using log4net;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.IO.Ports;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace DIT.Framework.Module
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{
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/// <summary>
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/// Model : PMC-2HS-232
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/// Home : www.autonics.com
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/// </summary>
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public class Autonics_PMC_2HS : SerialModule
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{
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#region 파라미터
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/// <summary>
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/// Exception Log
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/// </summary>
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private ILog ExceptionLog = LogManager.GetLogger("Autonics_PMC_2HS_Exception");
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/// <summary>
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/// Exception Log를 기록하기 위한 메서드
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/// </summary>
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/// <param name="msg">Error Message</param>
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private void WriteExceptionLog(string msg)
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{
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if (UseExceptionLog)
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ExceptionLog.Debug(msg);
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}
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/// <summary>
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/// X축의 Status
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/// </summary>
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public MotorStatus Status_X { get { return status_x; } private set { status_x = value; } }
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private MotorStatus status_x;
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/// <summary>
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/// Y축의 Status
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/// </summary>
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public MotorStatus Status_Y { get { return status_y; } private set { status_y = value; } }
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private MotorStatus status_y;
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/// <summary>
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/// Parallel의 Status
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/// </summary>
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public ParallelStatus Status_Parallel { get { return status_parallel; } private set { status_parallel = value; } }
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private ParallelStatus status_parallel;
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/// <summary>
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/// X축 현재위치
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/// </summary>
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public int PosX { get { return posx; } private set { posx = value; } }
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private int posx;
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/// <summary>
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/// Y축 현재위치
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/// </summary>
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public int PosY { get { return posy; } private set { posy = value; } }
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private int posy;
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/// <summary>
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/// X축 현재 Speed
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/// </summary>
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public int SpeedX { get { return speedx; } private set { speedx = value; } }
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private int speedx;
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/// <summary>
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/// Y축 현재 Speed
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/// </summary>
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public int SpeedY { get { return speedy; } private set { speedy = value; } }
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private int speedy;
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#endregion
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/// <summary>
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/// Autonics_PMC_2HS의 생성자.
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/// </summary>
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/// <param name="PortName"> Port이름 ex)COM6, COM13 </param>
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/// <param name="BaudRate"> 전송속도 ex)4800, 9600, 19200 </param>
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/// <param name="DataBits"> 바이트 당 데이터 비트의 표준길이 ex)5, 6, 7, 8 </param>
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/// <param name="Parity">패리티 검사 프로토콜 ex)Ports.Parity.None </param>
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/// <param name="StopBits">비트당 정지비트의 표준 개수 ex)Ports.StopBits.One </param>
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/// <param name="Handshake">직렬 전송을 위한 핸드셰이킹 ex)Ports.Handshake.None</param>
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public Autonics_PMC_2HS(string PortName, int BaudRate, int DataBits = 8, Parity Parity = Parity.None, StopBits StopBits = StopBits.One, Handshake Handshake = Handshake.None)
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: base(PortName, BaudRate, DataBits, Parity, StopBits, Handshake)
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{
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SetEncodeType(Encoding.ASCII);
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Status_X = new MotorStatus();
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Status_Y = new MotorStatus();
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Status_Parallel = new ParallelStatus();
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}
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/// <summary>
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/// Serial에서 받은 명령어 처리 메서드
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/// </summary>
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/// <param name="recvData">Recv받은 Data</param>
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private void OnRecvData(byte[] recvData)
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{
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try
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{
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string[] str = Encoding.ASCII.GetString(recvData).Split(' ');
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switch (str[0])
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{
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case "ERD":
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string[] proc_str;
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proc_str = str[1].Split('X');
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int ia = int.Parse(proc_str[1]);
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BitArray bits = new BitArray(new int[] { ia });
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break;
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case "INR":
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// X모터값
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if (str[1].Contains("X"))
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{
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string x_motor = str[1].Split('X')[1].Split(',')[0];
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string parallel = str[2].Split('\r')[0];
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Status_X.StatusChange(x_motor);
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Status_Parallel.StatusChange(parallel);
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}
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// Y모터값
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else if (str[1].Contains("Y"))
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{
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string y_motor = str[1].Split('Y')[1].Split(',')[0];
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string parallel = str[2].Split('\r')[0];
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Status_Y.StatusChange(y_motor);
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Status_Parallel.StatusChange(parallel);
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}
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break;
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case "SPD":
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string proc_data = Encoding.Default.GetString(recvData);
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string[] speeds = proc_data.Split('D');
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string[] speed = speeds[1].Split(',');
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int spd = 0;
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if (int.TryParse(speed[0], out spd)) SpeedX = spd;
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if (int.TryParse(speed[1], out spd)) SpeedY = spd;
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break;
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case "POS":
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string[] poss = str[1].Split(',');
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PosX = Convert.ToInt32(poss[0], 16);
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PosY = Convert.ToInt32(poss[1].Split('\r')[0], 16);
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break;
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}
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}
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catch(Exception ex)
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{
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WriteExceptionLog(ex.Message);
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}
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}
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#region 명령어
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/// <summary>
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/// X축 HOME
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/// </summary>
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public void Home_X()
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{
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string cmd = $"HOM X{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 HOME
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/// </summary>
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public void Home_Y()
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{
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string cmd = $"HOM Y{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 HOME Stop
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/// </summary>
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public void Home_X_Stop()
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{
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string cmd = $"OGE X{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 HOME Stop
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/// </summary>
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public void Home_Y_Stop()
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{
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string cmd = $"OGE Y{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 실제 위치 클리어
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/// </summary>
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public void X_Pos_Clear()
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{
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string cmd = $"CLR X{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 실제 위치 클리어
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/// </summary>
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public void Y_Pos_Clear()
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{
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string cmd = $"CLR Y{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 내부 프로그램 지정 번지부터 실행
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/// </summary>
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/// <param name="value">번지</param>
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public void Proc_X_Run(int value)
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{
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string cmd = $"PRG X{value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 내부 프로그램 지정 번지부터 실행
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/// </summary>
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/// <param name="value">번지</param>
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public void Proc_Y_Run(int value)
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{
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string cmd = $"PRG Y{value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 내부 프로그램 지정 번지 실행
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/// </summary>
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/// <param name="value">번지</param>
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public void Proc_X_Step(int value)
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{
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string cmd = $"PST X{value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 내부 프로그램 지정 번지 실행
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/// </summary>
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/// <param name="value">번지</param>
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public void Proc_Y_Step(int value)
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{
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string cmd = $"PST Y{value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 내부 프로그램 일시정지
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/// </summary>
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public void Proc_X_Stop()
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{
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string cmd = $"PSP X{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 내부 프로그램 일시정지
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/// </summary>
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public void Proc_Y_Stop()
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{
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string cmd = $"PSP Y{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 속도 설정
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/// </summary>
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/// <param name="value">속도</param>
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public void Set_Speed_X(int value)
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{
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string cmd = $"SPD {value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 속도 설정
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/// </summary>
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/// <param name="value">속도</param>
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public void Set_Speed_Y(int value)
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{
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string cmd = $"SPD ,{value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 +위치로 이동
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/// </summary>
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public void Move_X_Plus()
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{
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string cmd = $"JOG +X{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 -위치로 이동
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/// </summary>
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public void Move_X_Minus()
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{
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string cmd = $"JOG -X{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 +위치로 이동
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/// </summary>
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public void Move_Y_Plus()
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{
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string cmd = $"JOG +Y{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 -위치로 이동
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/// </summary>
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public void Move_Y_Minus()
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{
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string cmd = $"JOG -Y{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 절대이동
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/// </summary>
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/// <param name="value">이동 위치</param>
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public void Move_X_ABS(int value)
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{
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string cmd = $"PAB {value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 절대이동
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/// </summary>
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/// <param name="value">이동 위치</param>
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public void Move_Y_ABS(int value)
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{
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string cmd = $"PAB ,{value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 정지
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/// </summary>
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public void Stop_X()
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{
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string cmd = $"PSP X{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// Y축 정지
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/// </summary>
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public void Stop_Y()
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{
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string cmd = $"PSP Y{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// 드라이브 속도 변경
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/// </summary>
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/// <param name="value">1~4</param>
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public void Speed_Setting(int value)
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{
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string cmd = $"SSM X{value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// 드라이브 속도 변경
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/// </summary>
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/// <param name="x_value">X 축 속도</param>
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/// <param name="y_value">Y 축 속도</param>
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public void Speed_Setting(int x_value, int y_value)
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{
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string cmd = $"SPD {x_value},{y_value}{CR}";
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SendData(Encoding.ASCII.GetBytes(cmd));
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}
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/// <summary>
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/// X축 에러 값 요청
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/// </summary>
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public void Request_Error_X()
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{
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string cmd = $"ERD X{CR}";
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byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));
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if (recvData == null)
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return;
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OnRecvData(recvData);
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}
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/// <summary>
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/// Y축 에러 값 요청
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/// </summary>
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public void Request_Error_Y()
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{
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string cmd = $"ERD Y{CR}";
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byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));
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if (recvData == null)
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return;
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OnRecvData(recvData);
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}
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/// <summary>
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/// X축 현재 상태 요청
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/// </summary>
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public void Request_State_X()
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{
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string cmd = $"INR X{CR}";
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byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));
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if (recvData == null)
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return;
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OnRecvData(recvData);
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}
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/// <summary>
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/// Y축 현재 상태 요청
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/// </summary>
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public void Request_State_Y()
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{
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string cmd = $"INR Y{CR}";
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byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));
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if (recvData == null)
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return;
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OnRecvData(recvData);
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}
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/// <summary>
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/// PMC 본체의 버전 정보 요청
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/// </summary>
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public void Request_Ver()
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{
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string cmd = $"VER{CR}";
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byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));
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if (recvData == null)
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return;
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OnRecvData(recvData);
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}
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/// <summary>
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/// X축과 Y축의 현재 위치 요청
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/// </summary>
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public void Request_Pos()
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{
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string cmd = $"POS{CR}";
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byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));
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if (recvData == null)
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return;
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OnRecvData(recvData);
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}
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/// <summary>
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/// X축과 Y축의 현재 속도 요청
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/// </summary>
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public void Request_Speed()
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{
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string cmd = $"SPD{CR}";
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byte[] recvData = SendWaitData(Encoding.ASCII.GetBytes(cmd));
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if (recvData == null)
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return;
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OnRecvData(recvData);
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}
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#endregion
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#region Motor의 상태를 확인하기 위한 Class
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/// <summary>
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/// Motor의 상태 클래스
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/// </summary>
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public class MotorStatus
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{
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#region 프로퍼티
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/// <summary>
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/// 서보 위치 결정 완료
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/// </summary>
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public bool Inpos { get; private set; }
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/// <summary>
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/// 서보 알람
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/// </summary>
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public bool Alarm { get; private set; }
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/// <summary>
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/// 엔코더 Z상
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/// </summary>
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public bool Stop2 { get; private set; }
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/// <summary>
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/// 원점
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/// </summary>
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public bool Stop1 { get; private set; }
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/// <summary>
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/// 원점 근접
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/// </summary>
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public bool Stop0 { get; private set; }
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/// <summary>
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/// +방향 리미트
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/// </summary>
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public bool Lmt_Plus { get; private set; }
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/// <summary>
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/// -방향 리미트
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/// </summary>
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public bool Lmt_Minus { get; private set; }
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/// <summary>
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/// 긴급정지
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/// </summary>
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public bool EMG { get; private set; }
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/// <summary>
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/// 드라이브 상태(1 : 드라이브 중 0 :종료)
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/// </summary>
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public bool DRV { get; private set; }
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/// <summary>
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/// 에러 발생 상태(1 : 에러)
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/// </summary>
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public bool ERR { get; private set; }
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/// <summary>
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/// 자동 원점복귀 상태 (1:동작중)
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/// </summary>
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public bool HOM { get; private set; }
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/// <summary>
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/// 드라이브 동작, 원점출력 동작 등(1:ON)
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/// </summary>
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public bool RUN { get; private set; }
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/// <summary>
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/// 일시 정지중(1 : 일시정지중)
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/// </summary>
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public bool PAUSE { get; private set; }
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/// <summary>
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/// (CN3) 의 nDRIVE 신호(1:ON)
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/// </summary>
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public bool DRIVE { get; private set; }
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/// <summary>
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/// (CN3)의 nError 신호(1:ON)
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/// </summary>
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public bool ERROR { get; private set; }
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/// <summary>
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/// (CN4, 5)의 nOUT0 신호(1:ON)
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/// </summary>
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public bool OUT0 { get; private set; }
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#endregion
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/// <summary>
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/// Status 변경
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/// </summary>
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/// <param name="data"></param>
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public void StatusChange(string data)
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{
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BitArray bit = new BitArray(new int[] { Convert.ToInt32(data, 16) });
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Stop0 = bit[0];
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Stop1 = bit[1];
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Stop2 = bit[2];
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Inpos = bit[3];
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Lmt_Plus = bit[4];
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Lmt_Minus = bit[5];
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Alarm = bit[6];
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EMG = bit[7];
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DRV = bit[8];
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ERR = bit[9];
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HOM = bit[10];
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RUN = bit[11];
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PAUSE = bit[12];
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OUT0 = bit[13];
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DRIVE = bit[14];
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ERROR = bit[15];
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}
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}
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/// <summary>
|
/// Parallel 상태 클래스
|
/// </summary>
|
public class ParallelStatus
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{
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#region
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/// <summary>
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/// 원점 복귀 시작 명령
|
/// </summary>
|
public bool Home { get; private set; }
|
|
/// <summary>
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/// 드라이브 시작명령
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/// </summary>
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public bool Strobe { get; private set; }
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/// <summary>
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/// X축 지정/스캔Y+
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/// </summary>
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public bool X { get; private set; }
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/// <summary>
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/// Y축지정/스캔Y-
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/// </summary>
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public bool Y { get; private set; }
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/// <summary>
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/// 레지스터 지정0/ 런+/스캔+
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/// </summary>
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public bool RegSL0 { get; private set; }
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/// <summary>
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/// 레지스터 지정1/ 런-/스캔+
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/// </summary>
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public bool RegSL1 { get; private set; }
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/// <summary>
|
/// 레지스터 지정 2/ 드라이브 속도 지정0
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/// </summary>
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public bool RegSL2 { get; private set; }
|
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/// <summary>
|
/// 레지스터 지정3/ 드라이브 속도 지정1
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/// </summary>
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public bool RegSL3 { get; private set; }
|
|
/// <summary>
|
/// 레지스터 지정4/ 스캔 지정
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/// </summary>
|
public bool RegSL4 { get; private set; }
|
|
/// <summary>
|
/// 레지스터 지정5/ 드라이브 정지
|
/// </summary>
|
public bool RegSL5 { get; private set; }
|
|
/// <summary>
|
/// 동작 모드 지정0
|
/// </summary>
|
public bool Mode0 { get; private set; }
|
|
/// <summary>
|
/// 동작 모드 지정1
|
/// </summary>
|
public bool Mode1 { get; private set; }
|
|
/// <summary>
|
/// 0 : 비동작 1:동작
|
/// </summary>
|
public bool PowerOnHome { get; private set; }
|
|
/// <summary>
|
/// 0 : 비동작 1:동작
|
/// </summary>
|
public bool PowerOnProgram { get; private set; }
|
#endregion
|
|
/// <summary>
|
/// Status 변경
|
/// </summary>
|
/// <param name="data"></param>
|
public void StatusChange(string data)
|
{
|
BitArray bit = new BitArray(new int[] { Convert.ToInt32(data, 16) });
|
Home = bit[0];
|
Strobe = bit[1];
|
X = bit[2];
|
Y = bit[3];
|
Mode0 = bit[4];
|
Mode1 = bit[5];
|
RegSL0 = bit[8];
|
RegSL1 = bit[9];
|
RegSL2 = bit[10];
|
RegSL3 = bit[11];
|
RegSL4 = bit[12];
|
RegSL5 = bit[13];
|
}
|
|
|
}
|
#endregion
|
}
|
}
|
