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正在显示 47 个修改的文件 包含 4107 行增加 和 0 行删除
.gitattributes 0 → 100644
###############################################################################
# Set default behavior to automatically normalize line endings.
###############################################################################
* text=auto
###############################################################################
# Set default behavior for command prompt diff.
#
# This is need for earlier builds of msysgit that does not have it on by
# default for csharp files.
# Note: This is only used by command line
###############################################################################
#*.cs diff=csharp
###############################################################################
# Set the merge driver for project and solution files
#
# Merging from the command prompt will add diff markers to the files if there
# are conflicts (Merging from VS is not affected by the settings below, in VS
# the diff markers are never inserted). Diff markers may cause the following
# file extensions to fail to load in VS. An alternative would be to treat
# these files as binary and thus will always conflict and require user
# intervention with every merge. To do so, just uncomment the entries below
###############################################################################
#*.sln merge=binary
#*.csproj merge=binary
#*.vbproj merge=binary
#*.vcxproj merge=binary
#*.vcproj merge=binary
#*.dbproj merge=binary
#*.fsproj merge=binary
#*.lsproj merge=binary
#*.wixproj merge=binary
#*.modelproj merge=binary
#*.sqlproj merge=binary
#*.wwaproj merge=binary
###############################################################################
# behavior for image files
#
# image files are treated as binary by default.
###############################################################################
#*.jpg binary
#*.png binary
#*.gif binary
###############################################################################
# diff behavior for common document formats
#
# Convert binary document formats to text before diffing them. This feature
# is only available from the command line. Turn it on by uncommenting the
# entries below.
###############################################################################
#*.doc diff=astextplain
#*.DOC diff=astextplain
#*.docx diff=astextplain
#*.DOCX diff=astextplain
#*.dot diff=astextplain
#*.DOT diff=astextplain
#*.pdf diff=astextplain
#*.PDF diff=astextplain
#*.rtf diff=astextplain
#*.RTF diff=astextplain
.gitignore 0 → 100644
## Ignore Visual Studio temporary files, build results, and
## files generated by popular Visual Studio add-ons.
# User-specific files
*.suo
*.user
*.userosscache
*.sln.docstates
# User-specific files (MonoDevelop/Xamarin Studio)
*.userprefs
# Build results
[Dd]ebug/
[Dd]ebugPublic/
[Rr]elease/
[Rr]eleases/
x64/
x86/
bld/
[Bb]in/
[Oo]bj/
[Ll]og/
# Visual Studio 2015 cache/options directory
.vs/
# Uncomment if you have tasks that create the project's static files in wwwroot
#wwwroot/
# MSTest test Results
[Tt]est[Rr]esult*/
[Bb]uild[Ll]og.*
# NUNIT
*.VisualState.xml
TestResult.xml
# Build Results of an ATL Project
[Dd]ebugPS/
[Rr]eleasePS/
dlldata.c
# DNX
project.lock.json
project.fragment.lock.json
artifacts/
*_i.c
*_p.c
*_i.h
*.ilk
*.meta
*.obj
*.pch
*.pdb
*.pgc
*.pgd
*.rsp
*.sbr
*.tlb
*.tli
*.tlh
*.tmp
*.tmp_proj
*.log
*.vspscc
*.vssscc
.builds
*.pidb
*.svclog
*.scc
# Chutzpah Test files
_Chutzpah*
# Visual C++ cache files
ipch/
*.aps
*.ncb
*.opendb
*.opensdf
*.sdf
*.cachefile
*.VC.db
*.VC.VC.opendb
# Visual Studio profiler
*.psess
*.vsp
*.vspx
*.sap
# TFS 2012 Local Workspace
$tf/
# Guidance Automation Toolkit
*.gpState
# ReSharper is a .NET coding add-in
_ReSharper*/
*.[Rr]e[Ss]harper
*.DotSettings.user
# JustCode is a .NET coding add-in
.JustCode
# TeamCity is a build add-in
_TeamCity*
# DotCover is a Code Coverage Tool
*.dotCover
# NCrunch
_NCrunch_*
.*crunch*.local.xml
nCrunchTemp_*
# MightyMoose
*.mm.*
AutoTest.Net/
# Web workbench (sass)
.sass-cache/
# Installshield output folder
[Ee]xpress/
# DocProject is a documentation generator add-in
DocProject/buildhelp/
DocProject/Help/*.HxT
DocProject/Help/*.HxC
DocProject/Help/*.hhc
DocProject/Help/*.hhk
DocProject/Help/*.hhp
DocProject/Help/Html2
DocProject/Help/html
# Click-Once directory
publish/
# Publish Web Output
*.[Pp]ublish.xml
*.azurePubxml
# TODO: Comment the next line if you want to checkin your web deploy settings
# but database connection strings (with potential passwords) will be unencrypted
#*.pubxml
*.publishproj
# Microsoft Azure Web App publish settings. Comment the next line if you want to
# checkin your Azure Web App publish settings, but sensitive information contained
# in these scripts will be unencrypted
PublishScripts/
# NuGet Packages
*.nupkg
# The packages folder can be ignored because of Package Restore
**/packages/*
# except build/, which is used as an MSBuild target.
!**/packages/build/
# Uncomment if necessary however generally it will be regenerated when needed
#!**/packages/repositories.config
# NuGet v3's project.json files produces more ignoreable files
*.nuget.props
*.nuget.targets
# Microsoft Azure Build Output
csx/
*.build.csdef
# Microsoft Azure Emulator
ecf/
rcf/
# Windows Store app package directories and files
AppPackages/
BundleArtifacts/
Package.StoreAssociation.xml
_pkginfo.txt
# Visual Studio cache files
# files ending in .cache can be ignored
*.[Cc]ache
# but keep track of directories ending in .cache
!*.[Cc]ache/
# Others
ClientBin/
~$*
*~
*.dbmdl
*.dbproj.schemaview
*.jfm
*.pfx
*.publishsettings
node_modules/
orleans.codegen.cs
# Since there are multiple workflows, uncomment next line to ignore bower_components
# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
#bower_components/
# RIA/Silverlight projects
Generated_Code/
# Backup & report files from converting an old project file
# to a newer Visual Studio version. Backup files are not needed,
# because we have git ;-)
_UpgradeReport_Files/
Backup*/
UpgradeLog*.XML
UpgradeLog*.htm
# SQL Server files
*.mdf
*.ldf
# Business Intelligence projects
*.rdl.data
*.bim.layout
*.bim_*.settings
# Microsoft Fakes
FakesAssemblies/
# GhostDoc plugin setting file
*.GhostDoc.xml
# Node.js Tools for Visual Studio
.ntvs_analysis.dat
# Visual Studio 6 build log
*.plg
# Visual Studio 6 workspace options file
*.opt
# Visual Studio LightSwitch build output
**/*.HTMLClient/GeneratedArtifacts
**/*.DesktopClient/GeneratedArtifacts
**/*.DesktopClient/ModelManifest.xml
**/*.Server/GeneratedArtifacts
**/*.Server/ModelManifest.xml
_Pvt_Extensions
# Paket dependency manager
.paket/paket.exe
paket-files/
# FAKE - F# Make
.fake/
# JetBrains Rider
.idea/
*.sln.iml
# CodeRush
.cr/
# Python Tools for Visual Studio (PTVS)
__pycache__/
*.pyc
\ No newline at end of file
DemoTest/App.config 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<configuration>
<configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net" />
</configSections>
<appSettings>
<add key="ClientSettingsProvider.ServiceUri" value="" />
</appSettings>
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/demoTest.log" />
<appendToFile value="true" />
<rollingStyle value="Date" />
<datePattern value="yyyy-MM-dd" />
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t]%-5p %m%n" />
</layout>
</appender>
<root>
<level value="Info" />
<appender-ref ref="RollingLogFileAppender" />
</root>
</log4net>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
<system.web>
<membership defaultProvider="ClientAuthenticationMembershipProvider">
<providers>
<add name="ClientAuthenticationMembershipProvider" type="System.Web.ClientServices.Providers.ClientFormsAuthenticationMembershipProvider, System.Web.Extensions, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35" serviceUri="" />
</providers>
</membership>
<roleManager defaultProvider="ClientRoleProvider" enabled="true">
<providers>
<add name="ClientRoleProvider" type="System.Web.ClientServices.Providers.ClientRoleProvider, System.Web.Extensions, Version=4.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35" serviceUri="" cacheTimeout="86400" />
</providers>
</roleManager>
</system.web>
</configuration>
\ No newline at end of file
DemoTest/DemoTest.csproj 0 → 100644
<?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>{3C4A3BBE-8D84-4CAA-9CFC-F8E80A60F94A}</ProjectGuid>
<OutputType>WinExe</OutputType>
<RootNamespace>DemoTest</RootNamespace>
<AssemblyName>DemoTest</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>
<PropertyGroup>
<ApplicationIcon>DfIcon.ico</ApplicationIcon>
</PropertyGroup>
<ItemGroup>
<Reference Include="log4net">
<HintPath>..\dll\log4net.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Configuration" />
<Reference Include="System.Core" />
<Reference Include="System.Web.Extensions" />
<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="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<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="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="..\HuichuanLibrary\HuichuanLibrary.csproj">
<Project>{c9575c5e-9d4b-4b4f-be41-926652b8985f}</Project>
<Name>HuichuanLibrary</Name>
</ProjectReference>
</ItemGroup>
<ItemGroup>
<Content Include="device_config.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="DfIcon.ico" />
<Content Include="system_config.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file
DemoTest/DfIcon.ico 0 → 100644
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DemoTest/Program.cs 0 → 100644
using HuichuanLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DemoTest
{
static class Program
{
/// <summary>
/// 应用程序的主入口点。
/// </summary>
[STAThread]
static void Main()
{
log4net.Config.XmlConfigurator.Configure();
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
HuichuanLibrary.HCBoardManager.InitConfig();
Application.Run(new FrmHuiChuanTest());
}
}
}
DemoTest/Properties/AssemblyInfo.cs 0 → 100644
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("DemoTest")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("DemoTest")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[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("3c4a3bbe-8d84-4caa-9cfc-f8e80a60f94a")]
// 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
//
// 可以指定所有值，也可以使用以下所示的 "*" 预置版本号和修订号
// 方法是按如下所示使用“*”: :
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
DemoTest/Properties/Resources.Designer.cs 0 → 100644
//------------------------------------------------------------------------------
// <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 DemoTest.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("DemoTest.Properties.Resources", typeof(Resources).Assembly);
resourceMan = temp;
}
return resourceMan;
}
}
/// <summary>
/// 覆盖当前线程的 CurrentUICulture 属性
/// 使用此强类型的资源类的资源查找。
/// </summary>
[global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
internal static global::System.Globalization.CultureInfo Culture
{
get
{
return resourceCulture;
}
set
{
resourceCulture = value;
}
}
}
}
DemoTest/Properties/Resources.resx 0 → 100644
<?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
DemoTest/Properties/Settings.Designer.cs 0 → 100644
//------------------------------------------------------------------------------
// <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 DemoTest.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;
}
}
}
}
DemoTest/Properties/Settings.settings 0 → 100644
<?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>
DemoTest/box.ico 0 → 100644
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DemoTest/device_config.xml 0 → 100644
<?xml version="1.0" encoding="utf-8"?><EtherCATConfig><Config><Master><SysHwCfg>1</SysHwCfg><cycleTime>1000</cycleTime><Info><Name><![CDATA[Card 0 ]]></Name></Info></Master><Slave><Info><Name><![CDATA[SV820N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786699</ProductCode><RevisionNo>65536</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo><Pdo>5648</Pdo><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo><Pdo>6688</Pdo><Pdo>6704</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x687A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x683F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x68FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x707A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1A20</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x703F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x70FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x787A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1A30</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x783F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x78FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26688</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26720</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28736</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28768</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30784</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30816</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[SV820N]]></Name><DeviceType>131474</DeviceType><VendorId>1048576</VendorId><ProductCode>786699</ProductCode><RevisionNo>65536</RevisionNo><ToltalVirSlot>4</ToltalVirSlot><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId><VirSlotId>512</VirSlotId></Info><SlotArray><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module><Module><Info><Name><![CDATA[CSP]]></Name></Info></Module></SlotArray><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5632</Pdo><Pdo>5648</Pdo><Pdo>5664</Pdo><Pdo>5680</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6656</Pdo><Pdo>6672</Pdo><Pdo>6688</Pdo><Pdo>6704</Pdo></Sm3><RxPdo Sm="2"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1600</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x607A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>0</SlotIdx><Index DependOnSlot="true">#x1A00</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x603F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x60FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1610</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x687A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>1</SlotIdx><Index DependOnSlot="true">#x1A10</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x683F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x6864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x68FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1620</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7040</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x707A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>2</SlotIdx><Index DependOnSlot="true">#x1A20</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x703F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7041</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7064</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x70FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo><RxPdo Sm="2"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1630</Index><Name>Outputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7840</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ControlWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x787A</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Target position</Name><DataType>DINT</DataType></Entry></RxPdo><TxPdo Sm="3"><SlotIdx>3</SlotIdx><Index DependOnSlot="true">#x1A30</Index><Name>Inputs</Name><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x783F</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>ErrorCode</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7841</Index><SubIndex>0</SubIndex><BitLen>16</BitLen><Name>StatusWord</Name><DataType>UINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x7864</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Position actual value</Name><DataType>DINT</DataType></Entry><Entry><DevType>0</DevType><Index DependOnSlot="true" Selected="0">#x78FD</Index><SubIndex>0</SubIndex><BitLen>32</BitLen><Name>Digital inputs</Name><DataType>UDINT</DataType></Entry></TxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM output parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7218</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[SM input parameter]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>7219</Index><SubIndex>1</SubIndex><Data>0200</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24640</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>24672</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26688</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>1</SlotIdx><Index>26720</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28736</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>2</SlotIdx><Index>28768</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Controlword]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30784</Index><SubIndex>0</SubIndex><Data>1000</Data><BitLen>16</BitLen></InitCmd><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Modes of Operation]]></Comment><Timeout>0</Timeout><SlotIdx>3</SlotIdx><Index>30816</Index><SubIndex>0</SubIndex><Data>08</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox><DC><ReferenceClock>true</ReferenceClock><CycleTime>1000000</CycleTime><ShiftTime>100000</ShiftTime></DC></Slave><Slave><Info><Name><![CDATA[GR10_1616ETNE]]></Name><DeviceType>197009</DeviceType><VendorId>1048576</VendorId><ProductCode>284428562</ProductCode><RevisionNo>0</RevisionNo><ToltalVirSlot>2</ToltalVirSlot></Info><ProcessData><Sm2><Type>Outputs</Type><Enable>1</Enable><Pdo>5888</Pdo></Sm2><Sm3><Type>Inputs</Type><Enable>1</Enable><Pdo>6912</Pdo></Sm3><TxPdo Fixed="true" Mandatory="false" Sm="3"><SlotIdx>1</SlotIdx><Index>#x1B00</Index><Name>Digital input mapping parameter</Name><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital input 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>2</DevType><Index Selected="0">#x6000</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital input 10 to 17</Name><DataType>USINT</DataType></Entry></TxPdo><RxPdo Fixed="true" Mandatory="false" Sm="2"><SlotIdx>0</SlotIdx><Index>#x1700</Index><Name>Digital output mapping parameter</Name><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>1</SubIndex><BitLen>8</BitLen><Name>Digital output 00 to 07</Name><DataType>USINT</DataType></Entry><Entry><DevType>1</DevType><Index Selected="0">#x6200</Index><SubIndex>2</SubIndex><BitLen>8</BitLen><Name>Digital output 10 to 17</Name><DataType>USINT</DataType></Entry></RxPdo></ProcessData><Mailbox><CoE><InitCmds><InitCmd Fixed="true"><Transition>PS</Transition><Comment><![CDATA[Error mode output]]></Comment><Timeout>0</Timeout><SlotIdx>0</SlotIdx><Index>25094</Index><SubIndex>1</SubIndex><Data>01</Data><BitLen>8</BitLen></InitCmd></InitCmds></CoE></Mailbox></Slave></Config></EtherCATConfig>
\ No newline at end of file
DemoTest/system_config.xml 0 → 100644
<?xml version="1.0" encoding="utf-8"?><CardConfig id="0"><System><SysPara><emgMode>1</emgMode><emgFilter>19</emgFilter><emgTrigLevelInv>1</emgTrigLevelInv></SysPara></System><Signal><EcatSignal><DiInverse><Groups><GpMax>2</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp></Groups></DiInverse><DoInverse><Groups><GpMax>2</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp></Groups></DoInverse><PhyAxGrpDirInv><Groups><GpMax>8</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp><Gp id="2"><data>0</data></Gp><Gp id="3"><data>0</data></Gp><Gp id="4"><data>0</data></Gp><Gp id="5"><data>0</data></Gp><Gp id="6"><data>0</data></Gp><Gp id="7"><data>0</data></Gp></Groups></PhyAxGrpDirInv></EcatSignal><LocalSignal><DiInverse><data>0</data></DiInverse><DoInverse><data>0</data></DoInverse><SpecialDiInverses><SpecialDiInverse type="0"><data>0</data></SpecialDiInverse><SpecialDiInverse type="1"><data>0</data></SpecialDiInverse><SpecialDiInverse type="2"><data>0</data></SpecialDiInverse><SpecialDiInverse type="3"><data>0</data></SpecialDiInverse><SpecialDiInverse type="4"><data>0</data></SpecialDiInverse><SpecialDiInverse type="5"><data>0</data></SpecialDiInverse><SpecialDiInverse type="6"><data>0</data></SpecialDiInverse></SpecialDiInverses><DiFilterTimes><DiFilterTime id="0">1</DiFilterTime><DiFilterTime id="1">1</DiFilterTime><DiFilterTime id="2">1</DiFilterTime><DiFilterTime id="3">1</DiFilterTime><DiFilterTime id="4">1</DiFilterTime><DiFilterTime id="5">1</DiFilterTime><DiFilterTime id="6">1</DiFilterTime><DiFilterTime id="7">1</DiFilterTime><DiFilterTime id="8">1</DiFilterTime><DiFilterTime id="9">1</DiFilterTime><DiFilterTime id="10">1</DiFilterTime><DiFilterTime id="11">1</DiFilterTime><DiFilterTime id="12">1</DiFilterTime><DiFilterTime id="13">1</DiFilterTime><DiFilterTime id="14">1</DiFilterTime><DiFilterTime id="15">1</DiFilterTime></DiFilterTimes><homeFltTime>0</homeFltTime><limitFltTime>0</limitFltTime><probeFltTime>0</probeFltTime><LocalEncDirs><LocalEncDir id="0">0</LocalEncDir><LocalEncDir id="1">0</LocalEncDir><LocalEncDir id="2">0</LocalEncDir><LocalEncDir id="3">0</LocalEncDir><LocalEncDir id="4">0</LocalEncDir><LocalEncDir id="5">0</LocalEncDir></LocalEncDirs><LocalPulses><LocalPulse id="0"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="1"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="2"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="3"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="4"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="5"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse></LocalPulses></LocalSignal></Signal><Axises><Axis id="0"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>10000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="1"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>10000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>1</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="2"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>2</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="3"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>3</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="4"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>4</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="5"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>5</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="6"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>6</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="7"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>7</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="8"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="9"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="10"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="11"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="12"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="13"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="14"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="15"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="16"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="17"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="18"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="19"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="20"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="21"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="22"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="23"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="24"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="25"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="26"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="27"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="28"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="29"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="30"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="31"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis></Axises></CardConfig>
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HuichuanDLL/HuichuanLibrary.dll 0 → 100644
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HuichuanDLL/device_config.xml 0 → 100644
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HuichuanDLL/huichuan_x64/IMC_API_x64.dll 0 → 100644
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HuichuanDLL/huichuan_x86/IMC_API_x86.lib 0 → 100644
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HuichuanDLL/huichuan_x86/msvcr100.dll 0 → 100644
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HuichuanDLL/huichuan_x86/msvcr100d.dll 0 → 100644
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HuichuanDLL/log4net.dll 0 → 100644
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HuichuanDLL/system_config.xml 0 → 100644
<?xml version="1.0" encoding="utf-8"?><CardConfig id="0"><System><SysPara><emgMode>1</emgMode><emgFilter>19</emgFilter><emgTrigLevelInv>1</emgTrigLevelInv></SysPara></System><Signal><EcatSignal><DiInverse><Groups><GpMax>74</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp><Gp id="2"><data>0</data></Gp><Gp id="3"><data>0</data></Gp><Gp id="4"><data>0</data></Gp><Gp id="5"><data>0</data></Gp><Gp id="6"><data>0</data></Gp><Gp id="7"><data>0</data></Gp><Gp id="8"><data>0</data></Gp><Gp id="9"><data>0</data></Gp><Gp id="10"><data>0</data></Gp><Gp id="11"><data>0</data></Gp><Gp id="12"><data>0</data></Gp><Gp id="13"><data>0</data></Gp><Gp id="14"><data>0</data></Gp><Gp id="15"><data>0</data></Gp><Gp id="16"><data>0</data></Gp><Gp id="17"><data>0</data></Gp><Gp id="18"><data>0</data></Gp><Gp id="19"><data>0</data></Gp><Gp id="20"><data>0</data></Gp><Gp id="21"><data>0</data></Gp><Gp id="22"><data>0</data></Gp><Gp id="23"><data>0</data></Gp><Gp id="24"><data>0</data></Gp><Gp 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id="12"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>12</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis 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id="17"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>17</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="18"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>18</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="19"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>19</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="20"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>20</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="21"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>21</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="22"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="23"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="24"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="25"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="26"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="27"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="28"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="29"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="30"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="31"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis></Axises></CardConfig>
\ No newline at end of file
HuichuanLibrary.sln 0 → 100644

Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15
VisualStudioVersion = 15.0.28307.1169
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HuichuanLibrary", "HuichuanLibrary\HuichuanLibrary.csproj", "{C9575C5E-9D4B-4B4F-BE41-926652B8985F}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DemoTest", "DemoTest\DemoTest.csproj", "{3C4A3BBE-8D84-4CAA-9CFC-F8E80A60F94A}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{C9575C5E-9D4B-4B4F-BE41-926652B8985F}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{C9575C5E-9D4B-4B4F-BE41-926652B8985F}.Debug|Any CPU.Build.0 = Debug|Any CPU
{C9575C5E-9D4B-4B4F-BE41-926652B8985F}.Release|Any CPU.ActiveCfg = Release|Any CPU
{C9575C5E-9D4B-4B4F-BE41-926652B8985F}.Release|Any CPU.Build.0 = Release|Any CPU
{3C4A3BBE-8D84-4CAA-9CFC-F8E80A60F94A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{3C4A3BBE-8D84-4CAA-9CFC-F8E80A60F94A}.Debug|Any CPU.Build.0 = Debug|Any CPU
{3C4A3BBE-8D84-4CAA-9CFC-F8E80A60F94A}.Release|Any CPU.ActiveCfg = Release|Any CPU
{3C4A3BBE-8D84-4CAA-9CFC-F8E80A60F94A}.Release|Any CPU.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {89E8A34D-193A-4AE7-AD90-BB39CD88F8CA}
EndGlobalSection
EndGlobal
HuichuanLibrary/FrmHuiChuanTest.Designer.cs 0 → 100644
此文件的差异太大，无法显示。
HuichuanLibrary/FrmHuiChuanTest.cs 0 → 100644
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 HuichuanLibrary
{
public partial class FrmHuiChuanTest : Form
{
public FrmHuiChuanTest()
{
InitializeComponent();
}
private List<Label> DILabelList = new List<Label>();
private List<Label> DOLabelList = new List<Label>();
private List<Label> groupIOList = new List<Label>();
private void FrmHuiChuanTest_Load(object sender, EventArgs e)
{
DILabelList = new List<Label>();
DILabelList.Add(lblDI0);
DILabelList.Add(lblDI1);
DILabelList.Add(lblDI2);
DILabelList.Add(lblDI3);
DILabelList.Add(lblDI4);
DILabelList.Add(lblDI5);
DILabelList.Add(lblDI6);
DILabelList.Add(lblDI7);
DILabelList.Add(lblDI8);
DILabelList.Add(lblDI9);
DILabelList.Add(lblDI10);
DILabelList.Add(lblDI11);
DILabelList.Add(lblDI12);
DILabelList.Add(lblDI13);
DILabelList.Add(lblDI14);
DILabelList.Add(lblDI15);
for(int i = 0; i < DILabelList.Count; i++)
{
DILabelList[i].Text = "DI_" + i;
}
DOLabelList.Add(lblDO0);
DOLabelList.Add(lblDO1);
DOLabelList.Add(lblDO2);
DOLabelList.Add(lblDO3);
DOLabelList.Add(lblDO4);
DOLabelList.Add(lblDO5);
DOLabelList.Add(lblDO6);
DOLabelList.Add(lblDO7);
DOLabelList.Add(lblDO8);
DOLabelList.Add(lblDO9);
DOLabelList.Add(lblDO10);
DOLabelList.Add(lblDO11);
DOLabelList.Add(lblDO12);
DOLabelList.Add(lblDO13);
DOLabelList.Add(lblDO14);
DOLabelList.Add(lblDO15);
for (int i = 0; i < DOLabelList.Count; i++)
{
DOLabelList[i].Text = "DO_" + i;
}
groupIOList = new List<Label>();
//groupIOList.Add(lblGroup7);
//groupIOList.Add(lblGroup6);
//groupIOList.Add(lblGroup5);
//groupIOList.Add(lblGroup4);
//groupIOList.Add(lblGroup3);
//groupIOList.Add(lblGroup2);
//groupIOList.Add(lblGroup1);
//groupIOList.Add(lblGroup0);
groupIOList.Add(lblGroup0);
groupIOList.Add(lblGroup1);
groupIOList.Add(lblGroup2);
groupIOList.Add(lblGroup3);
groupIOList.Add(lblGroup4);
groupIOList.Add(lblGroup5);
groupIOList.Add(lblGroup6);
groupIOList.Add(lblGroup7);
FormStatus(false);
timerIO.Start();
timerMain.Start();
HCLogUtil.logBox = richTextBox1;
}
private void btnInitBoard_Click(object sender, EventArgs e)
{
bool result = HCBoardManager.OpenCard(1);
if (result)
{
cmbAxisIndex.Items.Clear();
List<int> axisList = HCBoardManager.AxisList;
foreach(int i in axisList)
{
cmbAxisIndex.Items.Add(i);
}
if (axisList.Count > 0)
{
cmbAxisIndex.SelectedIndex = 0;
}
else
{
tabControl1.TabPages.RemoveAt(0);
}
}
}
private short GetAxisNo()
{
short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
return axisNo;
}
private void btnCloseBoard_Click(object sender, EventArgs e)
{
//轴状态监控定时器
axStsMonitor_timer.Enabled = false;
timerIO.Stop();
bool result = HCBoardManager.CloseCard();
}
private void FrmHuiChuanTest_FormClosing(object sender, FormClosingEventArgs e)
{
timerMain.Stop();
HCLogUtil.logBox = null;
}
private void btnSuddenStop_Click(object sender, EventArgs e)
{
HCBoardManager.EmgStop();
}
private void btnCancelStop_Click(object sender, EventArgs e)
{
HCBoardManager.CancelEmg();
}
private void btnSetValue_Click(object sender, EventArgs e)
{
//【1】更新轴号
ushort tAxisNo = Convert.ToUInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
//【2】获取电子齿轮分子分母
int Motor_Revolution = Convert.ToInt32(txtMotorRevolution.Text); //电子齿轮分子：电机分辨率
int Shaft_Revolution = Convert.ToInt32(txtShaftRevolution.Text); //电子齿轮分母：一圈脉冲数
HCBoardManager.SetEcatSdo(tAxisNo, Motor_Revolution, Shaft_Revolution);
}
private void btnServerOn_Click(object sender, EventArgs e)
{
short axisNo= Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
HCBoardManager.ServoOn(axisNo);
}
private void btnServerOff_Click(object sender, EventArgs e)
{
short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
HCBoardManager.ServoOff(axisNo);
}
private void btnStartHome_Click(object sender, EventArgs e)
{
//【1】更新轴号
short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
//【2】写入回原参数
short homeMethod = Convert.ToInt16(txtHomeType.Text);
int offset = Convert.ToInt32(txtHomeOffset.Text);
uint highVel = Convert.ToUInt32(txtHomeHSpeed.Text);
uint lowVel = Convert.ToUInt32(txtHomeLSpeed.Text);
uint acc = Convert.ToUInt32(txtHomeAcc.Text);
uint overtime = Convert.ToUInt32(txtHomeTimeOut.Text);
short posSrc = Convert.ToInt16(txtScrPos.Text);
HCBoardManager.StartHomeMove(axisNo, highVel, lowVel, acc, homeMethod, offset, overtime, posSrc);
}
private void btnStopHome_Click(object sender, EventArgs e)
{
HCBoardManager.StopHomeMove(GetAxisNo());
}
private void btnHomeStatus_Click(object sender, EventArgs e)
{
short value = HCBoardManager.GetHomeStatus(GetAxisNo());
string homesstr = HCBoardManager.AxisHomeSts(value);
lblhomeSts.Text = homesstr;
}
private void btnExitHome_Click(object sender, EventArgs e)
{
HCBoardManager.FinishHome(GetAxisNo());
}
private void btnStartTimer_Click(object sender, EventArgs e)
{
if (cmbAxisIndex.Items.Count == 0) //如果轴号为空
{
MessageBox.Show("轴号为空！");
return;
}
axStsMonitor_timer.Enabled = true;
}
private void btnStopTimer_Click(object sender, EventArgs e)
{
axStsMonitor_timer.Enabled = false;
}
private void btnPtpMove_Click(object sender, EventArgs e)
{
short axisNo = GetAxisNo();
//【2】读取界面设置
double ptpVel = Convert.ToDouble(txtPtpVel.Text);
double ptpAcc = Convert.ToDouble(txtPtpAcc.Text);
double ptpDec = Convert.ToDouble(txtPtpDec.Text);
double ptpPos = Convert.ToDouble(txtPtpPos.Text);
HCBoardManager.AbsMove(axisNo, ptpPos, ptpVel, ptpAcc, ptpDec);
}
private void btnRelMove_Click(object sender, EventArgs e)
{
short axisNo = GetAxisNo();
//【2】读取界面设置
double ptpVel = Convert.ToDouble(txtPtpVel.Text);
double ptpAcc = Convert.ToDouble(txtPtpAcc.Text);
double ptpDec = Convert.ToDouble(txtPtpDec.Text);
double ptpPos = Convert.ToDouble(txtPtpPos.Text);
HCBoardManager.RelMove(axisNo, ptpPos, ptpVel, ptpAcc, ptpDec);
}
private void btnAxisStop_Click(object sender, EventArgs e)
{
HCBoardManager.AxisStop(GetAxisNo());
}
private void btnJOGj_MouseDown(object sender, MouseEventArgs e)
{
short axisNo = GetAxisNo();
//【2】
//负向运动，速度为负，要对速度取负值
double tgtVel = (-1) * Math.Abs(Convert.ToDouble(txtJogSpeed.Text));
HCBoardManager.SpeedMove(axisNo, tgtVel);
btnJOGj.BackColor = Color.Green;
}
private void btnJOGj_MouseUp(object sender, MouseEventArgs e)
{
short axisNo = GetAxisNo();
HCBoardManager.AxisStop(axisNo);
btnJOGj.BackColor = Color.White;
}
private void btnJOGAdd_MouseDown(object sender, MouseEventArgs e)
{
short axisNo = GetAxisNo();
//【2】
//正向运动，速度为正，要对速度取绝对值
double tgtVel = Math.Abs(Convert.ToDouble(txtJogSpeed.Text));
HCBoardManager.SpeedMove(axisNo, tgtVel);
btnJOGAdd.BackColor = Color.Green;
}
private void btnJOGAdd_MouseUp(object sender, MouseEventArgs e)
{
short axisNo = GetAxisNo();
HCBoardManager.AxisStop(axisNo);
btnJOGAdd.BackColor = Color.White;
}
private void ShowlbSts(Label lbl, int value)
{
if (value.Equals(1))
{
lbl.BackColor = Color.Lime;
}
else if (value.Equals(0))
{
lbl.BackColor = Color.LightGray;
}
else
{
lbl.BackColor = this.BackColor;
}
}
private void axStsMonitor_timer_Tick(object sender, EventArgs e)
{
if (btnStartTimer.Visible && HCBoardManager.CardInitOk() && HCBoardManager.AxisList.Count > 0)
{
btnStartTimer.Enabled = false;
ReadAxisStatus();
}
}
private void ReadAxisStatus()
{
//【1】更新轴号
short axisNo = GetAxisNo();
short modeValue = HCBoardManager.GetAxisPrfMode(axisNo);
if (modeValue<0)
{
return;
}
else
{
string mode = HCBoardManager.AxisPrfMode(modeValue);
lblAxisPrfMode.Text = mode;
}
//【2】读取轴状态，如果读取出错将关闭此定时器
AxisSts sts = HCBoardManager.GetAxisSts(axisNo);
if (sts.ServoOn < 0)
{
axStsMonitor_timer.Stop();
}
//【3】更新界面显示
ShowlbSts(lblALM, sts.ALM); //报警信号
ShowlbSts(lblWARN, sts.WARN); //警告信号
ShowlbSts(lblEMG, sts.EMG);//急停信号
ShowlbSts(lblSvOn, sts.ServoOn); //使能信号
ShowlbSts(lblBUSY, sts.BUSY); //轴忙信号
ShowlbSts(lblINP, sts.INP); //轴到位信号
if (sts.ORG < 0)
{
axStsMonitor_timer.Stop();
}
ShowlbSts(lblPEL, sts.PEL); //正限位信号
ShowlbSts(lblORG, sts.ORG); //原点信号
ShowlbSts(lblNEL, sts.NEL); //负限位信号
//label59.Text = ConvertDecimalToBinary(nTimerAxSts[0]); //轴状态是按bit进行解读，因此这里将AxSts转换为二进制bit进行显示
lblAxPrfPos.Text = HCBoardManager.GetAxisPrfPos(axisNo).ToString();
lblAxPrfVel.Text = HCBoardManager.GetAxisPrfVel(axisNo).ToString();
//label62.Text = nTimerAxPrfAcc[0].ToString();
lblAxEncPos.Text = HCBoardManager.GetAxisCurrPos(axisNo).ToString();
lblAxEncVel.Text = HCBoardManager.GetAxisCurrVel(axisNo).ToString();
lblAxEncAcc.Text = HCBoardManager.GetAxisCurrAcc(axisNo).ToString();
//label65.Text = nTimerAxEncAcc[0].ToString();
short value = HCBoardManager.GetHomeStatus(GetAxisNo());
string homesstr = HCBoardManager.AxisHomeSts(value);
lblhomeSts.Text = homesstr;
}
private void btnSetBitDO_Click(object sender, EventArgs e)
{
short bitNo =(short) numBitIndex.Value;
HCBoardManager.SetBitDO(bitNo, 1);
}
private void btnCloseBit_Click(object sender, EventArgs e)
{
short bitNo = (short)numBitIndex.Value;
HCBoardManager.SetBitDO(bitNo, 0);
}
private void btnGetBitDo_Click(object sender, EventArgs e)
{
short bitNo = (short)numBitIndex.Value;
short value = HCBoardManager.GetBitDO(bitNo);
lblBitResult.Text = "DO_" + bitNo + "=" + value;
}
private void btnGetBitDI_Click(object sender, EventArgs e)
{
short bitNo = (short)numBitIndex.Value;
short value = HCBoardManager.GetBitDI(bitNo);
lblBitResult.Text = "DI_" + bitNo + "=" + value;
}
private string GetLabelIOValue(Label label)
{
if (label.BackColor.Equals(Color.Lime))
{
return "1";
}
else
{
return "0";
}
}
private void btnSetGroupDo_Click(object sender, EventArgs e)
{
short groupNo = (short)numGroupIndex.Value;
string value = "";
for (int i = 0; i < groupIOList.Count; i++)
{
value = GetLabelIOValue(groupIOList[i])+value;
}
short tValue = Convert.ToInt16(value, 2);
HCBoardManager.SetGroupDO(groupNo, tValue);
}
private void ShowIO(Label label,short value)
{
if (value.Equals((short)1))
{
label.BackColor = Color.Lime;
}
else if(value.Equals((short)0))
{
label.BackColor = Color.LightGray;
}
else
{
label.BackColor = Color.White;
}
}
private void btnGetGroupDo_Click(object sender, EventArgs e)
{
short groupNo = (short)numGroupIndex.Value;
lblGroupResult.Text = "<<组" + groupNo + "的DO值";
short tValue = HCBoardManager.GetGroupDO(groupNo);
List<short> gList = HCBoardManager.GetIOValue(tValue);
for (int i = 0; i < gList.Count; i++)
{
short v = gList[i];
ShowIO(groupIOList[i], v);
}
//string value = Convert.ToString(tValue,2).PadLeft(8,'0');
//for (int i = 0; i < groupIOList.Count; i++)
//{
// string v = value.Substring( i, 1);
// //groupIOList[i].Text = "DO_" + i;
// if (v.Equals("1"))
// {
// groupIOList[i].BackColor = Color.Lime;
// }
// else
// {
// groupIOList[i].BackColor = Color.LightGray;
// }
//}
}
private void btnGetGroupDI_Click(object sender, EventArgs e)
{
short groupNo = (short)numGroupIndex.Value;
lblGroupResult.Text = "<<组" + groupNo + "的DI值";
short tValue = HCBoardManager.GetGroupDI(groupNo);
List<short> gList = HCBoardManager.GetIOValue(tValue);
for (int i = 0; i < gList.Count; i++)
{
short v = gList[i];
ShowIO(groupIOList[i], v);
}
//string value = Convert.ToString(tValue, 2).PadLeft(8, '0');
//for (int i = 0; i < groupIOList.Count; i++)
//{
// string v = value.Substring(i, 1);
// //groupIOList[i].Text = "DI_" + i;
// if (v.Equals("1"))
// {
// groupIOList[i].BackColor = Color.Lime;
// }
// else
// {
// groupIOList[i].BackColor = Color.LightGray;
// }
//}
}
private void btnStartGetIO_Click(object sender, EventArgs e)
{
timerIO.Start();
}
private void btnStopGetDO_Click(object sender, EventArgs e)
{
timerIO.Stop();
}
private void timerIO_Tick(object sender, EventArgs e)
{
if (groupBox1.Visible && HCBoardManager.CardInitOk())
{
btnStartGetIO.Enabled = false;
if (radioButton1.Checked)
{
int groupLength = 8;
int diGroupCount = DILabelList.Count / groupLength;
for (short i = 0; i < diGroupCount; i++)
{
short groupValue = HCBoardManager.GetGroupDI(i);
List<short> vList = HCBoardManager.GetIOValue(groupValue);
for(int index = 0; index < vList.Count; index++)
{
ShowIO(DILabelList[i * 8 + index], vList[index]);
}
}
int doGroupCount = DOLabelList.Count / groupLength;
for(short i = 0; i < doGroupCount; i++)
{
short groupValue = HCBoardManager.GetGroupDO(i);
List<short> vList = HCBoardManager.GetIOValue(groupValue);
for (int index = 0; index < vList.Count; index++)
{
ShowIO(DOLabelList[i * 8 + index], vList[index]);
}
}
}
else
{
for (short i = 0; i < DILabelList.Count; i++)
{
short value = HCBoardManager.GetBitDI(i);
ShowIO(DILabelList[i], value);
}
for (short i = 0; i < DOLabelList.Count; i++)
{
short value = HCBoardManager.GetBitDO(i);
ShowIO(DOLabelList[i], value);
}
}
}
}
private void lblGroup0_Click(object sender, EventArgs e)
{
Label label = (Label)sender;
if (label.BackColor.Equals(Color.LightGray))
{
label.BackColor = Color.Lime ;
}
else
{
label.BackColor = Color.LightGray;
}
}
private void btnClearAxSts_Click(object sender, EventArgs e)
{
short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
HCBoardManager.ClearAxisSts(axisNo);
}
private void btnReadSts_Click(object sender, EventArgs e)
{
ReadAxisStatus();
}
private void btnClearLog_Click(object sender, EventArgs e)
{
HCLogUtil.ClearLog();
}
private void btnExit_Click(object sender, EventArgs e)
{
HCBoardManager.CloseCard();
this.Close();
}
private void timerMain_Tick(object sender, EventArgs e)
{
if (HCBoardManager.CardInitOk())
{
lblBoradInfo.ForeColor = Color.Green ;
lblBoradInfo.Text = "板卡初始化完成：" + "轴数量[" + HCBoardManager.tResource.axNum + "]，DI数量[" + HCBoardManager.tResource.diNum + "]，DO数量[" + HCBoardManager.tResource.doNum + "]";
if (!btnInitBoard.Enabled.Equals(false))
{
FormStatus(true );
}
}
else
{
lblBoradInfo.ForeColor = Color.Red;
lblBoradInfo.Text = "板卡未初始化完成";
if (!btnInitBoard.Enabled.Equals(true ))
{
FormStatus(false );
}
}
}
private void FormStatus(bool isOk)
{
btnInitBoard.Enabled = !isOk;
groupBox1.Enabled = isOk;
groupBox2.Enabled = isOk;
groupBox3.Enabled = isOk;
groupBox4.Enabled = isOk;
groupBox6.Enabled = isOk;
groupBox7.Enabled = isOk;
groupBox8.Enabled = isOk;
groupBox9.Enabled = isOk;
groupBox10.Enabled = isOk;
btnSuddenStop.Enabled = isOk;
btnCancelStop.Enabled = isOk;
timerIO.Enabled = isOk;
axStsMonitor_timer.Enabled = isOk;
}
}
}
HuichuanLibrary/FrmHuiChuanTest.resx 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<root>
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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="axStsMonitor_timer.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>378, 17</value>
</metadata>
<metadata name="timerIO.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>545, 17</value>
</metadata>
<metadata name="timerMain.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>641, 17</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
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HuichuanLibrary/HCBoardManager.cs 0 → 100644
using log4net;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace HuichuanLibrary
{
public partial class HCBoardManager
{
private static Int32 nCardNo = 0; // 默认要打开的卡号
private static UInt64 nCardHandle = 0; // 卡句柄
private static bool CardIsOk = false;
public static List<int> AxisList = new List<int>();
public static ImcApi.TRsouresNum tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源
private static string DeviceConfigPath = "";
private static string SystemConfigPath = "";
/// <summary>
/// 初始化配置信息，初始化板卡之前，先初始化配置
/// </summary>
/// <param name="deviceConfigPath"></param>
/// <param name="systemConfigPath"></param>
/// <param name="logName"></param>
public static void InitConfig(string deviceConfigPath="",string systemConfigPath="", string logName = "RollingLogFileAppender")
{
if (deviceConfigPath.Equals(""))
{
DeviceConfigPath = ".\\device_config.xml";
}
else
{
DeviceConfigPath = deviceConfigPath;
}
if (systemConfigPath.Equals(""))
{
SystemConfigPath = ".\\system_config.xml";
}
else
{
SystemConfigPath = systemConfigPath;
}
HCLogUtil.LOGGER = LogManager.GetLogger(logName);
}
private static string BoardName()
{
return " HCH[" + nCardNo + "][" + nCardHandle + "] ";
}
#region 板卡操作，初始化，关闭，急停
private static bool IsInScanECAT = false;
private static System.Timers.Timer scanEcatTimer = null;
private static DateTime startTime = DateTime.Now;
public static string CardMsg = "板卡还未初始化";
/// <summary>
/// 初始化板卡
/// </summary>
/// <param name="blockFlag">是否阻塞，1=阻塞，0=不阻塞</param>
/// <returns></returns>
public static bool OpenCard(int blockFlag=0)
{
try
{
if (CardIsOk)
{
return true;
}
if (IsInScanECAT)
{
return false;
}
if (scanEcatTimer == null)
{
scanEcatTimer = new System.Timers.Timer();
scanEcatTimer.AutoReset = true;
scanEcatTimer.Interval = 500;
scanEcatTimer.Elapsed += ScanEcatTimer_Elapsed;
scanEcatTimer.Enabled = false;
}
if (!File.Exists(DeviceConfigPath))
{
HCLogUtil.error("InitCard FAIL，DeviceConfigPath 【" + DeviceConfigPath + "】not exists");
return false;
}
if (!File.Exists(SystemConfigPath))
{
HCLogUtil.error("InitCard FAIL， SystemConfigPath【" + SystemConfigPath + "】not exists");
return false;
}
startTime = DateTime.Now;
//【1】获取卡
Int32 nCardNum = 0;
UInt32 ret = ImcApi.IMC_GetCardsNum(ref nCardNum);
if (ret != 0)
{
ShowErrorLog(" GetCardsNum FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
if (nCardNum <= 0)
{
ShowErrorLog(" Not Find Card");
return false;
}
else
{
ShowLog("GetCardsNum = " + nCardNum + ", 将默认打开第0号卡");
}
}
//【2】打开卡句柄
ret = ImcApi.IMC_OpenCardHandle(nCardNo, ref nCardHandle);
if (ret != 0)
{
ShowErrorLog(" OpenCardHandle FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("OpenCardHandle OK");
}
//【3】下载设备参数
ret = ImcApi.IMC_DownLoadDeviceConfig(nCardHandle, DeviceConfigPath);
if (ret != 0)
{
ShowErrorLog(" DownLoadDeviceConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + DeviceConfigPath + "文件");
return false;
}
else
{
ShowLog("DownLoadDeviceConfig OK");
}
//【4】启动主站
ShowLog("Begin ScanCardECAT... ...IsInScanECAT=true");
IsInScanECAT = true;
uint masterStatus = 0;
ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref masterStatus);
if (ret != 0)
{
ShowErrorLog(" GetECATMasterSts FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
if (masterStatus != ImcApi.EC_MASTER_OP)
{
// [2020 - 12 - 03 16:32:37,124][1]INFO HCH[0][0] GetCardsNum = 1, 将默认打开第0号卡
// [2020 - 12 - 03 16:32:37, 126][1]INFO HCH[0][479296224] OpenCardHandle OK
// [2020 - 12 - 03 16:32:37,537][1]INFO HCH[0][479296224] DownLoadDeviceConfig OK
// [2020 - 12 - 03 16:32:37,537][1]INFO HCH[0][479296224] Begin ScanCardECAT... ...
//[2020 - 12 - 03 16:33:02,925][1]INFO HCH[0][479296224] ScanCardECAT OK
// [2020 - 12 - 03 16:33:03,107][1]INFO HCH[0][479296224] DownLoadSystemConfig OK
// [2020 - 12 - 03 16:33:03,111][1]INFO HCH[0][479296224] Axis[22]，DI[592]，DO[528]
ret = ImcApi.IMC_ScanCardECAT(nCardHandle, blockFlag);
if (ret != 0)
{
ShowErrorLog(" ScanCardECAT FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
}
}
if (blockFlag == 1)// 默认阻塞式启动EtherCAT
{
ShowLog("ScanCardECAT OK");
//【5】下载系统参数
if (!LoadSystemConfig())
{
IsInScanECAT = false;
return false;
}
//【6】扫描卡内资源，初始化ComboBox
return GetCardResource();
}
else
{
CardMsg = "ECAT总线扫描和配置中................";
scanEcatTimer.Enabled = true;
ShowLog("start scanEcatTimer ...............");
return false;
}
}
catch (Exception ex)
{
ShowErrorLog(ex.ToString());
}
return false;
}
private static bool LoadSystemConfig()
{
//【5】下载系统参数
uint ret = ImcApi.IMC_DownLoadSystemConfig(nCardHandle, SystemConfigPath);
if (ret != 0)
{
ShowErrorLog(" DownLoadSystemConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + SystemConfigPath + "文件");
return false;
}
else
{
ShowLog("DownLoadSystemConfig OK");
}
return true;
}
private static bool GetCardResource()
{
IsInScanECAT = false;
tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源
//【6】扫描卡内资源，初始化ComboBox
uint ret = ImcApi.IMC_GetCardResource(nCardHandle, ref tResource);
if (ret != 0)
{
ShowErrorLog(" GetCardResource FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("Axis [" + tResource.axNum + "]，DI [" + tResource.diNum + "]，DO [" + tResource.doNum + "]");
//轴
AxisList = new List<int>();
if (tResource.axNum > 0)
{
for (int i = 0; i < tResource.axNum; i++)
{
AxisList.Add(i);
}
}
CardMsg = "板卡初始化完成";
CardIsOk = true;
TimeSpan span = DateTime.Now - startTime;
ShowLog("OpenCard end ," + Convert.ToDateTime(span.ToString()).ToString("HH:mm:ss"));
return true;
}
}
private static void ScanEcatTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
uint pStatus = 0;
uint ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref pStatus);
if (ret != 0)
{
ShowErrorLog(" GetECATMasterSts FAIL, ErrorCode=0x" + ret.ToString("x8") + " ");
}
else if (pStatus.Equals(6))
{
scanEcatTimer.Stop();
ShowLog(" GetECATMasterSts OK, pStatus= " + pStatus + " ");
ShowLog("ScanCardECAT OK");
//【5】下载系统参数
if (!LoadSystemConfig())
{
IsInScanECAT = false;
return;
}
//【6】扫描卡内资源，初始化ComboBox
GetCardResource();
return;
}
else
{
ShowLog(" GetECATMasterSts OK, pStatus= " + pStatus + " ");
}
//判断是否超时
TimeSpan span = DateTime.Now - startTime;
if (span.TotalMinutes > 2)
{
CardMsg = "ECAT总线连接失败，超时未进入OP模式";
ShowErrorLog(CardMsg + "，停止主站状态查询");
IsInScanECAT = false;
scanEcatTimer.Stop();
}
}
//public static bool OpenCard()
//{
// try
// {
// if (CardIsOk)
// {
// return true;
// }
// if (IsInScanECAT)
// {
// return false ;
// }
// DateTime startTime = DateTime.Now;
// if (!File.Exists(DeviceConfigPath))
// {
// HCLogUtil.error("InitCard FAIL， 【" + DeviceConfigPath + "】not exists");
// return false;
// }
// if (!File.Exists(SystemConfigPath))
// {
// HCLogUtil.error("InitCard FAIL， 【" + SystemConfigPath + "】not exists");
// return false;
// }
// //【1】获取卡
// Int32 nCardNum = 0;
// UInt32 ret = ImcApi.IMC_GetCardsNum(ref nCardNum);
// if (ret != 0)
// {
// ShowErrorLog(" GetCardsNum FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// if (nCardNum <= 0)
// {
// ShowErrorLog(" Not Find Card");
// return false;
// }
// else
// {
// ShowLog("GetCardsNum = " + nCardNum + ", 将默认打开第0号卡");
// }
// }
// //【2】打开卡句柄
// ret = ImcApi.IMC_OpenCardHandle(nCardNo, ref nCardHandle);
// if (ret != 0)
// {
// ShowErrorLog(" OpenCardHandle FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// ShowLog("OpenCardHandle OK");
// }
// //【3】下载设备参数
// ret = ImcApi.IMC_DownLoadDeviceConfig(nCardHandle, DeviceConfigPath);
// if (ret != 0)
// {
// ShowErrorLog(" DownLoadDeviceConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + DeviceConfigPath + "文件");
// return false;
// }
// else
// {
// ShowLog("DownLoadDeviceConfig OK");
// }
// //【4】启动主站
// ShowLog("Begin ScanCardECAT... ...");
// uint masterStatus = 0;
// ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref masterStatus);
// if (ret != 0)
// {
// ShowErrorLog(" GetECATMasterSts FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// if (masterStatus != ImcApi.EC_MASTER_OP)
// {
// ret = ImcApi.IMC_ScanCardECAT(nCardHandle, 1); //默认阻塞式启动EtherCAT
// if (ret != 0)
// {
// ShowErrorLog(" ScanCardECAT FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// }
// }
// ShowLog("ScanCardECAT OK");
// //【5】下载系统参数
// ret = ImcApi.IMC_DownLoadSystemConfig(nCardHandle, SystemConfigPath);
// if (ret != 0)
// {
// ShowErrorLog(" DownLoadSystemConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + SystemConfigPath + "文件");
// return false;
// }
// else
// {
// ShowLog("DownLoadSystemConfig OK");
// }
// tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源
// //【6】扫描卡内资源，初始化ComboBox
// ret = ImcApi.IMC_GetCardResource(nCardHandle, ref tResource);
// if (ret != 0)
// {
// ShowErrorLog(" GetCardResource FAIL, ErrorCode=0x" + ret.ToString("x8"));
// return false;
// }
// else
// {
// ShowLog("Axis [" + tResource.axNum + "]，DI [" + tResource.diNum + "]，DO [" + tResource.doNum + "]");
// //轴
// AxisList = new List<int>();
// if (tResource.axNum > 0)
// {
// for (int i = 0; i < tResource.axNum; i++)
// {
// AxisList.Add(i);
// }
// }
// CardIsOk = true;
// TimeSpan span = DateTime.Now - startTime;
// ShowLog("OpenCard end ," + Convert.ToDateTime(span.ToString()).ToString("HH:mm:ss"));
// return true;
// //IO
// }
// }
// catch (Exception ex)
// {
// ShowErrorLog(ex.ToString());
// }
// return false;
//}
/// <summary>
/// 关闭板卡
/// </summary>
/// <returns></returns>
public static bool CloseCard()
{
UInt32 ret = ImcApi.IMC_CloseCard(nCardHandle);
if (ret != 0)
{
ShowErrorLog("CloseCard FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
CardIsOk = false;
ShowLog("CloseCard OK");
//return true;
}
ret = ImcApi.IMC_CloseCardHandle(nCardHandle);
if (ret != 0)
{
ShowErrorLog("CloseCardHandle FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
CardIsOk = false;
ShowLog("CloseCardHandle OK");
return true;
}
}
/// <summary>
/// 板卡是否已经初始化OK
/// </summary>
/// <param name="isShowLog"></param>
/// <returns></returns>
public static bool CardInitOk(bool isShowLog = false)
{
if (CardIsOk)
{
return true;
}
else
{
if (isShowLog)
{
ShowErrorLog(" 板卡未初始化完成");
}
return false;
}
}
public static bool EmgStop()
{
if (!CardInitOk())
{
return false ;
}
//取反标志为0时触发急停
UInt32 ret = ImcApi.IMC_SetEmgTrigLevelInv(nCardHandle, 0);
if (ret != 0)
{
ShowErrorLog(" EmgStop FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("EmgStop OK");
return true;
}
}
public static bool CancelEmg()
{
if (!CardInitOk())
{
return false;
}
//取反标志为1时取消急停
UInt32 ret = ImcApi.IMC_SetEmgTrigLevelInv(nCardHandle, 1);
if (ret != 0)
{
ShowErrorLog(" CancelEmg FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog("CancelEmg OK");
return true;
}
}
#endregion
#region IO控制
public static bool SetBitDO(short bitNo, short bitValue)
{
if (!CardInitOk())
{
return false;
}
//安装点位写Do
UInt32 ret = ImcApi.IMC_SetEcatDoBit(nCardHandle, bitNo, bitValue);
if (ret != 0)
{
ShowErrorLog(" bitNo["+bitNo+"]bitValue["+bitValue+ "] IMC_SetEcatDoBit FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetBitDO(short bitNo)
{
if (!CardInitOk())
{
return 0;
}
short bitValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatDoBit(nCardHandle, bitNo, ref bitValue);
if (ret != 0)
{
ShowErrorLog(" bitNo[" + bitNo + "] IMC_GetEcatDoBit FAIL, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return bitValue;
}
public static short GetBitDI(short bitNo)
{
if (!CardInitOk())
{
return 0;
}
short bitValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatDiBit(nCardHandle, bitNo, ref bitValue);
if (ret != 0)
{
ShowErrorLog(" bitNo[" + bitNo + "] IMC_GetEcatDiBit, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return bitValue;
}
public static bool SetGroupDO(short groupNo, short groupValue)
{
if (!CardInitOk())
{
return false ;
}
UInt32 ret = ImcApi.IMC_SetEcatGrpDo(nCardHandle, groupNo, groupValue);
if (ret != 0)
{
ShowErrorLog(" groupNo[" + groupNo + "] IMC_SetEcatGrpDo FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetGroupDO(short groupNo)
{
if (!CardInitOk())
{
return 0;
}
Int16 groupValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatGrpDo(nCardHandle, groupNo, ref groupValue);
if (ret != 0)
{
ShowErrorLog(" groupNo[" + groupNo + "] IMC_GetEcatGrpDo FAIL, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return groupValue;
}
public static short GetGroupDI(short groupNo)
{
if (!CardInitOk())
{
return 0;
}
Int16 groupValue = 0;
UInt32 ret = ImcApi.IMC_GetEcatGrpDi(nCardHandle, groupNo, ref groupValue);
if (ret != 0)
{
ShowErrorLog(" groupNo[" + groupNo + "] IMC_GetEcatGrpDi FAIL, ErrorCode=0x" + ret.ToString("x8"));
return 0;
}
return groupValue;
}
public static bool CloseAllDO()
{
if (!CardInitOk())
{
return false;
}
int groupCount = tResource.doNum / 8;
for (short i = 0; i < groupCount; i++)
{
SetGroupDO(i, 0);
}
return true;
}
public static List<short> GetIOValue(short groupValue )
{
List<short> groupList = new List<short>();
string value = Convert.ToString(groupValue, 2).PadLeft(8, '0');
for (int i = 0; i < 8; i++)
{
string v = value.Substring(i, 1);
//groupIOList[i].Text = "DO_" + i;
if (v.Equals("1"))
{
groupList.Insert(0,1);
}
else
{
groupList.Insert(0, 0);
}
}
return groupList;
}
#endregion
private static void ShowErrorLog(string msg)
{
CardMsg = BoardName() + msg;
Console.WriteLine(BoardName() + msg);
HCLogUtil.error(BoardName() + msg);
}
private static void ShowLog(string msg)
{
Console.WriteLine(BoardName() + msg);
HCLogUtil.info(BoardName() + msg);
}
private static void DebugLog(string msg)
{
Console.WriteLine(BoardName() + msg);
HCLogUtil.debug(BoardName() + msg);
}
}
public class AxisSts
{
/// <summary>
/// 轴报警信号
/// </summary>
public int ALM = -1;
/// <summary>
/// 轴警告信号
/// </summary>
public int WARN = -1;
/// <summary>
/// 轴急停信号
/// </summary>
public int EMG = -1;
/// <summary>
/// 轴伺服使能信号
/// </summary>
public int ServoOn = -1;
/// <summary>
/// 轴忙碌状态
/// </summary>
public int BUSY = -1;
/// <summary>
/// 轴到位信号
/// </summary>
public int INP = -1;
/// <summary>
/// 正限位信号
/// </summary>
public int PEL = -1;
/// <summary>
/// 原点信号
/// </summary>
public int ORG = -1;
/// <summary>
/// 负限位信号
/// </summary>
public int NEL = -1;
/// <summary>
/// 总线轴标志
/// </summary>
public int ECAT = -1;
public string ToStr()
{
return "ALM=" + ALM + ",WARN=" + WARN + ",EMG=" + EMG + ",ServoOn=" + ServoOn + ",BUSY=" + BUSY + ",INP=" + INP + ",PEL=" + PEL + ",ORG=" + ORG + ",NEL=" + NEL+ ",ECAT=" + ECAT;
}
}
}
HuichuanLibrary/HCBoardManager_Axis.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace HuichuanLibrary
{
partial class HCBoardManager
{
#region 单轴控制
public static bool ServoOn(short axisNo)
{
if (!CardInitOk())
{
return false;
}
//【2】上使能
UInt32 ret = ImcApi.IMC_AxServoOn(nCardHandle, axisNo, 1);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] ServoOn FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog(" Axis[" + axisNo + "] ServoOn OK");
return true;
}
}
public static bool ServoOff(short axisNo)
{
if (!CardInitOk())
{
return false;
}
//【2】下使能
UInt32 ret = ImcApi.IMC_AxServoOff(nCardHandle, axisNo, 1);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] ServoOff FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog(" Axis[" + axisNo + "] ServoOff OK");
return true;
}
}
#region 回零处理
/// <summary>
/// 开始回零
/// </summary>
/// <param name="axisNo">轴号</param>
/// <param name="highVel">回零高速</param>
/// <param name="lowVel">回零低速</param>
/// <param name="acc">回零加速度</param>
/// <param name="homeMethod">回零方法，默认28</param>
/// <param name="offset">回零偏移，默认0</param>
/// <param name="overtime">超时时间，默认120000</param>
/// <param name="posSrc">端子板信号源，默认0</param>
/// <returns></returns>
public static bool StartHomeMove(short axisNo,uint highVel, uint lowVel, uint acc,short homeMethod=28, int offset=0, uint overtime=120000, short posSrc=0)
{
if (!CardInitOk())
{
return false;
}
//【2】写入回原参数
ImcApi.THomingPara tHomingPara = new ImcApi.THomingPara();
tHomingPara.homeMethod = homeMethod;
tHomingPara.offset = offset;
tHomingPara.highVel = highVel;
tHomingPara.lowVel = lowVel;
tHomingPara.acc = acc;
tHomingPara.overtime = overtime;
tHomingPara.posSrc = posSrc;
HCLogUtil.info("Axis[" + axisNo + "] StartHoming highVel["+highVel+ "],lowVel[" + lowVel + "],acc[" + acc + "],homeMethod[" + homeMethod + "],offset[" + offset + "],overtime[" + overtime + "],posSrc["+ posSrc + "]");
//【3】开始回原
UInt32 ret = ImcApi.IMC_StartHoming(nCardHandle, axisNo, ref tHomingPara);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "]StartHoming FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog(" Axis[" + axisNo + "] StartHoming OK");
return true;
}
}
public static bool StopHomeMove(short axisNo)
{
if (!CardInitOk())
{
return false;
}
//【2】触发停止回原
UInt32 ret = ImcApi.IMC_StopHoming(nCardHandle, axisNo, 0); //0：表示平滑停止 1：表示急停
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] StopHoming FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false; ;
}
else
{
ShowLog(" Axis[" + axisNo + "] StopHoming OK");
return true;
}
}
public static short GetHomeStatus(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
//【2】获取回原状态
short nHomingStatus = 0;
UInt32 ret = ImcApi.IMC_GetHomingStatus(nCardHandle, axisNo, ref nHomingStatus);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetHomingStatus FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
else
{
//ShowLog("轴回原状态为" + nHomingStatus.ToString());
return nHomingStatus;
}
}
public static bool FinishHome(short axisNo)
{
if (!CardInitOk())
{
return false;
}
//【2】退出回原模式
UInt32 ret = ImcApi.IMC_FinishHoming(nCardHandle, axisNo);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] FinishHoming FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
DebugLog(" Axis[" + axisNo + "] FinishHoming OK！");
return true;
}
}
/// <summary>
/// 判断回零是否完成
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static bool HomeingIsEnd(short axisNo)
{
//回零状态结束，并且不再忙碌中
AxisSts sts = GetAxisSts(axisNo);
if (sts.BUSY.Equals(0) && sts.INP.Equals(1))
{
short homests = GetHomeStatus(axisNo);
if (homests.Equals(HomeSts_OK))
{
return true;
}
}
return false;
}
#endregion
/// <summary>
/// 判断轴是否在指定的位置
/// </summary>
/// <param name="axisNo">轴号</param>
/// <param name="targetPos">目标位置</param>
/// <param name="maxError">最大误差脉冲值</param>
/// <returns></returns>
public static bool IsInPosition(short axisNo, double targetPos, double maxError = 10)
{
double currP = GetAxisCurrPos(axisNo);
double chazhi = Math.Abs(currP - targetPos);
if (chazhi < maxError)
{
return true ;
}
return false;
}
public static bool MoveIsEnd(short axisNo )
{
AxisSts sts = GetAxisSts(axisNo);
if (sts.BUSY.Equals(0) && sts.INP.Equals(1))
{
return true;
}
return false;
}
public static bool AbsMove(short axisNo, double ptpPos, double ptpVel , double ptpAcc , double ptpDec )
{
if (!CardInitOk())
{
return false;
}
if (ptpVel > 0 && ptpAcc > 0 && ptpDec > 0)
{
if (!SetPTPSpeed(axisNo, ptpVel, ptpAcc, ptpDec))
{
return false;
}
}
short ptpType = 0;
return StartPtpMove(axisNo, ptpType, ptpPos);
}
public static bool RelMove(short axisNo, double ptpPos, double ptpVel , double ptpAcc , double ptpDec )
{
if (!CardInitOk())
{
return false;
}
if (ptpVel > 0 && ptpAcc > 0 && ptpDec > 0)
{
if (!SetPTPSpeed(axisNo, ptpVel, ptpAcc, ptpDec))
{
return false;
}
}
short ptpType = 1;
return StartPtpMove(axisNo, ptpType, ptpPos);
}
private static bool StartPtpMove(short axisNo, short ptpType, double ptpPos)
{
//【3】启动PTP
UInt32 ret = ImcApi.IMC_StartPtpMove(nCardHandle, axisNo, ptpPos, ptpType);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] StartPtpMove " + ptpType + " FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
DebugLog(" Axis[" + axisNo + "] StartPtpMove " + ptpType + " OK");
return true;
}
}
public static bool SetPTPSpeed(short axisNo, double ptpVel, double ptpAcc, double ptpDec)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_SetSingleAxMvPara(nCardHandle, axisNo, ptpVel, ptpAcc, ptpDec);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] SetSingleAxMvPara ptpVel ["+ ptpVel + "] ptpAcc ["+ ptpAcc + "] ptpDec ["+ptpDec+"] FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
DebugLog(" Axis[" + axisNo + "] SetSingleAxMvPara ptpVel [" + ptpVel + "] ptpAcc [" + ptpAcc + "] ptpDec [" + ptpDec + "] OK");
return true;
}
}
public static bool AxisStop(short axisNo)
{
if (!CardInitOk())
{
return false;
}
//【2】轴停止
UInt32 ret = ImcApi.IMC_AxMoveStop(nCardHandle, axisNo, 1); //StopType=1,立即停止
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] MoveStop FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
DebugLog(" Axis[" + axisNo + "] MoveStop OK");
return true;
}
}
/// <summary>
/// 设置齿轮比
/// </summary>
/// <param name="axisNo">轴号</param>
/// <param name="Motor_Revolution">电子齿轮分子：电机分辨率</param>
/// <param name="Shaft_Revolution">电子齿轮分母：一圈脉冲数</param>
/// <returns></returns>
public static bool SetEcatSdo(ushort axisNo, int Motor_Revolution, int Shaft_Revolution)
{
if (!CardInitOk())
{
return false;
}
//【3】获取轴号对应的实际地址
short nphyStationId = 0, nphySlotId = 0;
uint abort_code = 0;
UInt32 ret = ImcApi.IMC_GetAxEcatStation(nCardHandle, axisNo, ref nphyStationId, ref nphySlotId);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] IMC_GetAxEcatStation FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
//【4】设置电子齿轮分子
ret = ImcApi.IMC_SetEcatSdo(nCardHandle, nphyStationId, 0x6091, 0x01, BitConverter.GetBytes(Motor_Revolution), 4, ref abort_code);
if (ret != 0 | abort_code != 0)
{
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] IMC_SetEcatSdo_1 FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowErrorLog(" Axis[" + axisNo + "] IMC_SetEcatSdo_1 FAIL, ErrorCode=0x" + abort_code.ToString("x8"));
return false;
}
}
//【4】设置电子齿轮分母
ret = ImcApi.IMC_SetEcatSdo(nCardHandle, nphyStationId, 0x6091, 0x02, BitConverter.GetBytes(Shaft_Revolution), 4, ref abort_code);
if (ret != 0 | abort_code != 0)
{
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] IMC_SetEcatSdo_2 FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowErrorLog(" Axis[" + axisNo + "] IMC_SetEcatSdo_2 FAIL, ErrorCode=0x" + abort_code.ToString("x8"));
return false;
}
}
return true;
}
public static bool SpeedMove(short axisNo, double targetVel)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_StartJogMove(nCardHandle, axisNo, targetVel);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] speed ["+targetVel+ "] StartJogMove FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
else
{
ShowLog(" Axis[" + axisNo + "] speed [" + targetVel + "] StartJogMove OK");
return true;
}
}
/// <summary>
/// 获取轴规划模式
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static short GetAxisPrfMode(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
try
{
Int16[] nTimerAxPrfMode = { 0 };
UInt32 ret = ImcApi.IMC_GetAxPrfMode(nCardHandle, axisNo, nTimerAxPrfMode, 1); //变量需要定义为数组，默认读取1个轴
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxPrfMode FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
if (nTimerAxPrfMode.Length > 0)
{
return nTimerAxPrfMode[0];
}
}
catch (Exception ex)
{
ShowErrorLog("" + ex.ToString());
}
return -1;
}
/// <summary>
/// 获取轴状态
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static AxisSts GetAxisSts(short axisNo)
{
AxisSts sts = new AxisSts();
if (!CardInitOk())
{
return sts;
}
Int32[] nTimerAxSts = { 0 };
UInt32 ret = ImcApi.IMC_GetAxSts(nCardHandle, axisNo, nTimerAxSts, 1);
if (ret != 0 || nTimerAxSts.Length <= 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxSts FAIL, ErrorCode=0x" + ret.ToString("x8"));
return sts;
}
int axisState = nTimerAxSts[0];
//【3】更新界面显示
sts.ALM = ((axisState & 0x01) == 0x01) ? 1 : 0; //报警信号
sts.ServoOn = ((axisState & 0x02) == 0x02) ? 1 : 0; //使能信号
sts.BUSY = ((axisState & 0x04) == 0x04) ? 1 : 0; //轴忙信号
sts.INP = ((axisState & 0x08) == 0x08) ? 1 : 0; //轴到位信号
sts.EMG = ((axisState & 0x200) == 0x200) ? 1 : 0; //急停信号
sts.WARN = ((axisState & 0x1000) == 0x1000) ? 1 : 0; //警告信号
sts.ECAT = ((axisState & ImcApi.AX_ECAT_BIT) == ImcApi.AX_ECAT_BIT) ? 1 : 0;//总线轴标志
Int16 nTimerAxInput = 0;
ret = ImcApi.IMC_GetAxEcatDigitalInput(nCardHandle, axisNo, ref nTimerAxInput);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "]GetAxEcatDigitalInput ,ErrorCode=0x" + ret.ToString("x8"));
return sts;
}
sts.NEL = ((nTimerAxInput & 0x01) == 0x01) ? 1 : 0; //负限位信号
sts.PEL = ((nTimerAxInput & 0x02) == 0x02) ? 1 : 0; //正限位信号
sts.ORG = ((nTimerAxInput & 0x04) == 0x04) ? 1 : 0; //原点信号
return sts;
}
/// <summary>
/// 获取轴规划位置
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static double GetAxisPrfPos(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
double[] nTimerAxPrfPos = { 0 };
UInt32 ret = ImcApi.IMC_GetAxPrfPos(nCardHandle, axisNo, nTimerAxPrfPos, 1);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxPrfPos FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return nTimerAxPrfPos[0];
}
/// <summary>
/// 获取轴规划速度
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static double GetAxisPrfVel(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
double[] nTimerAxPrfVel = { 0 };
UInt32 ret = ImcApi.IMC_GetAxPrfVel(nCardHandle, axisNo, nTimerAxPrfVel, 1);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxPrfVel FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return nTimerAxPrfVel[0];
}
/// <summary>
/// 获取轴反馈位置
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static double GetAxisCurrPos(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
double[] nTimerAxEncPos = { 0 };
UInt32 ret = ImcApi.IMC_GetAxEncPos(nCardHandle, axisNo, nTimerAxEncPos, 1);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxEncPos FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return nTimerAxEncPos[0];
}
/// <summary>
///获取轴反馈速度
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static double GetAxisCurrVel(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
double[] nTimerAxEncVel = { 0 };
UInt32 ret = ImcApi.IMC_GetAxEncVel(nCardHandle, axisNo, nTimerAxEncVel, 1);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxEncVel FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return nTimerAxEncVel[0];
}
/// <summary>
/// 获取轴反馈加速度
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static double GetAxisCurrAcc(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
double[] nTimerAxEncAcc = { 0 };
UInt32 ret = ImcApi.IMC_GetAxEncAcc(nCardHandle, axisNo, nTimerAxEncAcc, 1);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxEncAcc FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return nTimerAxEncAcc[0];
}
/// <summary>
/// 清楚轴报警状态
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static bool ClearAxisSts(short axisNo)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_ClrAxSts(nCardHandle, axisNo);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] ClrAxSts FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetAxErrCode(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetAxErrCode(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxEncAcc FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static string GetAxType(short axisNo )
{
string res = "";
if (!CardInitOk())
{
return res;
}
short pAxType = -1;
short pOutChn = -1;
UInt32 ret = ImcApi.IMC_GetAxType(nCardHandle, axisNo, ref pAxType,ref pOutChn);
res = "轴类型["+pAxType+ "],物理通道[" + pOutChn + "]";
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetAxType FAIL, ErrorCode=0x" + ret.ToString("x8"));
}
return res;
}
public static short GetEcatAxPosTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxPosTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxPosTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxPosTorqLmt(short axisNo,short value)
{
if (!CardInitOk())
{
return false ;
}
UInt32 ret = ImcApi.IMC_SetEcatAxPosTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "]["+ value + "] SetEcatAxPosTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false ;
}
return true ;
}
public static short GetEcatAxNegTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxNegTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxNegTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxNegTorqLmt(short axisNo, short value)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_SetEcatAxNegTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "][" + value + "] SetEcatAxNegTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetEcatAxMaxTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxMaxTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxMaxTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxMaxTorqLmt(short axisNo, short value)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_SetEcatAxMaxTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "][" + value + "] SetEcatAxMaxTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
#endregion
#region 轴状态
public static string AxisPrfMode(short axCtrlMode)
{
axCtrlMode = (short)(axCtrlMode & 0xf);
string strCtrlMode = string.Empty;
switch (axCtrlMode)
{
case 0:
strCtrlMode = "0=无模式";
break;
case 1:
strCtrlMode = "1=点对点";
break;
case 2:
strCtrlMode = "2=JOG";
break;
case 3:
strCtrlMode = "3=电子齿轮";
break;
case 4:
strCtrlMode = "4=电子凸轮";
break;
case 5:
strCtrlMode = "5=PVT";
break;
case 6:
strCtrlMode = "6=龙门";
break;
case 7:
strCtrlMode = "7=手轮";
break;
case 9:
strCtrlMode = "8=点位连续";
break;
case 11:
strCtrlMode = "11=插补同步轴";
break;
case 15:
strCtrlMode = "15=回零";
break;
default:
break;
}
return strCtrlMode;
}
public static string AxisHomeSts(short homeStatus)
{
string sStr = "";
switch (homeStatus)
{
case 0:
sStr = "0=正在回零中";
break;
case 1:
sStr = "1=回零中断或者没有开始启动";
break;
case 2:
sStr = "2=回零结束，但没有到设定的目标位置";
break;
case 3:
sStr = "3=回零完成";
break;
case 4:
sStr = "4=回零中发生错误，同时速度不为0";
break;
case 5:
sStr = "5=回零中发生错误，同时速度为0";
break;
default:
break;
}
return sStr;
}
#endregion
/// <summary>
/// 回原点状态：0=正在回零中
/// </summary>
public static short HomeSts_Moveing = 0;
/// <summary>
/// 回原点状态：1=回零中断或者没有开始启动
/// </summary>
public static short HomeSts_NotStart = 1;
/// <summary>
/// 回原点状态：3=回零完成
/// </summary>
public static short HomeSts_OK = 3;
}
}
HuichuanLibrary/HCLogUtil.cs 0 → 100644
using log4net;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Runtime.ExceptionServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace HuichuanLibrary
{
public class HCLogUtil
{
public static ILog LOGGER = LogManager.GetLogger("RollingLogFileAppender");
public static ConcurrentDictionary<int, DateTime> lastErrorLogTime = new ConcurrentDictionary<int, DateTime>();
public static System.Windows.Forms.RichTextBox logBox = null;
public static int showCount = 20;
public static bool debug_opened = false;
public static void info(ILog log, string msg)
{
if (log == null)
{
return;
}
log.Info(msg);
AddToBox(msg, Color.Black);
//clear();
}
public static void info(ILog log, string msg, Color color)
{
log.Info(msg);
AddToBox(msg, color);
}
public static void debug(ILog log, string msg, Color color)
{
log.Debug(msg);
if (debug_opened)
{
AddToBox(msg, color);
}
}
public static void debug(ILog log, string msg)
{
log.Debug(msg);
if (debug_opened)
{
AddToBox(msg, Color.Gray);
}
}
public static void error(string errorMsg, int type, int seconds = 10)
{
try
{
if (lastErrorLogTime.ContainsKey(type))
{
TimeSpan span = DateTime.Now - lastErrorLogTime[type];
if (span.TotalSeconds > seconds)
{
lastErrorLogTime[type] = DateTime.Now;
error(LOGGER, errorMsg);
}
}
else
{
lastErrorLogTime.TryAdd(type, DateTime.Now);
error(LOGGER, errorMsg);
}
}
catch (Exception ex)
{
LOGGER.Error(" 打印日志【" + type + "-" + errorMsg + "】出错：" + ex.ToString());
}
}
public static void error(ILog log, string errorMsg, Exception ex = null)
{
if (errorMsg.Trim().Equals("") && (ex == null))
{
return;
}
if (ex == null)
{
log.Error(errorMsg);
}
else
{
log.Error(errorMsg, ex);
}
AddToBox(errorMsg, Color.Red);
}
private static object lockObj = "";
private static void AddToBox(string msg, Color color)
{
if (Monitor.TryEnter(lockObj, 2))
{
try
{
ShowLogPro(msg, color);
}
catch (Exception ex)
{
LOGGER.Error("出错：", ex);
}
finally
{
Monitor.Exit(lockObj);
}
}
else
{
LOGGER.Debug("ShowLogPro【" + msg + "】失败，未得到锁");
}
}
private static List<string> logList = new List<string>();
public static string LastText = "";
[HandleProcessCorruptedStateExceptions]
private static void ShowLogPro(string msg, Color color)
{
try
{
if (logList.Count >= showCount)
{
logList.RemoveAt(0);
}
string text = "";
foreach (string str in logList)
{
text += str;
}
System.DateTime now = System.DateTime.Now;
logList.Add(now.ToLongTimeString() + " " + msg + Environment.NewLine);
if (logBox == null)
{
return;
}
LastText = text;
if (logBox.Visible)
{
logBox.Text = text;
// logBox.Focus(); //使文本框获取焦点
logBox.AppendText(now.ToLongTimeString() + " " + msg + Environment.NewLine); //增加文本
TimeSpan span = DateTime.Now - lastTime;
if (span.TotalSeconds > 3000000)
{
lastTime = DateTime.Now;
logBox.Select(logBox.Text.Length, 0); //设置光标的位置到文本尾
logBox.ScrollToCaret(); //滚动到控件光标处
}
}
}
catch (AccessViolationException e)
{
LOGGER.Error(" ShowLogPro 出错：" + e.ToString());
}
catch (Exception ex)
{
LOGGER.Error("出错：" + ex.ToString());
}
}
private static DateTime lastTime = DateTime.Now;
public static void UpdateLogbox()
{
if (logBox != null && logBox.Visible)
{
logBox.Text = LastText;
TimeSpan span = DateTime.Now - lastTime;
if (span.TotalSeconds > 3000000)
{
lastTime = DateTime.Now;
logBox.Select(logBox.Text.Length, 0); //设置光标的位置到文本尾
logBox.ScrollToCaret(); //滚动到控件光标处
}
}
}
public static void ClearLog()
{
if (logBox != null)
{
LastText = "";
logList.Clear();
logBox.Text = "";
}
}
public static void debug(string msg)
{
debug(LOGGER, msg);
}
public static void error(string errorMsg, Exception ex = null)
{
error(LOGGER, errorMsg, ex);
}
public static void info(string msg)
{
info(LOGGER, msg);
}
}
}
HuichuanLibrary/HuichuanLibrary.csproj 0 → 100644
<?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=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{C9575C5E-9D4B-4B4F-BE41-926652B8985F}</ProjectGuid>
<OutputType>Library</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>HuichuanLibrary</RootNamespace>
<AssemblyName>HuichuanLibrary</AssemblyName>
<TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
<Deterministic>true</Deterministic>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(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.Drawing" />
<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="FrmHuiChuanTest.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="FrmHuiChuanTest.Designer.cs">
<DependentUpon>FrmHuiChuanTest.cs</DependentUpon>
</Compile>
<Compile Include="HCBoardManager.cs" />
<Compile Include="HCBoardManager_Axis.cs" />
<Compile Include="ImcApi.cs" />
<Compile Include="HCLogUtil.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
</ItemGroup>
<ItemGroup>
<Content Include="device_config.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x64\IMC_API_x64.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x64\msvcr100.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x64\msvcr100d.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x86\IMC_API_x86.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x86\msvcr100.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x86\msvcr100d.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="system_config.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<ItemGroup>
<Content Include="huichuan_x64\IMC_API_x64.lib">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<ItemGroup>
<Content Include="huichuan_x86\IMC_API_x86.lib">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<ItemGroup>
<EmbeddedResource Include="FrmHuiChuanTest.resx">
<DependentUpon>FrmHuiChuanTest.cs</DependentUpon>
</EmbeddedResource>
</ItemGroup>
<ItemGroup>
<None Include="packages.config" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file
HuichuanLibrary/ImcApi.cs 0 → 100644
此文件的差异太大，无法显示。
HuichuanLibrary/Properties/AssemblyInfo.cs 0 → 100644
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("HuichuanLibrary")]
[assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("HuichuanLibrary")]
[assembly: AssemblyCopyright("Copyright © 2020")]
[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("c9575c5e-9d4b-4b4f-be41-926652b8985f")]
// 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
//
// 可以指定所有值，也可以使用以下所示的 "*" 预置版本号和修订号
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
HuichuanLibrary/device_config.xml 0 → 100644
此文件的差异太大，无法显示。
HuichuanLibrary/packages.config 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="log4net" version="2.0.12" targetFramework="net461" />
</packages>
\ No newline at end of file
HuichuanLibrary/system_config.xml 0 → 100644
<?xml version="1.0" encoding="utf-8"?><CardConfig id="0"><System><SysPara><emgMode>1</emgMode><emgFilter>19</emgFilter><emgTrigLevelInv>1</emgTrigLevelInv></SysPara></System><Signal><EcatSignal><DiInverse><Groups><GpMax>74</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp><Gp id="2"><data>0</data></Gp><Gp id="3"><data>0</data></Gp><Gp id="4"><data>0</data></Gp><Gp id="5"><data>0</data></Gp><Gp id="6"><data>0</data></Gp><Gp id="7"><data>0</data></Gp><Gp id="8"><data>0</data></Gp><Gp id="9"><data>0</data></Gp><Gp id="10"><data>0</data></Gp><Gp id="11"><data>0</data></Gp><Gp id="12"><data>0</data></Gp><Gp id="13"><data>0</data></Gp><Gp id="14"><data>0</data></Gp><Gp id="15"><data>0</data></Gp><Gp id="16"><data>0</data></Gp><Gp id="17"><data>0</data></Gp><Gp id="18"><data>0</data></Gp><Gp id="19"><data>0</data></Gp><Gp id="20"><data>0</data></Gp><Gp id="21"><data>0</data></Gp><Gp id="22"><data>0</data></Gp><Gp id="23"><data>0</data></Gp><Gp id="24"><data>0</data></Gp><Gp id="25"><data>0</data></Gp><Gp id="26"><data>0</data></Gp><Gp id="27"><data>0</data></Gp><Gp id="28"><data>0</data></Gp><Gp id="29"><data>0</data></Gp><Gp id="30"><data>0</data></Gp><Gp id="31"><data>0</data></Gp><Gp id="32"><data>0</data></Gp><Gp id="33"><data>0</data></Gp><Gp id="34"><data>0</data></Gp><Gp id="35"><data>0</data></Gp><Gp id="36"><data>0</data></Gp><Gp id="37"><data>0</data></Gp><Gp id="38"><data>0</data></Gp><Gp id="39"><data>0</data></Gp><Gp id="40"><data>0</data></Gp><Gp id="41"><data>0</data></Gp><Gp id="42"><data>0</data></Gp><Gp id="43"><data>0</data></Gp><Gp id="44"><data>0</data></Gp><Gp id="45"><data>0</data></Gp><Gp id="46"><data>0</data></Gp><Gp id="47"><data>0</data></Gp><Gp id="48"><data>0</data></Gp><Gp id="49"><data>0</data></Gp><Gp id="50"><data>0</data></Gp><Gp id="51"><data>0</data></Gp><Gp id="52"><data>0</data></Gp><Gp id="53"><data>0</data></Gp><Gp id="54"><data>0</data></Gp><Gp id="55"><data>0</data></Gp><Gp id="56"><data>0</data></Gp><Gp id="57"><data>0</data></Gp><Gp id="58"><data>0</data></Gp><Gp id="59"><data>0</data></Gp><Gp id="60"><data>0</data></Gp><Gp id="61"><data>0</data></Gp><Gp id="62"><data>0</data></Gp><Gp id="63"><data>0</data></Gp><Gp id="64"><data>0</data></Gp><Gp id="65"><data>0</data></Gp><Gp id="66"><data>0</data></Gp><Gp id="67"><data>0</data></Gp><Gp id="68"><data>0</data></Gp><Gp id="69"><data>0</data></Gp><Gp id="70"><data>0</data></Gp><Gp id="71"><data>0</data></Gp><Gp id="72"><data>0</data></Gp><Gp id="73"><data>0</data></Gp></Groups></DiInverse><DoInverse><Groups><GpMax>66</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp><Gp id="2"><data>0</data></Gp><Gp id="3"><data>0</data></Gp><Gp id="4"><data>0</data></Gp><Gp id="5"><data>0</data></Gp><Gp id="6"><data>0</data></Gp><Gp id="7"><data>0</data></Gp><Gp id="8"><data>0</data></Gp><Gp id="9"><data>0</data></Gp><Gp id="10"><data>0</data></Gp><Gp id="11"><data>0</data></Gp><Gp id="12"><data>0</data></Gp><Gp id="13"><data>0</data></Gp><Gp id="14"><data>0</data></Gp><Gp id="15"><data>0</data></Gp><Gp id="16"><data>0</data></Gp><Gp id="17"><data>0</data></Gp><Gp id="18"><data>0</data></Gp><Gp id="19"><data>0</data></Gp><Gp id="20"><data>0</data></Gp><Gp id="21"><data>0</data></Gp><Gp id="22"><data>0</data></Gp><Gp id="23"><data>0</data></Gp><Gp id="24"><data>0</data></Gp><Gp id="25"><data>0</data></Gp><Gp id="26"><data>0</data></Gp><Gp id="27"><data>0</data></Gp><Gp id="28"><data>0</data></Gp><Gp id="29"><data>0</data></Gp><Gp id="30"><data>0</data></Gp><Gp id="31"><data>0</data></Gp><Gp id="32"><data>0</data></Gp><Gp id="33"><data>0</data></Gp><Gp id="34"><data>0</data></Gp><Gp id="35"><data>0</data></Gp><Gp id="36"><data>0</data></Gp><Gp id="37"><data>0</data></Gp><Gp id="38"><data>0</data></Gp><Gp id="39"><data>0</data></Gp><Gp id="40"><data>0</data></Gp><Gp id="41"><data>0</data></Gp><Gp id="42"><data>0</data></Gp><Gp id="43"><data>0</data></Gp><Gp id="44"><data>0</data></Gp><Gp id="45"><data>0</data></Gp><Gp id="46"><data>0</data></Gp><Gp id="47"><data>0</data></Gp><Gp id="48"><data>0</data></Gp><Gp id="49"><data>0</data></Gp><Gp id="50"><data>0</data></Gp><Gp id="51"><data>0</data></Gp><Gp id="52"><data>0</data></Gp><Gp id="53"><data>0</data></Gp><Gp id="54"><data>0</data></Gp><Gp id="55"><data>0</data></Gp><Gp id="56"><data>0</data></Gp><Gp id="57"><data>0</data></Gp><Gp id="58"><data>0</data></Gp><Gp id="59"><data>0</data></Gp><Gp id="60"><data>0</data></Gp><Gp id="61"><data>0</data></Gp><Gp id="62"><data>0</data></Gp><Gp id="63"><data>0</data></Gp><Gp id="64"><data>0</data></Gp><Gp id="65"><data>0</data></Gp></Groups></DoInverse><PhyAxGrpDirInv><Groups><GpMax>22</GpMax><Gp id="0"><data>0</data></Gp><Gp id="1"><data>0</data></Gp><Gp id="2"><data>0</data></Gp><Gp id="3"><data>0</data></Gp><Gp id="4"><data>0</data></Gp><Gp id="5"><data>0</data></Gp><Gp id="6"><data>0</data></Gp><Gp id="7"><data>0</data></Gp><Gp id="8"><data>0</data></Gp><Gp id="9"><data>0</data></Gp><Gp id="10"><data>0</data></Gp><Gp id="11"><data>0</data></Gp><Gp id="12"><data>0</data></Gp><Gp id="13"><data>0</data></Gp><Gp id="14"><data>0</data></Gp><Gp id="15"><data>0</data></Gp><Gp id="16"><data>0</data></Gp><Gp id="17"><data>0</data></Gp><Gp id="18"><data>0</data></Gp><Gp id="19"><data>0</data></Gp><Gp id="20"><data>0</data></Gp><Gp id="21"><data>0</data></Gp></Groups></PhyAxGrpDirInv></EcatSignal><LocalSignal><DiInverse><data>0</data></DiInverse><DoInverse><data>0</data></DoInverse><SpecialDiInverses><SpecialDiInverse type="0"><data>0</data></SpecialDiInverse><SpecialDiInverse type="1"><data>0</data></SpecialDiInverse><SpecialDiInverse type="2"><data>0</data></SpecialDiInverse><SpecialDiInverse type="3"><data>0</data></SpecialDiInverse><SpecialDiInverse type="4"><data>0</data></SpecialDiInverse><SpecialDiInverse type="5"><data>0</data></SpecialDiInverse><SpecialDiInverse type="6"><data>0</data></SpecialDiInverse></SpecialDiInverses><DiFilterTimes><DiFilterTime id="0">1</DiFilterTime><DiFilterTime id="1">1</DiFilterTime><DiFilterTime id="2">1</DiFilterTime><DiFilterTime id="3">1</DiFilterTime><DiFilterTime id="4">1</DiFilterTime><DiFilterTime id="5">1</DiFilterTime><DiFilterTime id="6">1</DiFilterTime><DiFilterTime id="7">1</DiFilterTime><DiFilterTime id="8">1</DiFilterTime><DiFilterTime id="9">1</DiFilterTime><DiFilterTime id="10">1</DiFilterTime><DiFilterTime id="11">1</DiFilterTime><DiFilterTime id="12">1</DiFilterTime><DiFilterTime id="13">1</DiFilterTime><DiFilterTime id="14">1</DiFilterTime><DiFilterTime id="15">1</DiFilterTime></DiFilterTimes><homeFltTime>0</homeFltTime><limitFltTime>0</limitFltTime><probeFltTime>0</probeFltTime><LocalEncDirs><LocalEncDir id="0">0</LocalEncDir><LocalEncDir id="1">0</LocalEncDir><LocalEncDir id="2">0</LocalEncDir><LocalEncDir id="3">0</LocalEncDir><LocalEncDir id="4">0</LocalEncDir><LocalEncDir id="5">0</LocalEncDir></LocalEncDirs><LocalPulses><LocalPulse id="0"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="1"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="2"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="3"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="4"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse><LocalPulse id="5"><LocalPulseMode>0</LocalPulseMode><LocalPulseDirInver>0</LocalPulseDirInver></LocalPulse></LocalPulses></LocalSignal></Signal><Axises><Axis id="0"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="1"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>1</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="2"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>2</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="3"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>3</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="4"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>4</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="5"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>5</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="6"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>6</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="7"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>7</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="8"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>8</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="9"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>9</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="10"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>10</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="11"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>11</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="12"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>12</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="13"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>13</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="14"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>14</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="15"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>15</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="16"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>16</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="17"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>17</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="18"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>18</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="19"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>19</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="20"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>20</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="21"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>1</axType><outputChn>21</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="22"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="23"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="24"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="25"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="26"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="27"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="28"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="29"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="30"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis><Axis id="31"><MotionPara><bgVel>0</bgVel><maxVel>52428000</maxVel><maxAcc>500000000</maxAcc><maxDec>500000000</maxDec><maxJerk>499999993495552</maxJerk><stopDec>100000000</stopDec><eStopDec>2000000000</eStopDec></MotionPara><BindCfg><axType>-1</axType><outputChn>0</outputChn><loaclEncSrc>0</loaclEncSrc></BindCfg><AttrPara><arrivalBand>1000</arrivalBand><arrivalTime>20</arrivalTime><errorLmt>1048576</errorLmt><softPosLimitPos>2147483647</softPosLimitPos><softNegLimitPos>-2147483647</softNegLimitPos></AttrPara><SafePara><alarmEn>1</alarmEn><softLmtEn>0</softLmtEn><hwLmtEn>1</hwLmtEn><errorLmtEn>0</errorLmtEn></SafePara></Axis></Axises></CardConfig>
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