HCAxisManager.cs
4.3 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
using HuichuanLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class HCAxisManager : AxisManager
{
public override void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed=0,int ptpAcc=0,int ptpDec=0)
{
HCBoardManager.AbsMove((short)slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
}
public override void AlarmClear(string portName, short slvAddr)
{
HCBoardManager.ClearAxisSts((short)slvAddr);
}
public override void ClearSpeed()
{
}
public override void CloseAllPort()
{
}
public override void ColsePort(string portName)
{
}
public override int GetActualtPosition(string portName, short slvAddr)
{
return (int)HCBoardManager.GetAxisCurrPos(slvAddr);
}
public override int GetAlarmStatus(string portName, short slvAddr)
{
AxisSts axisS= HCBoardManager.GetAxisSts(slvAddr);
return axisS.ALM;
}
public override int GetBusyStatus(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.BUSY;
}
public override int GetHomeEndStatus(string portName, short slvAddr)
{
return (int) HCBoardManager.GetHomeStatus(slvAddr);
}
public override int GetHomeSingle(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.ALM;
}
public override int GetLimitNegativeSingle(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.NEL;
}
public override int GetLimitPositiveSingle(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.PEL;
}
public override int GetTargetPosition(string portName, short slvAddr)
{
return (int)HCBoardManager.GetAxisPrfPos(slvAddr);
}
public override void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
{
HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc);
}
public override void InitSlvAddr(string portName, short slvAddr)
{
}
public override void InitSlvAddr(string portName, short slvAddr, int targetSpeed, int addSpeed, int delSpeed)
{
}
public override bool IsHomeMoveEnd(string portName, short slvAddr)
{
return HCBoardManager.HomeingIsEnd(slvAddr);
}
public override bool isInPosition(ConfigMoveAxis Axis, int PPosition, bool isLog = false)
{
return HCBoardManager.IsInPosition(Axis.GetAxisValue(), PPosition,Axis .CanErrorCountMax);
}
public override bool OpenPort(string portName)
{
return true;
}
public override void RelMove(string portName, short slvAddr, int position, int targetSpeed = 0, int ptpAcc = 0, int ptpDec = 0)
{
HCBoardManager.RelMove(slvAddr, position, targetSpeed, ptpAcc, ptpDec);
}
public override bool ServerOnStatus(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.ServoOn.Equals(1);
}
public override void ServoOff(string portName, short slvAddr)
{
HCBoardManager.ServoOff(slvAddr);
}
public override void ServoOn(string portName, short slvAddr)
{
HCBoardManager.ServoOn(slvAddr);
}
public override void SpeedMove(string portName, short slvAddr, int speed)
{
HCBoardManager.SpeedMove(slvAddr, speed);
}
public override void SuddenStop(string portName, short slvAddr)
{
HCBoardManager.AxisStop(slvAddr);
}
}
}