using MMCE_Test;
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using System;
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namespace SHARP_CLAS_UI
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{
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public class Axis : Slave
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{
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#region Enum
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#endregion
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#region Property
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/// <summary>
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/// Axis Status 값
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/// </summary>
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public uint AxisStatus;
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/// <summary>
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/// Axis State 중 하나로 축의 Error상태로 모션 동작이 불가능한 상태
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/// </summary>
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public bool ErrorStop { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcErrorStop) > 0); } }
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/// <summary>
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/// Axis State 중 하나로 축의 Amp Off 상태로 모션 동작이 불가능한 상태
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/// </summary>
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public bool Disabled { get {return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcDisabled) > 0); } }
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/// <summary>
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/// Axis State 중 하나로 MC_Stop에 의해 감속정지 중 또는 감속정지는 완료 되었지만 MC_Stop의 Execute가 유지되어 있는 상태로 모션 동작이 불가능한 상태
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/// </summary>
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public bool Stopping { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcStopping) > 0); } }
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/// <summary>
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/// Axis State 중 하나로 축의 Amp On 상태로 모션 동작이 가능한 준비 상태
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/// </summary>
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public bool StandStill { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcStandStill) > 0); } }
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/// <summary>
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/// Axis State 중 하나로 MC_MoveAbsoulte, MC_MoveRelative, MC_Halt 등에 의해 단축 모션 중인 상태
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/// </summary>
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public bool DiscreteMotion { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcDiscreteMotion) > 0); } }
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/// <summary>
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/// Axis State 중 하나로 MC_MoveVelocity에 의해 지속적인 모션 중인 상태
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/// </summary>
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public bool ContinuousMotion { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcContinuousMotion) > 0); } }
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/// <summary>
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/// Axis State 중 하나로 MC_GearIn 또는 GroupMotion에 의한 모션 상태
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/// </summary>
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public bool SynchroMotion { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcSynchroMotion) > 0); } }
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/// <summary>
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/// Axis State 중 하나로 축이 MC_Home에 의해 원점복귀 중인 상태
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/// </summary>
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public bool Homing { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcHoming) > 0); } }
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/// <summary>
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/// Software Position Positive Limit Value를 벗어나면 On으로 변경
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/// </summary>
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public bool Reserved_as_8 { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcReserved_as_8) > 0); } }
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/// <summary>
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/// Software Position Negative Limit Value를 벗어나면 On으로 변경
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/// </summary>
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public bool Reserved_as_9 { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcReserved_as_9) > 0); } }
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/// <summary>
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/// 모션이 등속동작 중인 상태
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/// </summary>
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public bool ConstantVelocity { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcConstantVelocity) > 0); } }
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/// <summary>
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/// 모션이 가속동작 중인 상태
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/// </summary>
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public bool Accelerating { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcAccelerating) > 0); } }
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/// <summary>
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/// 모션이 감속동작 중인 상태
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/// </summary>
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public bool Decelerating { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcDecelerating) > 0); } }
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/// <summary>
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/// 모션이 정방향으로 동작 중인 상태(모션이 정지 중일 때 Default로 동작)
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/// </summary>
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public bool DirectionPositive { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcDirectionPositive) > 0); } }
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/// <summary>
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/// 모션이 역방향으로 동작 중인 상태
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/// </summary>
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public bool DirectionNegative { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcDirectionNegative) > 0); } }
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/// <summary>
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/// Negative Hardware Limit Switch의 상태 0: OFF, 1: ON
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/// </summary>
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public bool LimitSwitchNeg { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcLimitSwitchNeg) > 0); } }
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/// <summary>
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/// Positive Hardware Limit Switch의 상태0: OFF, 1: ON
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/// </summary>
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public bool LimitSwitchPos { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcLimitSwitchPos) > 0); } }
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/// <summary>
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/// Home Switch의 상태 0: OFF, 1: ON
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/// </summary>
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public bool HomeAbsSwitch { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcHomeAbsSwitch) > 0); } }
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/// <summary>
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/// Positive Hardware Limit Switch가Active 되었을 때 On으로 변경(해당 Switch가 Off되었다고 해서 Off가 해제 되는 것은 아님)
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/// </summary>
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public bool LimitSwitchPosEvent { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcLimitSwitchPosEvent) > 0); } }
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/// <summary>
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/// Negative Hardware Limit Switch가Active 되었을 때 On으로 변경(해당 Switch가 Off되었다고 해서 Off가 되는 것은 아님)
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/// </summary>
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public bool LimitSwitchNegEvent { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcLimitSwitchNegEvent) > 0); } }
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/// <summary>
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/// 해당 축에 링크된 Slave Drive가 Fault상태(Slave Statusword bit 3)
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/// </summary>
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public bool DriveFault { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcDriveFault) > 0); } }
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/// <summary>
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/// 해당 축에 설정된 SensorStop에 의해 모션이 정지된 상태
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/// </summary>
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public bool SensorStop { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcSensorStop) > 0); } }
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/// <summary>
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/// AmpOn이 가능한 상태
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/// </summary>
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public bool ReadyForPowerOn { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcReadyForPowerOn) > 0); } }
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/// <summary>
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/// AmpOn이 정상적으로 완료된 상태
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/// </summary>
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public bool PowerOn { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcPowerOn) > 0); } }
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/// <summary>
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/// MC_Home에 의해 원점복귀가 완료된 상태
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/// </summary>
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public bool IsHomed { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcIsHomed) > 0); } }
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/// <summary>
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/// 모션 동작에는 문제가 없지만 축의 Warning상태
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/// </summary>
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public bool AxisWarning { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcAxisWarning) > 0); } }
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/// <summary>
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/// 모션 동작이 완료된 Inposition 상태
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/// </summary>
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public bool MotionComplete { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcMotionComplete) > 0); } }
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/// <summary>
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/// MC_GearIn에 의해 Gearing 동작 중인 상태
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/// </summary>
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public bool Gearing { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcGearing) > 0); } }
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/// <summary>
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/// 해당 축이 그룹에 속한 상태이며 해당 그룹이 Enable인 상태
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/// </summary>
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public bool GroupMotion { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcGroupMotion) > 0); } }
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/// <summary>
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/// 해당 축의 Buffer 1000개가 모두 사용된 상태
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/// </summary>
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public bool BufferFull { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcBufferFull) > 0); } }
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/// <summary>
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/// Reserved for Future Use
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/// </summary>
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public bool Reserved_as_30 { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcReserved_as_30) > 0); } }
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/// <summary>
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/// 해당 축에 링크된 Slave Drive의 Sensor data의 버그상태
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/// </summary>
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public bool Reserved_as_31 { get { return ((AxisStatus & (uint)NMCSDKLib.MC_AXISSTATUS.mcReserved_as_31) > 0); } }
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public ushort ErrorID { get; private set; }
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public ushort ErrorInfo0 { get; private set; }
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public ushort ErrorInfo1 { get; private set; }
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/// <summary>
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/// Current Position
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/// </summary>
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public double Position { get; private set; }
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/// <summary>
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/// Current Velocity
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/// </summary>
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public double Velocity { get; private set; }
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private bool Auto_Mode
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{
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get
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{
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return Board_Control.IO_manager.Get_Input(InputData.Safety_Mode_SW_Auto);
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}
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}
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#endregion
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#region Field
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private Sharp_Board_Control Board_Control;
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public Func<bool, bool> Check_Jog_Interlock;
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public Func<bool> Check_Move_Interlock;
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public Func<bool> Check_Home_Interlock;
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private double teach_velocity = 30;
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#endregion
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#region Construct
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public Axis(Sharp_Board_Control Board_Control, ushort Board_Id, ushort Device_Id)
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: base(Board_Id, Device_Id)
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{
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this.Board_Control = Board_Control;
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}
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#endregion
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#region Function
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/// <summary>
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/// Get Axis Status
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/// </summary>
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/// <returns></returns>
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public bool Get_Axis_Status()
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{
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try
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{
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uint uData = 0;
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NMCSDKLib.MC_STATUS mc;
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mc = NMCSDKLib.MC_ReadAxisStatus(Board_Id, Device_Id, ref uData);
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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AxisStatus = uData;
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return true;
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}
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else
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{
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AxisStatus = 0;
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throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
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/// <summary>
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/// Axis Amp On
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/// </summary>
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/// <returns></returns>
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public bool Amp_On()
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{
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try
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{
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NMCSDKLib.MC_STATUS mc;
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mc = NMCSDKLib.MC_Power(Board_Id, Device_Id, true);
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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return true;
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}
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else
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{
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throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
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/// <summary>
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/// Axis Amp Off
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/// </summary>
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/// <returns></returns>
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public bool Amp_Off()
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{
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try
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{
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NMCSDKLib.MC_STATUS mc;
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mc = NMCSDKLib.MC_Power(Board_Id, Device_Id, false);
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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return true;
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}
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else
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{
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throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
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/// <summary>
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/// Axis MC Error Reset
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/// </summary>
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/// <returns></returns>
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public bool MC_Error_Reset()
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{
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try
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{
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NMCSDKLib.MC_STATUS mc;
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mc = NMCSDKLib.MC_Reset(Board_Id, Device_Id);
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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return true;
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}
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else
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{
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throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
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/// <summary>
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/// Zog Move Negative
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/// </summary>
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/// <param name="Velocity">velocity</param>
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/// <param name="Accel">accelator</param>
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/// <param name="Decel">deccelator</param>
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/// <param name="Jerk">jerk</param>
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/// <returns></returns>
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public bool Negative_Zog(double Velocity)
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{
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try
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{
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if (Check_Jog_Interlock != null && Check_Jog_Interlock(false))
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{
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return false;
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}
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if (Velocity <= 0)
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{
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Interlock_Manager.Add_Interlock_Msg($"{((MotorAxis)Device_Id).ToString()} can't minus jog", $"{((MotorAxis)Device_Id).ToString()}'s velocity is under 0");
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return false;
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}
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if(!Auto_Mode)
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{
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if(Velocity > teach_velocity)
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{
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Velocity = teach_velocity;
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}
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}
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NMCSDKLib.MC_STATUS mc;
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double Accel = Velocity * 10;
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double Decel = Velocity * 10;
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double Jerk = Velocity * 100;
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mc = NMCSDKLib.MC_MoveVelocity(Board_Id, Device_Id, Velocity, Accel, Decel, Jerk, NMCSDKLib.MC_DIRECTION.mcNegativeDirection, NMCSDKLib.MC_BUFFER_MODE.mcAborting);
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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return true;
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}
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else
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{
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throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
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/// <summary>
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/// Zog Move Positive
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/// </summary>
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/// <param name="Velocity">velocity</param>
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/// <param name="Accel">accelator</param>
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/// <param name="Decel">deccelator</param>
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/// <param name="Jerk">jerk</param>
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/// <returns></returns>
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public bool Positive_Zog(double Velocity)
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{
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try
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{
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if(Check_Jog_Interlock != null && Check_Jog_Interlock(true))
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{
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return false;
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}
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if(Velocity <= 0)
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{
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Interlock_Manager.Add_Interlock_Msg($"{((MotorAxis)Device_Id).ToString()} can't plus jog", $"{((MotorAxis)Device_Id).ToString()}'s velocity is under 0");
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return false;
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}
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if (!Auto_Mode)
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{
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if (Velocity > teach_velocity)
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{
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Velocity = teach_velocity;
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}
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}
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NMCSDKLib.MC_STATUS mc;
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double Accel = Velocity * 10;
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double Decel = Velocity * 10;
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double Jerk = Velocity * 100;
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mc = NMCSDKLib.MC_MoveVelocity(Board_Id, Device_Id, Velocity, Accel, Decel, Jerk, NMCSDKLib.MC_DIRECTION.mcPositiveDirection, NMCSDKLib.MC_BUFFER_MODE.mcAborting);
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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return true;
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}
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else
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{
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throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
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/// <summary>
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/// Home
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/// </summary>
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/// <returns></returns>
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public bool Home()
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{
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try
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{
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if(Check_Home_Interlock !=null && Check_Home_Interlock())
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{
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return false;
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}
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NMCSDKLib.MC_STATUS mc;
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mc = NMCSDKLib.MC_Home(Board_Id, Device_Id, 0, NMCSDKLib.MC_BUFFER_MODE.mcAborting);
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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return true;
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}
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else
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{
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throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
|
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/// <summary>
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/// Axis Move Stop
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/// </summary>
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/// <param name="Decel">deccelator</param>
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/// <param name="Jerk">jerk</param>
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/// <returns></returns>
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public bool Move_Stop(double Velocity = 300)
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{
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try
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{
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if (Velocity <= 0)
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{
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Velocity = 300;
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}
|
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NMCSDKLib.MC_STATUS mc;
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double Decel = Velocity * 10;
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double Jerk = Velocity * 100;
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mc = NMCSDKLib.MC_Halt(Board_Id, Device_Id, Decel, Jerk, NMCSDKLib.MC_BUFFER_MODE.mcAborting);
|
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if (mc == NMCSDKLib.MC_STATUS.MC_OK)
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{
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return true;
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}
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else
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{
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return false;
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//throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
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}
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}
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catch (Exception ex)
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{
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//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
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return false;
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}
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}
|
|
/// <summary>
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/// Move absololute
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/// </summary>
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/// <param name="Position">positiion</param>
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/// <param name="Velocity">velocity</param>
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/// <param name="Accel">accelator</param>
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/// <param name="Decel">deccelator</param>
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/// <param name="Jerk">jerk</param>
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/// <returns></returns>
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public bool Move_Absolute_Pos(double Position, double Velocity)
|
{
|
try
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{
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if (Check_Move_Interlock != null && Check_Move_Interlock())
|
{
|
return false;
|
}
|
|
if (Velocity <= 0)
|
{
|
Interlock_Manager.Add_Interlock_Msg($"{((MotorAxis)Device_Id).ToString()} can't absolute move", $"{((MotorAxis)Device_Id).ToString()}'s velocity is under 0");
|
return false;
|
}
|
|
if (!Auto_Mode)
|
{
|
if (Velocity > teach_velocity)
|
{
|
Velocity = teach_velocity;
|
}
|
}
|
|
NMCSDKLib.MC_STATUS mc;
|
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double Accel = Velocity * 10;
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double Decel = Velocity * 10;
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double Jerk = Velocity * 100;
|
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mc = NMCSDKLib.MC_MoveAbsolute(Board_Id, Device_Id, Position, Velocity, Accel, Decel, Jerk, NMCSDKLib.MC_DIRECTION.mcPositiveDirection, NMCSDKLib.MC_BUFFER_MODE.mcAborting);
|
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
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return true;
|
}
|
else
|
{
|
throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
|
}
|
}
|
catch (Exception ex)
|
{
|
//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
|
return false;
|
}
|
}
|
|
/// <summary>
|
/// Move Relative
|
/// </summary>
|
/// <param name="Distance">distance</param>
|
/// <param name="Velocity">velocity</param>
|
/// <param name="Accel">accelator</param>
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/// <param name="Decel">deccelator</param>
|
/// <param name="Jerk">jerk</param>
|
/// <returns></returns>
|
public bool Move_Relative_Pos(double Distance, double Velocity)
|
{
|
try
|
{
|
if (Check_Move_Interlock != null && Check_Move_Interlock())
|
{
|
return false;
|
}
|
|
if (Velocity <= 0)
|
{
|
Interlock_Manager.Add_Interlock_Msg($"{((MotorAxis)Device_Id).ToString()} can't relative move", $"{((MotorAxis)Device_Id).ToString()}'s velocity is under 0");
|
return false;
|
}
|
|
if (!Auto_Mode)
|
{
|
if (Velocity > teach_velocity)
|
{
|
Velocity = teach_velocity;
|
}
|
}
|
double Accel = Velocity * 10;
|
double Decel = Velocity * 10;
|
double Jerk = Velocity * 100;
|
|
NMCSDKLib.MC_STATUS mc;
|
mc = NMCSDKLib.MC_MoveRelative(Board_Id, Device_Id, Distance, Velocity, Accel, Decel, Jerk, NMCSDKLib.MC_BUFFER_MODE.mcAborting);
|
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
|
return true;
|
}
|
else
|
{
|
throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
|
}
|
}
|
catch (Exception ex)
|
{
|
//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
|
return false;
|
}
|
}
|
|
/// <summary>
|
/// Get actual position
|
/// </summary>
|
/// <param name="position">position</param>
|
/// <returns></returns>
|
public bool Get_Actual_Position()
|
{
|
try
|
{
|
double dData = 0;
|
NMCSDKLib.MC_STATUS mc;
|
mc = NMCSDKLib.MC_ReadCommandedPosition(Board_Id, Device_Id, ref dData);
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
|
Position = double.Parse(dData.ToString("F3"));
|
return true;
|
}
|
else
|
{
|
Position = 0;
|
throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
|
}
|
}
|
catch (Exception ex)
|
{
|
//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
|
return false;
|
}
|
}
|
|
/// <summary>
|
/// Get actual velocity
|
/// </summary>
|
/// <param name="Velocity">velocity</param>
|
/// <returns></returns>
|
public bool Get_Actual_Velocity()
|
{
|
try
|
{
|
double dData = 0;
|
NMCSDKLib.MC_STATUS mc;
|
mc = NMCSDKLib.MC_ReadCommandedVelocity(Board_Id, Device_Id, ref dData);
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
|
Velocity = double.Parse(dData.ToString("F3"));
|
return true;
|
}
|
else
|
{
|
Velocity = 0;
|
throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
|
}
|
}
|
catch (Exception ex)
|
{
|
//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
|
return false;
|
}
|
}
|
|
public bool Position_Clear()
|
{
|
try
|
{
|
NMCSDKLib.MC_STATUS mc;
|
mc = NMCSDKLib.MC_SetPosition(Board_Id, Device_Id, 0, false, NMCSDKLib.MC_EXECUTION_MODE.mcImmediately);
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
|
return true;
|
}
|
else
|
{
|
throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
|
}
|
}
|
catch (Exception ex)
|
{
|
//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
|
return false;
|
}
|
}
|
|
/// <summary>
|
/// Get Error Info
|
/// </summary>
|
/// <returns></returns>
|
public bool ErrorInfo()
|
{
|
try
|
{
|
NMCSDKLib.MC_STATUS mc;
|
ushort usErrorId = 0;
|
ushort usErrorInfo0 = 0;
|
ushort usErrorInfo1 = 0;
|
|
mc = NMCSDKLib.MC_ReadAxisError(Board_Id, Device_Id, ref usErrorId, ref usErrorInfo0, ref usErrorInfo1);
|
|
if (mc == NMCSDKLib.MC_STATUS.MC_OK)
|
{
|
ErrorID = usErrorId;
|
ErrorInfo0 = usErrorInfo0;
|
ErrorInfo1 = usErrorInfo1;
|
return true;
|
}
|
else
|
{
|
ErrorID = 0;
|
ErrorInfo0 = 0;
|
ErrorInfo1 = 0;
|
throw new Exception($"Board_Id : {Board_Id}, Device_Id : {Device_Id}, " + mc.ToString());
|
}
|
}
|
catch (Exception ex)
|
{
|
//WriteExceptionLog(MethodBase.GetCurrentMethod().Name, ex);
|
return false;
|
}
|
}
|
|
public bool Is_Inposition(double position, double offset)
|
{
|
if (position - offset <= this.Position && this.Position <= position + offset)
|
{
|
return true;
|
}
|
else
|
{
|
return false;
|
}
|
}
|
#endregion
|
}
|
}
|
