using System;
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using System.Text;
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using System.Threading;
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using System.IO;
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using System.Runtime.InteropServices;
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using System.Collections.Generic;
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using System.Xml.Serialization;
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namespace SA_LTT.Module
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{
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public enum DTK_MODE_TYPE
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{
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DM_GPASCII = 0,
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DM_GETSENDS_0 = 1,
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DM_GETSENDS_1 = 2,
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DM_GETSENDS_2 = 3,
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DM_GETSENDS_3 = 4,
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DM_GETSENDS_4 = 5,
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DM_SECURE_SHELL = 10
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};
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public enum DTK_STATUS
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{
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DS_Ok = 0,
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DS_Exception = 1,
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DS_TimeOut = 2,
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DS_Connected = 3,
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DS_NotConnected = 4,
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DS_Failed = 5,
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DS_GetSendMode = 6,
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DS_InvalidDevice = 11,
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DS_InvalidCommand = 12,
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DS_InvalidResponse = 13,
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DS_DataRemains = 21,
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DS_CmdLengthExceeds = 23,
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DS_ResLengthExceeds = 24,
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DS_RunningDownload = 41,
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DS_RunningRead = 42,
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DS_DATimeOut = 102,
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DS_DANotConnected = 104,
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DS_DAFailed = 105,
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};
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public enum DTK_RESET_TYPE
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{
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DR_Reset = 0,
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DR_FullReset = 1
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};
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public enum DTK_DOWNLOAD_TYPE
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{
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DT_Progress = 0,
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DT_StringA = 1,
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DT_StringW = 2
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};
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public enum DTK_DOWNLOAD_MODE
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{
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DM_File_Download = 0,
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DM_File_DownExec = 1,
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DM_File_DownExecDel = 2,
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DM_File_DirectBuffer = 6,
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DM_File_DownAuto = 11
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};
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public enum MotionDirection
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{
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Plus,
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Minus,
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Stop
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}
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public enum SimulCommand
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{
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//충돌방지 Alarm
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STOP,
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JOGP,
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JOGN,
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ABS,
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REL,
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enMax,
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}
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public enum AxisType
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{
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SERVO = 0,
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STEPPING,
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LINEAR,
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}
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public enum AxisStatus
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{
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TriggerMove,
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HomeInProgress,
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NLimit_HW,
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PLimit_HW,
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FeWarn, //Alarm
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FeFatal, //Alarm
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LimitStop, //Alarm
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AmpFault,
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NLimit_SW,
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PLimit_SW,
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I2TFault, //Alarm
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TriggerNotFound,
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AmpWarn,
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EncLoss, //Alarm
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Bit_14,
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Bit_15,
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HomeComplete,
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DesVelZero,
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ClosedRoop,
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InPos,
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ServoOn,
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Bit_21,
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BlockRequest,
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PhaseFound,
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TriggerSpeedSel,
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GantryHomed,
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SpindleMotor2,
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SpindleMotor1,
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Bit_28,
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Bit_29,
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Bit_30,
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Bit_31,
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enMax,
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}
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public enum PmacAxis
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{
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Y_Axis,
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X_Axis,
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T_Axis,
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enMax,
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}
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public enum EnTeachData
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{
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LoadPosX = 0,
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CenterPosX,
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BeamProfileX,
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PowerMeterX,
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AlignX,
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TestX,
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enMaxX,
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LoadPosY = 0,
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CenterPosY,
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BeamProfileY,
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PowerMeterY,
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AlignY,
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TestY,
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enMaxY,
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LoadPosT = 0,
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CenterPosT,
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BeamProfileT,
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PowerMeterT,
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AlignT,
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TestT,
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enMaxT,
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}
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public struct COPYDATASTRUCT
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{
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public IntPtr dwData;
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public UInt32 cbData;
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[MarshalAs(UnmanagedType.LPStr)]
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public string lpData;
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}
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public class PowerPmacCtrl
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{
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const string dllName = "PowerPmac32.dll"; // 32Bit 플랫폼일 때 활성화
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//const string dllName = "PowerPmac64.dll"; // 64Bit 플랫폼일 때 활성화
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public delegate void PDOWNLOAD_PROGRESS(Int32 nPercent);
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public delegate void PDOWNLOAD_MESSAGE_A(String lpMessage);
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public delegate void PRECEIVE_PROC_A(String lpReveive);
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public const UInt32 WM_MESSAGE_DOWNLOAD = 0x1216;
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public const UInt32 WM_MESSAGE_RECEIVE = 0x1217;
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private string _ip;
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private UInt32 _ipAddress;
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private uint _deviceID = 9999;
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private bool m_bConnected = false;
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private static object _objLock = new object();
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Equipment _equipment;
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#region 오픈 라이브러리
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// 인자를 NULL로 할 경우 DTKDeviceSelect 함수를 사용하여 장치를 연결해야 한다.
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[DllImport(dllName)]
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public static extern UInt32 DTKPowerPmacOpen(UInt32 dwIPAddress, UInt32 uMode);
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// 라이브리리 클로즈
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[DllImport(dllName)]
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public static extern UInt32 DTKPowerPmacClose(UInt32 uDeviceID);
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// 등록된 디바이스 갯수
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[DllImport(dllName)]
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public static extern UInt32 DTKGetDeviceCount(out Int32 pnDeviceCount);
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// IP Address 확인
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[DllImport(dllName)]
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public static extern UInt32 DTKGetIPAddress(UInt32 uDeviceID, out UInt32 pdwIPAddress);
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// 장치를 연결
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[DllImport(dllName)]
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public static extern UInt32 DTKConnect(UInt32 uDeviceID);
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// 장치를 해제
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[DllImport(dllName)]
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public static extern UInt32 DTKDisconnect(UInt32 uDeviceID);
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// 장치가 연결되었는지 확인
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[DllImport(dllName)]
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public static extern UInt32 DTKIsConnected(UInt32 uDeviceID, out Int32 pbConnected);
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// Echo Mode 설정
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[DllImport(dllName)]
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public static extern UInt32 DTKSetEchoMode(UInt32 uDeviceID, UInt32 uEchoMode);
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// Echo Mode 확인
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[DllImport(dllName)]
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public static extern UInt32 DTKGetEchoMode(UInt32 uDeviceID, out UInt32 puEchoMode);
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[DllImport(dllName)]
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public static extern UInt32 DTKGetResponseA(UInt32 uDeviceID, Byte[] lpCommand, Byte[] lpResponse, Int32 nLength);
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[DllImport(dllName)]
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public static extern UInt32 DTKSendCommandA(UInt32 uDeviceID, Byte[] lpCommand);
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[DllImport(dllName)]
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public static extern UInt32 DTKAbort(UInt32 uDeviceID);
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[DllImport(dllName)]
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public static extern UInt32 DTKDownloadA(UInt32 uDeviceID, Byte[] lpDownload, UInt32 uDowoload, IntPtr hDownloadWnd, PDOWNLOAD_PROGRESS lpDownloadProgress, PDOWNLOAD_MESSAGE_A lpDownloadMessage);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetReceiveA(UInt32 uDeviceID, IntPtr hReceiveWnd, PRECEIVE_PROC_A lpReveiveProc);
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// 아래의 함수군은 CPU 통신셋업후 사용 가능
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[DllImport(dllName)]
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public static extern UInt32 DTKGetUserMem(UInt32 uDeviceID, UInt32 uAddress, Int32 nSize, SByte[] pValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetUserMem(UInt32 uDeviceID, UInt32 uAddress, Int32 nSize, SByte[] pValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKGetUserMemChar(UInt32 uDeviceID, Int32 nIndex, out Byte pchValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetUserMemChar(UInt32 uDeviceID, Int32 nIndex, Byte chValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKGetUserMemShort(UInt32 uDeviceID, Int32 nIndex, out short pnValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetUserMemShort(UInt32 uDeviceID, Int32 nIndex, short nValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKGetUserMemInteger(UInt32 uDeviceID, Int32 nIndex, out Int32 pnValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetUserMemInteger(UInt32 uDeviceID, Int32 nIndex, Int32 nValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKGetUserMemUInteger(UInt32 uDeviceID, Int32 nIndex, out UInt32 puValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetUserMemUInteger(UInt32 uDeviceID, Int32 nIndex, UInt32 uValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKGetUserMemFloat(UInt32 uDeviceID, Int32 nIndex, out float pfVlaue);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetUserMemFloat(UInt32 uDeviceID, Int32 nIndex, float fValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKGetUserMemDouble(UInt32 uDeviceID, Int32 nIndex, out Double pdValue);
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[DllImport(dllName)]
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public static extern UInt32 DTKSetUserMemDouble(UInt32 uDeviceID, Int32 nIndex, Double dValue);
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#endregion
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public PowerPmacCtrl(Equipment equipment)
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{
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_equipment = equipment;
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//축정보 Load
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LoadMotorData();
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ThreadInit();
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ThreadStart();
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}
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Thread PmacThread;
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Thread SimulationThread;
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private void ThreadInit()
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{
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PmacThread = new Thread(DataUpdate);
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//SimulationThread = new Thread(Simulation_Th);
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}
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private void ThreadStart()
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{
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//if (!_parentForm.m_bSimulationMode)
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PmacThread.Start();
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//else
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// SimulationThread.Start();
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}
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private int GetDeviceID(string ip, DTK_MODE_TYPE type)
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{
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try
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{
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_ip = ip;
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string[] strIP = _ip.Split('.');
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_ipAddress = (Convert.ToUInt32(strIP[0]) << 24) | (Convert.ToUInt32(strIP[1]) << 16) | (Convert.ToUInt32(strIP[2]) << 8) | Convert.ToUInt32(strIP[3]);
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uint deviceID = DTKPowerPmacOpen(_ipAddress, (uint)type);
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return (int)deviceID;
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}
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catch(Exception e)
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{
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EquipmentLogManager.Instance.WriteExceptionLog(e.StackTrace);
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return -1;
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}
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}
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private bool Connect(string ip, DTK_MODE_TYPE type = DTK_MODE_TYPE.DM_GPASCII)
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{
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if (IsOpen())
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return true;
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int deviceID = GetDeviceID(ip, type);
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if(deviceID == -1)
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{
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return false;
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}
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uint result = PowerPmacCtrl.DTKConnect((uint)deviceID);
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if((DTK_STATUS)result == DTK_STATUS.DS_Ok)
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{
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//성공
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_deviceID = (uint)deviceID;
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m_bConnected = true;
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return true;
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}
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else
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{
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if((DTK_STATUS)result == DTK_STATUS.DS_Connected)
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{
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//이미 연결되어 있음
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_Failed)
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{
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//연결 실패
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m_bConnected = false;
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidDevice)
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{
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//유효하지 않은 장치 번호
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m_bConnected = false;
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}
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PowerPmacCtrl.DTKPowerPmacClose((uint)deviceID);
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return false;
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}
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}
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public bool DisConnect()
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{
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if(_deviceID == 9999)
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{
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return false;
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}
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uint result = PowerPmacCtrl.DTKDisconnect(_deviceID);
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m_bConnected = false;
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if ((DTK_STATUS)result == DTK_STATUS.DS_Ok)
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{
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//성공
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DTKPowerPmacClose(_deviceID);
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return true;
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}
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else
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{
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if ((DTK_STATUS)result == DTK_STATUS.DS_Failed)
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{
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//연결 종료 실패
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidDevice)
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{
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//유효하지 않은 장치 번호
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}
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return false;
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}
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}
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public bool Open()
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{
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return Connect("192.168.0.200");
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}
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public bool IsOpen()
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{
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return m_bConnected;
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}
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public bool PMACSendData(string Command, ref string sResponse)
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{
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bool bResult = false;
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try
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{
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Monitor.Enter(_objLock);
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if (IsOpen() == false)
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{
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return false;
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}
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byte[] commandBytes = Encoding.ASCII.GetBytes(Command);
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byte[] receivedBytes = new byte[1024];
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uint result = PowerPmacCtrl.DTKGetResponseA(_deviceID, commandBytes, receivedBytes, receivedBytes.GetLength(0));
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if ((DTK_STATUS)result == DTK_STATUS.DS_Ok)
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{
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sResponse = Encoding.Default.GetString(receivedBytes).TrimEnd('\0');
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bResult = true;
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}
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else
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{
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if ((DTK_STATUS)result == DTK_STATUS.DS_NotConnected)
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{
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//통신모드가 GetSend 상태임
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_equipment.alarmManager.Occur(AlarmCode.AL_0300_POWER_PMAC_NOT_CONNECTED);
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidDevice)
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{
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//유효하지 않은 장치 번호
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_equipment.alarmManager.Occur(AlarmCode.AL_0301_POWER_PMAC_INVALID_DEVICE);
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidCommand)
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{
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//유효하지 않은 명령어 (NULL)
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_equipment.alarmManager.Occur(AlarmCode.AL_0302_POWER_PMAC_INVALID_COMMAND);
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidResponse)
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{
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//유효하지 않은 응답 버퍼(NULL)
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_equipment.alarmManager.Occur(AlarmCode.AL_0303_POWER_PMAC_INVALID_RESPONSE);
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_DataRemains)
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{
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//수신 버퍼에 데이터가 남아 있음
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_equipment.alarmManager.Occur(AlarmCode.AL_0304_POWER_PMAC_DATA_REAMINS);
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_CmdLengthExceeds)
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{
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//명령어 데이터 길이 초과
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_equipment.alarmManager.Occur(AlarmCode.AL_0305_POWER_PMAC_CMD_LENGTH_EXCEEDS);
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_ResLengthExceeds)
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{
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//응답 데이터 길이 초과
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_equipment.alarmManager.Occur(AlarmCode.AL_0306_POWER_PMAC_RES_LENGTH_EXCEEDS);
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}
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else if ((DTK_STATUS)result == DTK_STATUS.DS_RunningDownload)
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{
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//다운로드 중
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_equipment.alarmManager.Occur(AlarmCode.AL_0307_POWER_PMAC_RUNNING_DOWNLOAD);
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}
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else if (result >= 1000)
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{
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//통신 오류 (기술 지원 요청)
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_equipment.alarmManager.Occur(AlarmCode.AL_0308_POWER_PMAC_ERROR);
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}
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sResponse = string.Empty;
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bResult = false;
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}
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}
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catch (Exception ex)
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{
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EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
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}
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finally
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{
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Monitor.Exit(_objLock);
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}
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return bResult;
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}
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private double[] m_dAxisActualPos = new double[(int)PmacAxis.enMax];
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private double[] m_dAxisHomePos = new double[(int)PmacAxis.enMax];
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private double[] m_dAxisActualVel = new double[(int)PmacAxis.enMax];
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private bool[,] m_bAxisStatus = new bool[(int)PmacAxis.enMax, (int)AxisStatus.enMax];
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private int[] m_nUmacAddress = new int[(int)PmacAxis.enMax];
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private int[] m_nAxisPMacNo = new int[(int)PmacAxis.enMax];
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private int[] m_nAxisEnumNo = new int[(int)PmacAxis.enMax];
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private int[] m_nIValueAxisNo = new int[(int)PmacAxis.enMax];
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private double[] m_dScaleFactor = new double[(int)PmacAxis.enMax];
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private int[] m_nAxisTimeOut = new int[(int)PmacAxis.enMax];
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private int[] m_nAxisHommingTimeOut = new int[(int)PmacAxis.enMax];
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private double[] m_dAxisHommingSpeed = new double[(int)PmacAxis.enMax];
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private string[] m_strAxisName = new string[(int)PmacAxis.enMax];
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private double[] m_dAxisSWPlusLimit = new double[(int)PmacAxis.enMax];
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private double[] m_dAxisSWMinusLimit = new double[(int)PmacAxis.enMax];
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private double[] m_dTargetPos = new double[(int)PmacAxis.enMax];
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private double[] m_dTargetSpeed = new double[(int)PmacAxis.enMax];
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private double[] m_dTeachPosX = new double[(int)EnTeachData.enMaxX];
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private double[] m_dTeachPosY = new double[(int)EnTeachData.enMaxY];
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private double[] m_dTeachPosT = new double[(int)EnTeachData.enMaxT];
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private double[] m_dTeachVelX = new double[(int)EnTeachData.enMaxX];
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private double[] m_dTeachVelY = new double[(int)EnTeachData.enMaxY];
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private double[] m_dTeachVelT = new double[(int)EnTeachData.enMaxT];
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private double[] m_dTeachAccX = new double[(int)EnTeachData.enMaxX];
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private double[] m_dTeachAccY = new double[(int)EnTeachData.enMaxY];
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private double[] m_dTeachAccT = new double[(int)EnTeachData.enMaxT];
|
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public void SetAxisHomePos(PmacAxis axis, double dPos)
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{
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m_dAxisHomePos[(int)axis] = dPos;
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}
|
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public double GetAxisHomePos(PmacAxis axis)
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{
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return m_dAxisHomePos[(int)axis];
|
}
|
|
|
public void SetAxisActualPos(PmacAxis axis, double dPos)
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{
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m_dAxisActualPos[(int)axis] = dPos;
|
}
|
|
public double GetAxisActualPos(PmacAxis axis)
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{
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return m_dAxisActualPos[(int)axis];
|
}
|
|
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public void SetAxisActualSpeed(PmacAxis axis, double dVel)
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{
|
m_dAxisActualVel[(int)axis] = dVel;
|
}
|
|
public double GetAxisActualSpeed(PmacAxis axis)
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{
|
return m_dAxisActualVel[(int)axis];
|
}
|
|
|
public void SetAxisStatus(PmacAxis axis, AxisStatus statusName, bool bstatusValue)
|
{
|
m_bAxisStatus[(int)axis, (int)statusName] = bstatusValue;
|
}
|
|
public bool GetAxisStatus(PmacAxis axis, AxisStatus statusName)
|
{
|
return m_bAxisStatus[(int)axis, (int)statusName];
|
}
|
|
public double GetAxisTargetPos(PmacAxis axis)
|
{
|
return m_dTargetPos[(int)axis];
|
}
|
|
public double GetAxisTargetSpeed(PmacAxis axis)
|
{
|
return m_dTargetSpeed[(int)axis];
|
}
|
|
public double GetMotorScaleFactor(PmacAxis axis)
|
{
|
return m_dScaleFactor[(int)axis];
|
}
|
|
private void SetAxisName(PmacAxis axis, string strName)
|
{
|
m_strAxisName[(int)axis] = strName;
|
}
|
public string GetAxisName(PmacAxis axis)
|
{
|
return m_strAxisName[(int)axis];
|
}
|
|
private void SetAxisPMacNum(PmacAxis axis, int axisNo)
|
{
|
m_nAxisPMacNo[(int)axis] = axisNo;
|
}
|
public int GetAxisPMacNum(PmacAxis axis)
|
{
|
return m_nAxisPMacNo[(int)axis];
|
}
|
|
private void SetAxisEnumNum(PmacAxis axis, int axisNo)
|
{
|
m_nAxisEnumNo[(int)axis] = axisNo;
|
}
|
public int GetAxisEnumNum(PmacAxis axis)
|
{
|
return m_nAxisEnumNo[(int)axis];
|
}
|
|
//private void SetIValueAxisNum(int axis, int axisNo)
|
//{
|
// m_nIValueAxisNo[axis] = axisNo;
|
//}
|
//public int GetIValueAxisNum(UmacAxis axis)
|
//{
|
// return m_nIValueAxisNo[(int)axis];
|
//}
|
private void SetMotorScaleFactor(PmacAxis axis, double dValue)
|
{
|
m_dScaleFactor[(int)axis] = dValue;
|
}
|
|
public int GetAxisTimeOutSecond(PmacAxis axis)
|
{
|
return m_nAxisTimeOut[(int)axis];
|
}
|
private void SetAxisTimeOutSecond(PmacAxis axis, int nMillisecond)
|
{
|
m_nAxisTimeOut[(int)axis] = nMillisecond;
|
}
|
|
public int GetAxisHommingTimeOutSecond(PmacAxis axis)
|
{
|
return m_nAxisHommingTimeOut[(int)axis];
|
}
|
private void SetAxisHommingTimeOutSecond(PmacAxis axis, int nMillisecond)
|
{
|
m_nAxisHommingTimeOut[(int)axis] = nMillisecond;
|
}
|
|
public double GetAxisHommingSpeed(PmacAxis axis)
|
{
|
return m_dAxisHommingSpeed[(int)axis];
|
}
|
private void SetAxisHommingSpeed(PmacAxis axis, double dSpeed)
|
{
|
m_dAxisHommingSpeed[(int)axis] = dSpeed;
|
}
|
|
|
public double GetAxisSWPlusLimit(PmacAxis axis)
|
{
|
return m_dAxisSWPlusLimit[(int)axis];
|
}
|
|
private void SetAxisSWPlusLimit(PmacAxis axis, double dMaxPos)
|
{
|
m_dAxisSWPlusLimit[(int)axis] = dMaxPos;
|
}
|
|
public double GetAxisSWMinusLimit(PmacAxis axis)
|
{
|
return m_dAxisSWMinusLimit[(int)axis];
|
}
|
|
private void SetAxisSWMinusLimit(PmacAxis axis, double dMinPos)
|
{
|
m_dAxisSWMinusLimit[(int)axis] = dMinPos;
|
}
|
|
public double[] GetAxisTeachData(PmacAxis axis, EnTeachData teach)
|
{
|
double[] dTeach = new double[3];
|
|
switch(axis)
|
{
|
case PmacAxis.X_Axis:
|
dTeach[0] = m_dTeachPosX[(int)teach];
|
dTeach[1] = m_dTeachVelX[(int)teach];
|
dTeach[2] = m_dTeachAccX[(int)teach];
|
break;
|
|
case PmacAxis.Y_Axis:
|
dTeach[0] = m_dTeachPosY[(int)teach];
|
dTeach[1] = m_dTeachVelY[(int)teach];
|
dTeach[2] = m_dTeachAccY[(int)teach];
|
break;
|
|
case PmacAxis.T_Axis:
|
dTeach[0] = m_dTeachPosT[(int)teach];
|
dTeach[1] = m_dTeachVelT[(int)teach];
|
dTeach[2] = m_dTeachAccT[(int)teach];
|
break;
|
|
default:
|
break;
|
|
}
|
return dTeach;
|
}
|
|
private void SetAxisTeachData(PmacAxis axis, EnTeachData teach, double[] dData)
|
{
|
switch (axis)
|
{
|
case PmacAxis.X_Axis:
|
m_dTeachPosX[(int)teach] = dData[0];
|
m_dTeachVelX[(int)teach] = dData[1];
|
m_dTeachAccX[(int)teach] = dData[2];
|
break;
|
|
case PmacAxis.Y_Axis:
|
m_dTeachPosY[(int)teach] = dData[0];
|
m_dTeachVelY[(int)teach] = dData[1];
|
m_dTeachAccY[(int)teach] = dData[2];
|
break;
|
|
case PmacAxis.T_Axis:
|
m_dTeachPosT[(int)teach] = dData[0];
|
m_dTeachVelT[(int)teach] = dData[1];
|
m_dTeachAccT[(int)teach] = dData[2];
|
break;
|
|
default:
|
break;
|
|
}
|
}
|
|
public List<AxisInfo> m_AxisAllList = new List<AxisInfo>();
|
|
public string LoadMotorData()
|
{
|
string strRtn = "";
|
double[] dTemp = new double[3];
|
try
|
{
|
string sIO_path = Equipment.settingFilePath;
|
string strDir = sIO_path + @"MotorData\";
|
if (!Directory.Exists(strDir) && strDir != string.Empty)
|
{
|
Directory.CreateDirectory(strDir);
|
}
|
string strFilePath = strDir + "MotorData" + ".xml";
|
|
using (FileStream fs = new FileStream(strFilePath, FileMode.Open))
|
{
|
XmlSerializer xs = new XmlSerializer(typeof(List<AxisInfo>));
|
m_AxisAllList = xs.Deserialize(fs) as List<AxisInfo>;
|
strRtn = "Servo Data Load Success! BoardNo:";
|
}
|
|
for (int i = 0; i < (int)PmacAxis.enMax; i++)
|
{
|
SetAxisPMacNum((PmacAxis)i, m_AxisAllList[i].AxisNo);
|
SetAxisEnumNum((PmacAxis)i, m_AxisAllList[i].EnumAxisNo);
|
SetAxisName((PmacAxis)i, m_AxisAllList[i].Name);
|
SetMotorScaleFactor((PmacAxis)i, m_AxisAllList[i].Scale);
|
SetAxisTimeOutSecond((PmacAxis)i, m_AxisAllList[i].Timeout);
|
SetAxisHommingTimeOutSecond((PmacAxis)i, m_AxisAllList[i].HommingTimeout);
|
SetAxisHommingSpeed((PmacAxis)i, m_AxisAllList[i].HommingSpeed);
|
SetAxisSWPlusLimit((PmacAxis)i, m_AxisAllList[i].SWPlusLimit);
|
SetAxisSWMinusLimit((PmacAxis)i, m_AxisAllList[i].SWMinusLimit);
|
for (int j = 0; j < m_AxisAllList[i].TeachList.Count; j++)
|
{
|
dTemp[0] = m_AxisAllList[i].TeachList[j].Position;
|
dTemp[1] = m_AxisAllList[i].TeachList[j].Speed;
|
dTemp[2] = m_AxisAllList[i].TeachList[j].Accel;
|
SetAxisTeachData((PmacAxis)i, (EnTeachData)j, dTemp);
|
}
|
|
|
}
|
}
|
catch (System.Exception ex)
|
{
|
strRtn = "Servo Data Load Fail! BoardNo:" + " " + ex.Message;
|
}
|
return strRtn;
|
}
|
|
public bool SaveMotorData()
|
{
|
bool bRtn = false;
|
string strRtn = "";
|
try
|
{
|
string sIO_path = Equipment.settingFilePath;
|
string strDir = sIO_path + @"MotorData\";
|
if (!Directory.Exists(strDir) && strDir != string.Empty)
|
{
|
Directory.CreateDirectory(strDir);
|
}
|
string strFilePath = strDir + "MotorData" + ".xml";
|
|
using (FileStream fs = new FileStream(strFilePath, FileMode.Create))
|
{
|
XmlSerializer xs = new XmlSerializer(typeof(List<AxisInfo>));
|
xs.Serialize(fs, m_AxisAllList);
|
bRtn = true;
|
strRtn = "Servo Data Save Success! ";
|
}
|
}
|
catch (System.Exception ex)
|
{
|
strRtn = "Servo Data Save Fail! BoardNo:" + " " + ex.Message;
|
bRtn = false;
|
}
|
|
return bRtn;
|
}
|
|
private void ParsingAxisData(PmacAxis axis, string strData)
|
{
|
string[] strParsingData;
|
string[] strParsingData2;
|
string strStatus;
|
uint nStatus;
|
uint nBit = 0x80000000;
|
uint nBitResult = 0;
|
int nCnt = 0;
|
double dActPos, dHomePos;
|
double dPos, dVel;
|
bool bStatus = false;
|
|
strParsingData = strData.Split('\n');
|
|
//Pos
|
//ActPos
|
strParsingData2 = strParsingData[nCnt].Split('=');
|
dActPos = Convert.ToDouble(strParsingData2[1]);
|
nCnt++;
|
//HomePos
|
strParsingData2 = strParsingData[nCnt].Split('=');
|
dHomePos = Convert.ToDouble(strParsingData2[1]);
|
SetAxisHomePos(axis, dHomePos);
|
nCnt++;
|
//CalculatedPos
|
dPos = dActPos - dHomePos;
|
dPos = dPos / GetMotorScaleFactor(axis);
|
dPos = Math.Round(dPos, 4);
|
SetAxisActualPos(axis, dPos);
|
|
|
//Speed
|
strParsingData2 = strParsingData[nCnt].Split('=');
|
dVel = Convert.ToDouble(strParsingData2[1]);
|
dVel = dVel * 5000.0 / GetMotorScaleFactor(axis);
|
dVel = Math.Round(dVel, 4);
|
SetAxisActualSpeed(axis, dVel);
|
nCnt++;
|
|
//Status
|
strParsingData2 = strParsingData[nCnt].Split('=');
|
strStatus = strParsingData2[1].Replace("$", "");
|
strStatus = strStatus.Replace("\r", "");
|
nStatus = Convert.ToUInt32(strStatus, 16);
|
nCnt++;
|
|
for (int i = 0; i < (int)AxisStatus.enMax; i++)
|
{
|
if (i == (int)AxisStatus.HomeComplete || i == (int)AxisStatus.HomeInProgress)
|
continue;
|
|
nBitResult = nStatus & nBit;
|
bStatus = nBitResult == nBit ? true : false;
|
SetAxisStatus(axis, (AxisStatus)i, bStatus);
|
nBit = nBit / 2;
|
}
|
|
//Home Complete
|
strParsingData2 = strParsingData[nCnt].Split('=');
|
bStatus = Convert.ToInt32(strParsingData2[1]) == 1;
|
SetAxisStatus(axis, AxisStatus.HomeComplete, bStatus);
|
nCnt++;
|
|
//Home Progress
|
strParsingData2 = strParsingData[nCnt].Split('=');
|
bStatus = Convert.ToInt32(strParsingData2[1]) == 1;
|
SetAxisStatus(axis, AxisStatus.HomeInProgress, bStatus);
|
nCnt++;
|
}
|
|
public void DataUpdate()
|
{
|
while (_equipment.IsDisposed == false)
|
{
|
try
|
{
|
bool dataCheck = true;
|
if (/*!_parentForm.m_bSimulationMode && */IsOpen())
|
{
|
for (int i = 0; i < (int)PmacAxis.enMax; i++)
|
{
|
dataCheck &= GetCtrlData(PmacAxis.Y_Axis + i);
|
|
Thread.Sleep(10);
|
}
|
|
if (dataCheck == false)
|
{
|
DisConnect();
|
}
|
else
|
{
|
AlarmCheck();
|
}
|
continue;
|
}
|
else
|
{
|
m_bConnected = false;
|
//if (!_parentForm.m_bSimulationMode)
|
if(Open() == false)
|
{
|
_equipment.alarmManager.Occur(AlarmCode.AL_0060_POWER_PMAC_DISCONNECTED);
|
}
|
}
|
|
}
|
catch (Exception ex)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
|
}
|
}
|
}
|
|
private void AlarmCheck()
|
{
|
if (GetAxisStatus(PmacAxis.Y_Axis, AxisStatus.NLimit_HW))
|
{
|
_equipment.alarmManager.Occur(AlarmCode.AL_0320_MOTOR_Y_NEGATIVE_LIMIT);
|
}
|
if (GetAxisStatus(PmacAxis.Y_Axis, AxisStatus.PLimit_HW))
|
{
|
_equipment.alarmManager.Occur(AlarmCode.AL_0321_MOTOR_Y_POSITIVE_LIMIT);
|
}
|
|
if (GetAxisStatus(PmacAxis.X_Axis, AxisStatus.NLimit_HW))
|
{
|
_equipment.alarmManager.Occur(AlarmCode.AL_0340_MOTOR_X_NEGATIVE_LIMIT);
|
}
|
if (GetAxisStatus(PmacAxis.X_Axis, AxisStatus.PLimit_HW))
|
{
|
_equipment.alarmManager.Occur(AlarmCode.AL_0341_MOTOR_X_POSITIVE_LIMIT);
|
}
|
|
if (GetAxisStatus(PmacAxis.X_Axis, AxisStatus.NLimit_HW))
|
{
|
_equipment.alarmManager.Occur(AlarmCode.AL_0360_MOTOR_T_NEGATIVE_LIMIT);
|
}
|
if (GetAxisStatus(PmacAxis.X_Axis, AxisStatus.PLimit_HW))
|
{
|
_equipment.alarmManager.Occur(AlarmCode.AL_0361_MOTOR_T_POSITIVE_LIMIT);
|
}
|
}
|
|
private bool GetCtrlData(PmacAxis axis)
|
{
|
try
|
{
|
bool bResult = false;
|
//ActPos, HomePos, ActVel, Status
|
string strMsg = string.Format($"Motor[{(GetAxisPMacNum(axis))}].ActPos Motor[{(GetAxisPMacNum(axis))}].HomePos Motor[{(GetAxisPMacNum(axis))}].ActVel Motor[{(GetAxisPMacNum(axis))}].Status[0] Mtr_StCompHome({(GetAxisPMacNum(axis))}) Mtr_StIngHome({(GetAxisPMacNum(axis))})");
|
string strReturnMsg = "";
|
|
bResult = PMACSendData(strMsg, ref strReturnMsg);
|
ParsingAxisData(axis, strReturnMsg);
|
return true;
|
}
|
catch (Exception ex)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
|
return false;
|
}
|
}
|
|
public bool ServoOnOff(PmacAxis axis, bool bOn)
|
{
|
string strCmd = "";
|
if (bOn)
|
strCmd = string.Format($"Mtr_Cmd({ GetAxisPMacNum(axis)})=Mtr_010_ExeServoOn");
|
else
|
strCmd = string.Format($"Mtr_Cmd({ GetAxisPMacNum(axis)})=Mtr_020_ExeServoOff");
|
|
string sReceive = null;
|
|
//if (!MotionInterlockCheck(AxisID, Pos))
|
// return false;
|
|
try
|
{
|
PMACSendData(strCmd, ref sReceive);
|
}
|
catch (Exception ex)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
|
}
|
|
return true;
|
}
|
|
//public AlarmCode SetHommingSpeed_Limit(PmacAxis axis)
|
//{
|
// AlarmCode eResult = AlarmCode.AL_0000_OK;
|
|
// string strCmd = string.Format($"Mtr_SetHomeJVel({GetAxisNum(axis)})");
|
|
// string sReceive = null;
|
|
// //if (!MotionInterlockCheck(AxisID, Pos))
|
// // return false;
|
|
// try
|
// {
|
// PMACSendData(strCmd, ref sReceive);
|
// }
|
// catch (Exception ee)
|
// {
|
// //_parentForm.WriteToDebugLog(string.Format("UMacCtrl: MoveAbs_AxisNum{0}", axis) + ee.ToString());
|
// }
|
|
// return eResult;
|
//}
|
|
public bool StartHomming(PmacAxis axis)
|
{
|
string strCmd = string.Format($"Mtr_Cmd({ GetAxisPMacNum(axis)})=Mtr_030_ExeHome");
|
|
string sReceive = null;
|
|
//if (!MotionInterlockCheck(AxisID, Pos))
|
// return false;
|
|
try
|
{
|
PMACSendData(strCmd, ref sReceive);
|
}
|
catch (Exception ex)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
|
}
|
|
return true;
|
}
|
|
public bool ClearError(PmacAxis axis)
|
{
|
string strCmd = string.Format($"Mtr_Cmd({ GetAxisPMacNum(axis)})=Mtr_090_ExeErrClear");
|
|
string sReceive = null;
|
|
//if (!MotionInterlockCheck(AxisID, Pos))
|
// return false;
|
|
try
|
{
|
PMACSendData(strCmd, ref sReceive);
|
}
|
catch (Exception ex)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
|
}
|
|
return true;
|
}
|
|
public void ClearErrorAll()
|
{
|
ClearError(PmacAxis.X_Axis);
|
ClearError(PmacAxis.Y_Axis);
|
ClearError(PmacAxis.T_Axis);
|
}
|
|
public bool MoveAbs(PmacAxis AxisID, double dPos, double dVel, double dAcc/* = 300*/)
|
{
|
// Position, Speed에 대한 Convert값을 계산해서 보내야 한다.
|
double dPosToCnt = dPos * GetMotorScaleFactor(AxisID) /*+ GetAxisHomePos(AxisID)*/;
|
double dSpeedToCnt = dVel * GetMotorScaleFactor(AxisID) / 1000.0;
|
|
m_dTargetPos[(int)AxisID] = dPos;
|
m_dTargetSpeed[(int)AxisID] = dVel;
|
|
////SimulationMode
|
//if (_parentForm.m_bSimulationMode)
|
//{
|
// m_SimulCommand[(int)AxisID] = SimulCommand.ABS;
|
// return eResult;
|
//}
|
|
//eResult = MotionInterlockCheck(AxisID, dPos);
|
//if (eResult != Alarm_List.AL_OK)
|
// return eResult;
|
|
string strCmd = string.Format("Motor[{0}].JogTa={1} Motor[{0}].JogSpeed={2} #{0}J={3}", GetAxisPMacNum(AxisID), dAcc, dSpeedToCnt, dPosToCnt);
|
|
string sReceive = null;
|
|
//if (!MotionInterlockCheck(AxisID, Pos))
|
// return false;
|
|
try
|
{
|
PMACSendData(strCmd, ref sReceive);
|
}
|
catch (Exception ex)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
|
}
|
|
//return true;
|
|
//if (GetAxisStatus(AxisID, AxisStatus.Error))
|
// eResult = Alarm_List.AL_STAGE_Y_AXIS_ALARM + axis;
|
|
return true;
|
}
|
|
|
|
public bool MoveRel(PmacAxis AxisID, double Pos, double Vel, double Acc/* = 300*/)
|
{
|
// Position, Speed에 대한 Convert값을 계산해서 보내야 한다.
|
|
double dAddPos = Pos + GetAxisActualPos(AxisID);
|
double dPosToCnt = dAddPos * GetMotorScaleFactor(AxisID);
|
double dSpeedToCnt = Vel * GetMotorScaleFactor(AxisID) / 1000.0;
|
|
m_dTargetPos[(int)AxisID] = dAddPos;
|
m_dTargetSpeed[(int)AxisID] = Vel;
|
|
//SimulationMode - 쓰려면 살려두고!
|
//if (_parentForm.m_bSimulationMode)
|
//{
|
// m_SimulCommand[(int)AxisID] = SimulCommand.REL;
|
// return eResult;
|
//}
|
|
string strCmd = string.Format("Motor[{0}].JogTa={1} Motor[{0}].JogSpeed={2} #{0}J={3}", GetAxisPMacNum(AxisID), Acc, dSpeedToCnt, dPosToCnt);
|
|
string sReceive = null;
|
|
//나중에 인터락 추가하면 여기에!!!
|
//eResult = MotionInterlockCheck(AxisID, dAddPos);
|
|
//if (eResult != AlarmCode.AL_0000_OK)
|
// return eResult;
|
|
try
|
{
|
PMACSendData(strCmd, ref sReceive);
|
}
|
catch (Exception ex)
|
{
|
EquipmentLogManager.Instance.WriteExceptionLog(ex.StackTrace + "\r\n" + ex.Message);
|
}
|
|
//if (GetAxisStatus(AxisID, AxisStatus.Error))
|
// eResult = Alarm_List.AL_STAGE_Y_AXIS_ALARM + axis;
|
return true;
|
//return true;
|
}
|
|
public bool MoveJog(PmacAxis AxisID, double Vel, MotionDirection dir)
|
{
|
int axis = (int)AxisID;
|
double dSpeedToCnt = Vel * GetMotorScaleFactor(AxisID) / 1000.0;
|
string sReceive = null;
|
|
//SimulationMode
|
//if (_parentForm.m_bSimulationMode)
|
//{
|
// if (dir == MotionDirection.Plus)
|
// {
|
// m_dTargetSpeed[(int)AxisID] = Vel;
|
// m_SimulCommand[(int)AxisID] = SimulCommand.JOGP;
|
// }
|
// else
|
// {
|
// m_dTargetSpeed[(int)AxisID] = -Vel;
|
// m_SimulCommand[(int)AxisID] = SimulCommand.JOGN;
|
// }
|
// return eResult;
|
//}
|
|
// set Speed
|
string strCmd = string.Format("Motor[{0}].JogSpeed={1}", GetAxisPMacNum(AxisID), dSpeedToCnt);
|
PMACSendData(strCmd, ref sReceive);
|
|
// Jog move
|
if (dir == MotionDirection.Plus)
|
strCmd = string.Format("#{0}J+", GetAxisPMacNum(AxisID));
|
else if (dir == MotionDirection.Minus)
|
strCmd = string.Format("#{0}J-", GetAxisPMacNum(AxisID));
|
|
return PMACSendData(strCmd, ref sReceive);
|
}
|
|
public bool MoveStop(PmacAxis AxisID)
|
{
|
string sReceive = null;
|
|
//대곤 제공 방식으로 쓰자!
|
string strCmd = string.Format("Mtr_Cmd({0})=Mtr_080_ExeStop", GetAxisPMacNum(AxisID));
|
PMACSendData(strCmd, ref sReceive);
|
|
return true;
|
}
|
public bool MoveXYTStop()
|
{
|
MoveStop(PmacAxis.X_Axis);
|
MoveStop(PmacAxis.Y_Axis);
|
MoveStop(PmacAxis.T_Axis);
|
|
return true;
|
}
|
|
public bool IsLoadPosition()
|
{
|
bool isMotorXLoadPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.X_Axis].TeachList[(int)EnTeachData.LoadPosX].Position, GetAxisActualPos(PmacAxis.X_Axis));
|
bool isMotorYLoadPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.Y_Axis].TeachList[(int)EnTeachData.LoadPosY].Position, GetAxisActualPos(PmacAxis.Y_Axis));
|
bool isMotorTLoadPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.T_Axis].TeachList[(int)EnTeachData.LoadPosT].Position, GetAxisActualPos(PmacAxis.T_Axis));
|
|
return isMotorXLoadPosition && isMotorYLoadPosition && isMotorTLoadPosition;
|
}
|
|
public bool IsCenterPosition()
|
{
|
bool isMotorXCenterPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.X_Axis].TeachList[(int)EnTeachData.CenterPosX].Position, GetAxisActualPos(PmacAxis.X_Axis));
|
bool isMotorYCenterPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.Y_Axis].TeachList[(int)EnTeachData.CenterPosY].Position, GetAxisActualPos(PmacAxis.Y_Axis));
|
bool isMotorTCenterPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.T_Axis].TeachList[(int)EnTeachData.CenterPosT].Position, GetAxisActualPos(PmacAxis.T_Axis));
|
|
return isMotorXCenterPosition && isMotorYCenterPosition && isMotorTCenterPosition;
|
}
|
|
public bool IsPowerMeterPosition()
|
{
|
bool isMotorXPowerMeterPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.X_Axis].TeachList[(int)EnTeachData.PowerMeterX].Position, GetAxisActualPos(PmacAxis.X_Axis));
|
bool isMotorYPowerMeterPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.Y_Axis].TeachList[(int)EnTeachData.PowerMeterY].Position, GetAxisActualPos(PmacAxis.Y_Axis));
|
bool isMotorTPowerMeterPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.T_Axis].TeachList[(int)EnTeachData.PowerMeterT].Position, GetAxisActualPos(PmacAxis.T_Axis));
|
|
return isMotorXPowerMeterPosition && isMotorYPowerMeterPosition && isMotorTPowerMeterPosition;
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}
|
|
public bool IsAlignPosition()
|
{
|
bool isMotorXAlignPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.X_Axis].TeachList[(int)EnTeachData.AlignX].Position, GetAxisActualPos(PmacAxis.X_Axis));
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bool isMotorYAlignPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.Y_Axis].TeachList[(int)EnTeachData.AlignY].Position, GetAxisActualPos(PmacAxis.Y_Axis));
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bool isMotorTAlignPosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.T_Axis].TeachList[(int)EnTeachData.AlignT].Position, GetAxisActualPos(PmacAxis.T_Axis));
|
|
return isMotorXAlignPosition && isMotorYAlignPosition && isMotorTAlignPosition;
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}
|
|
public bool IsBeamProfilePosition()
|
{
|
bool isMotorXBeamProfilePosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.X_Axis].TeachList[(int)EnTeachData.BeamProfileX].Position, GetAxisActualPos(PmacAxis.X_Axis));
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bool isMotorYBeamProfilePosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.Y_Axis].TeachList[(int)EnTeachData.BeamProfileY].Position, GetAxisActualPos(PmacAxis.Y_Axis));
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bool isMotorTBeamProfilePosition = InpositionCheck(m_AxisAllList[(int)PmacAxis.T_Axis].TeachList[(int)EnTeachData.BeamProfileT].Position, GetAxisActualPos(PmacAxis.T_Axis));
|
|
return isMotorXBeamProfilePosition && isMotorYBeamProfilePosition && isMotorTBeamProfilePosition;
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}
|
|
public bool InpositionCheck(double tagetPosition, double currentPosition, double inpositionRange = 1)
|
{
|
if(tagetPosition - inpositionRange <= currentPosition && currentPosition <= tagetPosition + inpositionRange)
|
{
|
return true;
|
}
|
else
|
{
|
return false;
|
}
|
}
|
//public bool WriteRead(string command, out string receivedData)
|
//{
|
// /* 2022 09 23 : Test
|
// * command : motor[1].ActPos motor[1].ActVel motor[1].AmpFault motor[1].HomeComplete motor[1].InPos motor[1].AmpEna motor[1].ServoCtrl
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// * receivedData : Motor[1].ActPos=3659750.146484375\r\nMotor[1].ActVel=0\r\nMotor[1].AmpFault=0\r\nMotor[1].HomeComplete=1\r\nMotor[1].InPos=0\r\nMotor[1].AmpEna=0\r\nMotor[1].ServoCtrl=0\r\n
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// */
|
|
// byte[] commandBytes = Encoding.ASCII.GetBytes(command);
|
// byte[] receivedBytes = new byte[1024];
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// uint result = PowerPmac.DTKGetResponseA(_deviceID, commandBytes, receivedBytes, receivedBytes.GetLength(0));
|
|
// if ((DTK_STATUS)result == DTK_STATUS.DS_Ok)
|
// {
|
// receivedData = Encoding.Default.GetString(receivedBytes).TrimEnd('\0');
|
// return true;
|
// }
|
// else
|
// {
|
// if ((DTK_STATUS)result == DTK_STATUS.DS_NotConnected)
|
// {
|
// //통신모드가 GetSend 상태임
|
// }
|
// else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidDevice)
|
// {
|
// //유효하지 않은 장치 번호
|
// }
|
// else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidCommand)
|
// {
|
// //유효하지 않은 명령어 (NULL)
|
// }
|
// else if ((DTK_STATUS)result == DTK_STATUS.DS_InvalidResponse)
|
// {
|
// //유효하지 않은 응답 버퍼(NULL)
|
// }
|
// else if ((DTK_STATUS)result == DTK_STATUS.DS_DataRemains)
|
// {
|
// //수신 버퍼에 데이터가 남아 있음
|
// }
|
// else if ((DTK_STATUS)result == DTK_STATUS.DS_CmdLengthExceeds)
|
// {
|
// //명령어 데이터 길이 초과
|
// }
|
// else if ((DTK_STATUS)result == DTK_STATUS.DS_ResLengthExceeds)
|
// {
|
// //응답 데이터 길이 초과
|
// }
|
// else if ((DTK_STATUS)result == DTK_STATUS.DS_RunningDownload)
|
// {
|
// //다운로드 중
|
// }
|
// else if (result >= 1000)
|
// {
|
// //통신 오류 (기술 지원 요청)
|
// }
|
|
// receivedData = string.Empty;
|
// return false;
|
// }
|
//}
|
}
|
|
[Serializable]
|
public class AxisInfo
|
{
|
public AxisInfo()
|
{
|
}
|
public AxisInfo(int nAxisNo_1Base)
|
{
|
_AxisNo = nAxisNo_1Base;
|
_EnumAxisNo = nAxisNo_1Base;
|
_UseAxis = false;
|
_AxisType = AxisType.SERVO;
|
_Name = "";
|
_HommingCmd = "";
|
_HomeEndCmd = "";
|
_PlcNo = 0;
|
_dScale = 0;
|
_dSWPlusLimit = 100000;
|
_dSWMinusLimit = 0;
|
_nTimeout = 10000;
|
}
|
|
private int _AxisNo;
|
private int _EnumAxisNo;
|
private bool _UseAxis;
|
private AxisType _AxisType;
|
private string _Name;
|
private string _HommingCmd;
|
private string _HomeEndCmd;
|
private int _PlcNo;
|
private double _dScale;
|
private double _dSWPlusLimit;
|
private double _dSWMinusLimit;
|
private int _nTimeout;
|
private int _nHommingTimeout;
|
private double _dHommingSpeed;
|
private List<Teach_Data> _TeachData = new List<Teach_Data>();
|
|
public int EnumAxisNo
|
{
|
get { return _EnumAxisNo; }
|
set { _EnumAxisNo = value; }
|
}
|
|
public int AxisNo
|
{
|
get { return _AxisNo; }
|
set { _AxisNo = value; }
|
}
|
|
//public bool UseAxis
|
//{
|
// get { return _UseAxis; }
|
// set { _UseAxis = value; }
|
//}
|
public AxisType AxisType
|
{
|
get { return _AxisType; }
|
set { _AxisType = value; }
|
}
|
public string Name
|
{
|
get { return _Name; }
|
set { _Name = value; }
|
}
|
public string HommingCmd
|
{
|
get { return _HommingCmd; }
|
set { _HommingCmd = value; }
|
}
|
public string HomeEndCmd
|
{
|
get { return _HomeEndCmd; }
|
set { _HomeEndCmd = value; }
|
}
|
public double Scale
|
{
|
get { return _dScale; }
|
set { _dScale = value; }
|
}
|
public double SWPlusLimit
|
{
|
get { return _dSWPlusLimit; }
|
set { _dSWPlusLimit = value; }
|
}
|
public double SWMinusLimit
|
{
|
get { return _dSWMinusLimit; }
|
set { _dSWMinusLimit = value; }
|
}
|
public int Timeout
|
{
|
get { return _nTimeout; }
|
set { _nTimeout = value; }
|
}
|
|
public int HommingTimeout
|
{
|
get { return _nHommingTimeout; }
|
set { _nHommingTimeout = value; }
|
}
|
|
public double HommingSpeed
|
{
|
get { return _dHommingSpeed; }
|
set { _dHommingSpeed = value; }
|
}
|
|
public List<Teach_Data> TeachList
|
{
|
get { return _TeachData; }
|
set { _TeachData = value; }
|
}
|
}
|
|
[Serializable]
|
public class Teach_Data
|
{
|
public Teach_Data()
|
{
|
_Teach_Name = "";
|
_dPositon = 0;
|
_dSpeed = 0;
|
_dAccel = 0;
|
}
|
private string _Teach_Name;
|
private double _dPositon;
|
private double _dSpeed;
|
private double _dAccel;
|
|
public string Name
|
{
|
get { return _Teach_Name; }
|
set { _Teach_Name = value; }
|
}
|
public double Position
|
{
|
get { return _dPositon; }
|
set { _dPositon = value; }
|
}
|
public double Speed
|
{
|
get { return _dSpeed; }
|
set { _dSpeed = value; }
|
}
|
public double Accel
|
{
|
get { return _dAccel; }
|
set { _dAccel = value; }
|
}
|
}
|
}
|
