增加伺服ON输入信号读取

source/ACSingleStore/FrmStoreBox.cs

@@ -1107,6 +1107,7 @@ namespace OnlineStore.ACSingleStore
         {
             string PortName = txtAxisDeviceName.Text;
             short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
+            txtServoStatue.Text = ACServerManager.SRV_ON(PortName, SlvAddr) ? "✔" : "✘";
             txtServoStatue.Text = ACServerManager.ServerOnStatus(PortName, SlvAddr) ? "✔" : "✘";
             this.txtAlarmStatus.Text = ACServerManager.GetAlarmStatus(PortName, SlvAddr).ToString();
             this.txtBusyStatus.Text = ACServerManager.GetBusyStatus(PortName, SlvAddr).ToString();

source/DeviceLibrary/PanasonicServo/ACCMDManager.cs

@@ -7,6 +7,11 @@ namespace OnlineStore.DeviceLibrary
 {
     public class ACCMDManager
     {
+
+        /// <summary>
+        ///  0020h 伺服 On 输入(SRV-ON) ReadOnly 0：输入 OFF、1：输入 ON
+        /// </summary>
+        public static string SRV_ON = "0020";
         /// <summary>
         ///  0132h  原点接近传感器输入 (HOME)        状态 ReadOnly 0： 输入 OFF 1： 输入 ON
         /// </summary>

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -137,8 +137,24 @@ namespace OnlineStore.DeviceLibrary
                 ColsePort(key);
             }
         }
-              
-     
+
+        /// <summary>
+        /// 是否有伺服使能信号
+        /// </summary> 
+        public static bool SRV_ON(string portName, short slvAddr)
+        {
+            if (!serialBeanMap.ContainsKey(portName))
+            {
+                return false;
+            }
+            PreReadCoilAddr = ACCMDManager.SRV_ON;
+            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, PreReadCoilAddr, "0000", 1);
+            //SendData(portName,dataArray); 
+            byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
+            int result = GetCoilData(portName, reviceData, PreReadCoilAddr);
+            //TODO
+            return result >= 1;
+        }
         /// <summary>
         /// 是否成功打开伺服
         /// </summary> 
@@ -237,7 +253,7 @@ namespace OnlineStore.DeviceLibrary
             int length = 2;
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, addr, data, length);
             SendData(portName, dataArray, 5);
-        }
+        } 
         public static void ServoOn(string portName, int slvAddr)
         {
             string addr = ACCMDManager.ServerOn_Addr;