增加负载率获取

HuichuanLibrary/FrmHuiChuanTest.cs

@@ -218,13 +218,17 @@ namespace HuichuanLibrary
                 MessageBox.Show("轴号为空！");
                 return;
             }
-            axStsMonitor_timer.Enabled = true;
+            StsTimeStatus(true);
         }
-
-        private void btnStopTimer_Click(object sender, EventArgs e)
+        private void StsTimeStatus(bool enable)
         {
-
             axStsMonitor_timer.Enabled = false;
+            btnStopTimer.Enabled = false;
+            btnStartTimer.Enabled = !enable;
+        }
+        private void btnStopTimer_Click(object sender, EventArgs e)
+        {
+            StsTimeStatus(false);
         }
 
         private void btnPtpMove_Click(object sender, EventArgs e)
@@ -364,6 +368,10 @@ namespace HuichuanLibrary
             short value = HCBoardManager.GetHomeStatus(GetAxisNo());
             string homesstr = HCBoardManager.AxisHomeSts(value);
             lblhomeSts.Text = homesstr;
+
+            //txtFuzai.Text = HCBoardManager.GetAxisLoadRate(axisNo);
+            btnSearch_Click(null,null);
+            btnSearchNj_Click(null, null);
         }
 
         private void btnSetBitDO_Click(object sender, EventArgs e)
@@ -621,7 +629,7 @@ namespace HuichuanLibrary
             groupBox8.Enabled = isOk;
             groupBox9.Enabled = isOk;
             groupBox10.Enabled = isOk;
-
+            groupBox11.Enabled = isOk;
             btnSuddenStop.Enabled = isOk;
             btnCancelStop.Enabled = isOk;
 
@@ -662,5 +670,17 @@ namespace HuichuanLibrary
             string output = Convert.ToString(input, 2).ToString().PadLeft(8, '0');
             return output;
         }
+
+        private void btnSearch_Click(object sender, EventArgs e)
+        {
+            short axisNo = GetAxisNo();
+            //txtFuzai.Text = HCBoardManager.GetAxisLoadRate(axisNo).ToString();
+        }
+
+        private void btnSearchNj_Click(object sender, EventArgs e)
+        {
+            short axisNo = GetAxisNo();
+            txtNuiju.Text = HCBoardManager.GetAxActTorq(axisNo).ToString();
+        }
     }
 }

HuichuanLibrary/HCBoardManager_Axis.cs

@@ -874,6 +874,64 @@ namespace HuichuanLibrary
             return sStr;
         }
         #endregion
+
+         
+        /// <summary>
+        /// 获取轴的负载率
+        /// </summary>
+        /// <param name="axisNo"></param>
+        /// <returns></returns>
+        public static string GetAxisLoadRate(short axisNo)
+        {
+            short pPhyStation_Id = 0;
+            short pPhySlot_id = 0;
+            UInt32 ret1 = ImcApi.IMC_GetAxEcatStation(nCardHandle, (ushort)axisNo, ref pPhyStation_Id, ref pPhySlot_id);
+
+            ushort index = 0x200b;
+            ushort subindex = 13;
+            uint targetsize = 2;
+            int datasize = 2;
+            uint resultSize = 0;
+            uint abortCode = 0;
+            Byte[] targetData = new Byte[targetsize];
+
+            UInt32 ret = ImcApi.IMC_GetEcatSdo(nCardHandle, pPhyStation_Id, index, subindex, targetData, targetsize, ref resultSize, ref abortCode);
+
+            if (resultSize > 0)
+            {
+                string strFromat = "{0:X2}";
+                string str = "";
+                foreach (byte b in targetData)
+                {
+                    str += string.Format(strFromat, b);
+                }
+                int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
+
+                HCLogUtil.info($"axisNo={axisNo}，pPhyStation_Id={pPhyStation_Id}，index={index},subindex= {subindex}，abortCode ={abortCode},resultSize={resultSize}, str={str},value={value}" );
+                return value.ToString();
+            }
+            else
+            {
+                HCLogUtil.info($"axisNo={axisNo}，pPhyStation_Id={pPhyStation_Id}，index={index},subindex= {subindex}，abortCode ={abortCode},resultSize={resultSize},");
+            }
+            return "";
+        }
+
+        /// <summary>
+        ///  获取轴的扭矩
+        /// </summary>
+        /// <param name="axisNo"></param>
+        /// <returns></returns>
+        public static short GetAxActTorq(short axisNo)
+        {
+            short pActTrq = 0;
+            UInt32 ret = ImcApi.IMC_GetAxActTorq(nCardHandle, axisNo, ref pActTrq);
+            HCLogUtil.info($"axisNo={axisNo}，pActTrq={pActTrq},");
+            return pActTrq;
+        }
+         
+
+
         /// <summary>
         /// 回原点状态：0=正在回零中
         /// </summary>