            重置控制器错误
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.StopAxis">
+            <summary>
+            停止轴运动
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetVersion">
+            <summary>
+            控制器版本号
+            </summary>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetTorque">
+            <summary>
+            获取当前设置的出力值
+            </summary>
+            <returns>出力，%</returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetVelocity">
+            <summary>
+            获取当前电机速度
+            </summary>
+            <returns>速度，mm/s</returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GetPosition">
+            <summary>
+            获取当前位置
+            </summary>
+            <returns>位置，mm</returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.GoHome">
+            <summary>
+            回原点
+            </summary>
+        </member>
+        <member name="M:Neotel.Rmaxis.Push(System.Single,System.Single,System.Single)">
+            <summary>
+            推压运动
+            </summary>
+            <param name="force">出力，%</param>
+            <param name="distance">距离，mm</param>
+            <param name="velocity">速度，mm/s</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveAbsolute(System.Single,System.Single,System.Single,System.Single,System.Single)">
+            <summary>
+            绝对运动
+            </summary>
+            <param name="position">位置，mm</param>
+            <param name="velocity">速度，mm/s</param>
+            <param name="acceleration">加速度，mm/s^2</param>
+            <param name="deacceleration">减速度，mm/s^2</param>
+            <param name="band">定位范围，mm</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveTo(System.Single)">
+            <summary>
+            直接运动到指定位置
+            </summary>
+            <param name="position">位置，mm</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveConfig(System.Single,System.Single,System.Single)">
+            <summary>
+            直接运动的参数
+            </summary>
+            <param name="velocity">速度，mm/s</param>
+            <param name="acceleration">加速度，mm/s^2</param>
+            <param name="deacceleration">减速度，mm/s^2</param>
+        </member>
+        <member name="M:Neotel.Rmaxis.GoHomeWait(System.Int32)">
+            <summary>
+            回原点，并等到到位
+            </summary>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.PushWait(System.Single,System.Single,System.Single,System.Int32)">
+            <summary>
+            推压运动，并等到到位
+            </summary>
+            <param name="force">出力，%</param>
+            <param name="distance">距离，mm</param>
+            <param name="velocity">速度，mm/s</param>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveAbsoluteWait(System.Single,System.Single,System.Single,System.Single,System.Single,System.Int32)">
+            <summary>
+            绝对运动，并等到到位
+            </summary>
+            <param name="position">位置，mm</param>
+            <param name="velocity">速度，mm/s</param>
+            <param name="acceleration">加速度，mm/s^2</param>
+            <param name="deacceleration">减速度，mm/s^2</param>
+            <param name="band">定位范围，mm</param>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+        <member name="M:Neotel.Rmaxis.MoveToWait(System.Single,System.Int32)">
+            <summary>
+            直接运动到指定位置，并等到到位
+            </summary>
+            <param name="position">位置，mm</param>
+            <param name="timeout">超时时间，ms</param>
+            <returns></returns>
+        </member>
+    </members>
+</doc>

Test/bin/Debug/Test.exe.config

+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
+    </startup>
+</configuration>
\ No newline at end of file

Test/bin/Debug/log4net.config

+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+	<log4net>
+		<logger name="Test">
+			<level value="Debug"/>
+			<appender-ref ref="Test"/>
+		</logger>
+		<logger name="Rmaxis">
+			<level value="Debug"/>
+			<appender-ref ref="Rmaxis"/>
+		</logger>
+
+		<appender name="Test" type="log4net.Appender.RollingFileAppender">
+			<param name="File" value="Log\\Test.log" />
+			<param name="Encoding" value="UTF-8"/>
+			<param name="AppendToFile" value="true" />
+			<param name="RollingStyle" value="Date" />
+			<param name="DatePattern" value="yyyy-MM-dd" />
+			<param name="MaxSizeRollBackups" value="100" />
+			<param name="MaxFileSize" value="10240" />
+			<layout type="log4net.Layout.PatternLayout">
+				<param name="ConversionPattern" value="[%d][%t][%c:%L]%-5p %m%n" />
+			</layout>
+		</appender>
+		<appender name="Rmaxis" type="log4net.Appender.RollingFileAppender">
+			<param name="File" value="Log\\Rmaxis.log" />
+			<param name="Encoding" value="UTF-8"/>
+			<param name="AppendToFile" value="true" />
+			<param name="RollingStyle" value="Date" />
+			<param name="DatePattern" value="yyyy-MM-dd" />
+			<param name="MaxSizeRollBackups" value="100" />
+			<param name="MaxFileSize" value="10240" />
+			<layout type="log4net.Layout.PatternLayout">
+				<param name="ConversionPattern" value="[%d][%t][%c:%L]%-5p %m%n" />
+			</layout>
+		</appender>
+
+	</log4net>
+</configuration>
\ No newline at end of file

Test/log4net.config

+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+	<log4net>
+		<logger name="Test">
+			<level value="Debug"/>
+			<appender-ref ref="Test"/>
+		</logger>
+		<logger name="Rmaxis">
+			<level value="Debug"/>
+			<appender-ref ref="Rmaxis"/>
+		</logger>
+
+		<appender name="Test" type="log4net.Appender.RollingFileAppender">
+			<param name="File" value="Log\\Test.log" />
+			<param name="Encoding" value="UTF-8"/>
+			<param name="AppendToFile" value="true" />
+			<param name="RollingStyle" value="Date" />
+			<param name="DatePattern" value="yyyy-MM-dd" />
+			<param name="MaxSizeRollBackups" value="100" />
+			<param name="MaxFileSize" value="10240" />
+			<layout type="log4net.Layout.PatternLayout">
+				<param name="ConversionPattern" value="[%d][%t][%c:%L]%-5p %m%n" />
+			</layout>
+		</appender>
+		<appender name="Rmaxis" type="log4net.Appender.RollingFileAppender">
+			<param name="File" value="Log\\Rmaxis.log" />
+			<param name="Encoding" value="UTF-8"/>
+			<param name="AppendToFile" value="true" />
+			<param name="RollingStyle" value="Date" />
+			<param name="DatePattern" value="yyyy-MM-dd" />
+			<param name="MaxSizeRollBackups" value="100" />
+			<param name="MaxFileSize" value="10240" />
+			<layout type="log4net.Layout.PatternLayout">
+				<param name="ConversionPattern" value="[%d][%t][%c:%L]%-5p %m%n" />
+			</layout>
+		</appender>
+
+	</log4net>
+</configuration>
\ No newline at end of file

Test/obj/Debug/.NETFramework,Version=v4.6.1.AssemblyAttributes.cs

+// <autogenerated />
+using System;
+using System.Reflection;
+[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETFramework,Version=v4.6.1", FrameworkDisplayName = ".NET Framework 4.6.1")]

Test/obj/Debug/Test.csproj.CoreCompileInputs.cache

+2ae0cbbcb54252e6c6a2315981efabe3ced705a1

Test/obj/Debug/Test.csproj.FileListAbsolute.txt

+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Test.exe.config
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Test.exe
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Test.pdb
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.dll
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.pdb
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.csprojAssemblyReference.cache
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.FrmMain.resources
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.Properties.Resources.resources
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.csproj.GenerateResource.cache
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.csproj.CoreCompileInputs.cache
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.csproj.CopyComplete
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.exe
+C:\Neotel\Program_Beta\Rmaxis\Test\obj\Debug\Test.pdb
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.dll
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.xml
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.config
+C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.xml

Test/packages.config

+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="log4net" version="2.0.12" targetFramework="net461" />
+</packages>
\ No newline at end of file