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Program Hai

This document is a C# program that interfaces with a motor control system using Modbus communication. It defines various soft element types and provides functions to initialize communication, read, and write data to the motor's registers. The main functionality includes checking motor rotation and debugging sensor values based on command line arguments.

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Hải Phạm Hồng
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2 views

Program Hai

This document is a C# program that interfaces with a motor control system using Modbus communication. It defines various soft element types and provides functions to initialize communication, read, and write data to the motor's registers. The main functionality includes checking motor rotation and debugging sensor values based on command line arguments.

Uploaded by

Hải Phạm Hồng
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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using System;

using System.Collections.Generic;

using System.Linq;

using System.Text;

using System.Threading.Tasks;

using System.Threading;

using System.Diagnostics;

using System.Runtime.InteropServices;

namespace Motor

public enum SoftElemType

//AM600

ELEM_QX = 0, //QX 元件

ELEM_MW = 1, //MW 元件

ELEM_X = 2, //X 元件(对应 QX200~QX300)

ELEM_Y = 3, //Y 元件(对应 QX300~QX400)

//H3U

REGI_H3U_Y = 0x20, //Y 元件的定义

REGI_H3U_X = 0x21, //X 元件的定义

REGI_H3U_S = 0x22, //S 元件的定义

REGI_H3U_M = 0x23, //M 元件的定义

REGI_H3U_TB = 0x24, //T 位元件的定义

REGI_H3U_TW = 0x25, //T 字元件的定义

REGI_H3U_CB = 0x26, //C 位元件的定义

REGI_H3U_CW = 0x27, //C 字元件的定义

REGI_H3U_DW = 0x28, //D 字元件的定义


REGI_H3U_CW2 = 0x29, //C 双字元件的定义

REGI_H3U_SM = 0x2a, //SM

REGI_H3U_SD = 0x2b, //

REGI_H3U_R = 0x2c, //

//H5u

REGI_H5U_Y = 0x30, //Y 元件的定义

REGI_H5U_X = 0x31, //X 元件的定义

REGI_H5U_S = 0x32, //S 元件的定义

REGI_H5U_M = 0x33, //M 元件的定义

REGI_H5U_B = 0x34, //B 元件的定义

REGI_H5U_D = 0x35, //D 字元件的定义

REGI_H5U_R = 0x36, //R 字元件的定义

class Program

[DllImport("StandardModbusApi.dll", EntryPoint = "Init_ETH_String", CallingConvention =


CallingConvention.Cdecl)]

public static extern bool Init_ETH_String(string sIpAddr, int nNetId = 0, int IpPort = 502);

[DllImport("StandardModbusApi.dll", EntryPoint = "Exit_ETH", CallingConvention =


CallingConvention.Cdecl)]

public static extern bool Exit_ETH(int nNetId = 0);


[DllImport("StandardModbusApi.dll", EntryPoint = "H3u_Write_Soft_Elem", CallingConvention =
CallingConvention.Cdecl)]

public static extern int H3u_Write_Soft_Elem(SoftElemType eType, int nStartAddr, int nCount,
byte[] pValue, int nNetId = 0);

[DllImport("StandardModbusApi.dll", EntryPoint = "H3u_Read_Soft_Elem", CallingConvention =


CallingConvention.Cdecl)]

public static extern int H3u_Read_Soft_Elem(SoftElemType eType, int nStartAddr, int nCount, byte[]
pValue, int nNetId = 0);

[DllImport("StandardModbusApi.dll", EntryPoint = "H3u_Read_Soft_Elem_Float", CallingConvention


= CallingConvention.Cdecl)]

public static extern int H3u_Read_Soft_Elem_Float(SoftElemType eType, int nStartAddr, int nCount,
float[] pValue, int nNetId = 0);

[DllImport("StandardModbusApi.dll", EntryPoint = "H5u_Write_Soft_Elem", CallingConvention =


CallingConvention.Cdecl)]

public static extern int H5u_Write_Soft_Elem(SoftElemType eType, int nStartAddr, int nCount,
byte[] pValue, int nNetId = 0);

[DllImport("StandardModbusApi.dll", EntryPoint = "H5u_Read_Soft_Elem", CallingConvention =


CallingConvention.Cdecl)]

public static extern int H5u_Read_Soft_Elem(SoftElemType eType, int nStartAddr, int nCount, byte[]
pValue, int nNetId = 0);

[DllImport("StandardModbusApi.dll", EntryPoint = "H5u_Read_Soft_Elem_Float", CallingConvention


= CallingConvention.Cdecl)]

public static extern int H5u_Read_Soft_Elem_Float(SoftElemType eType, int nStartAddr, int nCount,
float[] pValue, int nNetId = 0);

[DllImport("StandardModbusApi.dll", EntryPoint = "H5u_Read_Device_Block", CallingConvention =


CallingConvention.Cdecl)]

public static extern int H5u_Read_Device_Block(SoftElemType eType, int nStartAddr, int nCount,
byte[] pValue, int nNetId = 0);
[DllImport("StandardModbusApi.dll", EntryPoint = "Am600_Write_Soft_Elem", CallingConvention =
CallingConvention.Cdecl)]

public static extern int Am600_Write_Soft_Elem(SoftElemType eType, int nStartAddr, int nCount,
byte[] pValue, int nNetId = 0);

[DllImport("StandardModbusApi.dll", EntryPoint = "Am600_Read_Soft_Elem", CallingConvention =


CallingConvention.Cdecl)]

public static extern int Am600_Read_Soft_Elem(SoftElemType eType, int nStartAddr, int nCount,
byte[] pValue, int nNetId = 0);

static int Main(string[] args)

string ip = args[1];

int nNetId = int.Parse(args[2]);

int Ipport = int.Parse(args[3]);

int sensor_addr = 200;

int updown_relay_addr = 202;

int[] position_sensor = { 1, 2, 4 };

string value_result = "";

string info_result = "NORMAL";

bool result = Init_ETH_String(ip, nNetId, Ipport);

if (!result)

{
value_result = "FAIL -1 CONNECT_ERROR";

Console.WriteLine(value_result);

//Console.WriteLine("failed to init.");

return 255;

if (args[0] == "CHECK_ROTATE")

value_result = "FAIL ";

string dir = args[4].Substring("DIR=".Length);

string rounds = args[5];

string time_out = args[6];

int rounds_num = int.Parse(rounds.Substring("ROUND=".Length));

int timeout = int.Parse(time_out.Substring("TIMEOUT=".Length));

int count_round = -1;

int durationStart = Environment.TickCount;

int updown_relay_value = -1;

int sensor_value = -1;

int first_sensor_value = -1;

int present_sensor_value = -1;

int dir_value;

int present_index = 0;

int next_index = 0;

bool next_position_flag = false;

if (dir == "CW") dir_value = 1;

else if (dir == "CCW") dir_value = -1;


while (Environment.TickCount - durationStart <= timeout)

if (count_round >= rounds_num) break;

if (next_position_flag)

next_index = present_index + dir_value;

if (next_index > 2) next_index = 0;

else if (next_index < 0) next_index = 2;

next_position_flag = false;

updown_relay_value = read_data_h3u_model(updown_relay_addr, nNetId);

if (updown_relay_value == 0)

info_result = " UNLOCK_DUT";

break;

else if (updown_relay_value == 1)

sensor_value = read_data_h3u_model(sensor_addr, nNetId);

if (sensor_value == 0) continue;

while (Environment.TickCount - durationStart <= timeout)

if (read_data_h3u_model(sensor_addr, nNetId) == 0) break;

if (first_sensor_value == -1)

first_sensor_value = sensor_value;

present_index = Math.Log(sensor_value,2);

next_position_flag = true;
count_round += 1;

continue;

if (sensor_value == position_sensor[present_index])

info_result = " WRONG_DIRECTION";

break;

else if (sensor_value == position_sensor[next_index])

next_position_flag = true;

present_index = next_index;

else break;

if (sensor_value == first_sensor_value) count_round += 1;

if (Environment.TickCount - durationStart +5 > timeout) info_result = " TIMEOUT";

if (count_round >= rounds_num) value_result = "PASS ";

value_result += count_round + info_result;

Console.WriteLine(value_result);

else if (args[0] == "DEBUG_MODE")

//writeCommand(100, 2);

int value;

while (true)
{

value = read_data_h3u_model(sensor_addr, nNetId);

Console.WriteLine(String.Format("(Status Sensor) nValue:{0},", result_value));

Thread.Sleep(5);

Exit_ETH(int.Parse(args[2]));

return 0;

static int read_data_h3u_model(int Addr,int nNetIdR = 0)

byte[] pValueR = new byte[2];

int nRet = H3u_Read_Soft_Elem(SoftElemType.REGI_H3U_DW, Addr, 1, pValueR, nNetIdR);

int nValue = BitConverter.ToInt16(pValueR, 0);

Debug.WriteLine(String.Format("H5u_Read_Soft_Elem:{0}", nValue));

//Console.WriteLine(String.Format("(Status Sensor) nValue:{0}, nRet:{1}", nValue,nRet));

return nValue;

//static int Main(string[] args)

//{

// bool result = Init_ETH_String(args[1], int.Parse(args[2]), int.Parse(args[3]));


// if (!result)

// {

// Console.WriteLine("failed to init.");

// return 255;

// }

// int sensor_addr = 200;

// int[] position_sensor = { 1, 2, 4 };

// if (args[0] == "ROTATE_CHECK_DIR")

// {

// int rounds_num = int.Parse(args[4]);

// int count_num = -1;

// result = checkStatus(200, 1, 5000);

// }

// else if (args[0] == "Z-UP")

// {

// writeCommand(100, 2);

// result = checkStatus(200, 2, 5000);

// }

// //if (args[0] == "Z-DOWN")

// //{

// // writeCommand(100, 1);

// // result = checkStatus(200, 1, 5000);

// //}

// //else if (args[0] == "Z-UP")


// //{

// // writeCommand(100, 2);

// // result = checkStatus(200, 2, 5000);

// //}

// //else if (args[0] == "CLAMP")

// //{

// // writeCommand(110, 1);

// // result = checkStatus(210, 1, 5000);

// //}

// //else if (args[0] == "RELEASE")

// //{

// // writeCommand(110, 2);

// // result = checkStatus(210, 2, 5000);

// //}

// //else if (args[0] == "MOVE-IN")

// //{

// // writeCommand(130, 1);

// // result = checkStatus(230, 1, 5000);

// //}

// //else if (args[0] == "MOVE-OUT")

// //{

// // writeCommand(130, 2);

// // result = checkStatus(230, 2, 5000);

// //}

// //else if (args[0] == "RELAY-ON")

// //{

// // writeCommand(150, 1);

// // result = checkStatus(250, 1, 5000);

// //}
// //else if (args[0] == "RELAY-OFF")

// //{

// // writeCommand(150, 2);

// // result = checkStatus(250, 2, 5000);

// //}

// //else if (args[0] == "RESET")

// //{

// // writeCommand(600, 1);

// // result = checkStatus(650, 1, 30000);

// //}

// //else if (args[0] == "SET-SPEED")

// //{

// // writeCommand(500, 1);

// // Thread.Sleep(500);

// // int v = int.Parse(args[4]);

// // writeCommand(350, v);

// // Thread.Sleep(500);

// // result = checkStatus(350, v, 5000);

// // writeCommand(500, 0);

// //}

// //else if (args[0] == "SET-ANGLE")

// //{

// // writeCommand(500, 1);

// // Thread.Sleep(500);

// // int v = int.Parse(args[4]);

// // writeCommand(450, v);

// // Thread.Sleep(500);

// // result = checkStatus(450, v, 30000);

// // writeCommand(500, 0);
// //}

// //else if (args[0] == "READ-SET-SPEED")

// //{

// // result = readRegistor2(350, 3000);

// //}

// //else if (args[0] == "READ-SET-ANGLE")

// //{

// // result = readRegistor2(450, 3000);

// //}

// //else if (args[0] == "READ-CUR-SPEED")

// //{

// // result = readRegistor2(300, 3000);

// //}

// //else if (args[0] == "READ-CUR-ANGLE")

// //{

// // result = readRegistor2(400, 3000);

// //}

// //else if (args[0] == "ROTATE-CHECK-POS")

// //{

// // writeCommand(120, 1);

// // result = checkStatus(220, 1, 30000);

// // writeCommand(120, 0);

// //}

// //else if (args[0] == "ROTATE")

// //{

// // writeCommand(120, 1);

// // //result = checkStatus(220, 1, 30000);

// // //writeCommand(120, 0);

// //}
// //else if (args[0] == "CHECK-ROTATE")

// //{

// // result = checkStatus(220, 1, 30000);

// // writeCommand(120, 0);

// //}

// //else if (args[0] == "ZERO")

// //{

// // Thread.Sleep(500);

// // writeCommand(120, 2);

// // result = checkStatus(220, 2, 30000);

// //}

// Exit_ETH(int.Parse(args[2]));

// if (result)

// Console.WriteLine("pass");

// else

// Console.WriteLine("fail");

// return 0;

//}

//static void writeCommand(int Addr, int value)

//{

// byte[] pValue = new byte[2];

// int nNetId = 0;

// pValue = BitConverter.GetBytes(value);
// int nRet = H5u_Write_Soft_Elem(SoftElemType.REGI_H5U_D, Addr, 2, pValue, nNetId);

// //Console.WriteLine(String.Format("(checkStatus) nRet:{0}",nRet));

//}

//static bool checkStatus_h3u_model(int Addr, int value, int Timeout = 5000)

//{

// byte[] pValueR = new byte[2];

// int nNetIdR = 0;

// int durationStart = Environment.TickCount;

// while (Environment.TickCount - durationStart <= Timeout)

// {

// int nRet = H5u_Read_Soft_Elem(SoftElemType.REGI_H5U_D, Addr, 1, pValueR, nNetIdR);

// int nValue = BitConverter.ToInt16(pValueR, 0);

// Debug.WriteLine(String.Format("H5u_Read_Soft_Elem:{0}", nValue));

// //Console.WriteLine(String.Format("(checkStatus) nValue:{0}, nRet:{1}", nValue,nRet));

// if (nValue == value)

// return true;

// }

// return false;

//}

//static bool checkStatus(int Addr, int value, int Timeout = 5000)

//{

// byte[] pValueR = new byte[2];

// int nNetIdR = 0;
// int durationStart = Environment.TickCount;

// while (Environment.TickCount - durationStart <= Timeout)

// {

// int nRet = H5u_Read_Soft_Elem(SoftElemType.REGI_H5U_D, Addr, 1, pValueR, nNetIdR);

// int nValue = BitConverter.ToInt16(pValueR, 0);

// Debug.WriteLine(String.Format("H5u_Read_Soft_Elem:{0}", nValue));

// //Console.WriteLine(String.Format("(checkStatus) nValue:{0}, nRet:{1}", nValue,nRet));

// if (nValue == value)

// return true;

// }

// return false;

//}

//static bool readRegistor(int Addr, int Timeout = 5000)

//{

// byte[] pValueR = new byte[2];

// int nNetIdR = 0;

// int nRet = 0;

// int durationStart = Environment.TickCount;

// while (Environment.TickCount - durationStart <= Timeout)

// {

// nRet = H5u_Read_Device_Block(SoftElemType.REGI_H5U_D, Addr, 2, pValueR, nNetIdR);

// int readData = BitConverter.ToInt16(pValueR, 0);

// Console.WriteLine(String.Format("(readRegistor) readData:{0}, nRet:{1}", readData, nRet));

// if (nRet == 1)

// return true;
// }

// return false;

//}

//static bool readRegistor2(int Addr, int Timeout = 5000)

//{

// byte[] pValueR = new byte[2];

// int nNetIdR = 0;

// int durationStart = Environment.TickCount;

// while (Environment.TickCount - durationStart <= Timeout)

// {

// int nRet = H5u_Read_Soft_Elem(SoftElemType.REGI_H5U_D, Addr, 1, pValueR, nNetIdR);

// int nValue = BitConverter.ToInt16(pValueR, 0);

// Debug.WriteLine(String.Format("H5u_Read_Soft_Elem:{0}", nValue));

// Console.WriteLine(String.Format("(checkStatus) nValue:{0}, nRet:{1}", nValue,nRet));

// if (nRet == 1)

// return true;

// }

// return false;

//}

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