Fanuc Focas1/2 in C# - 參數讀寫－史克威爾凱特的部落格

update : 2018.08.02

讀寫的部分目前我在這分幾類：
1.系統參數
2.PMC
3.補正
4.巨集(Macro)

1.系統參數讀寫：

有的參數有分軸向，有的沒有，

我不太會下-1去撈全部軸向，因為我會遇到錯誤，

所以用多少軸，我就下多少。

至於要用Byte, Word, DoubleWord 就要去看參數手冊，去查要使用的參數是屬於哪種資料長度。

public void WriteByteParam(short address,Byte data, short axis)
{
Focas1.IODBPSD param=new Focas1.IODBPSD();
param.type=axis;
param.datano=address;
param.u.cdata=data;
Focas1.cnc_wrparam(FFlibHndl, 5, param);
}

public void WriteWordParam(short address, short data, short axis)
{
Focas1.IODBPSD param=new Focas1.IODBPSD();
param.type=axis;
param.datano=address;
param.u.idata=data;
Focas1.cnc_wrparam(FFlibHndl, 6, param);
}

public void WriteDbWordParam(short address, int data, short axis)
{
Focas1.IODBPSD param=new Focas1.IODBPSD();
param.type = axis;
param.datano = address;
param.u.ldata = data;
Focas1.cnc_wrparam(FFlibHndl, 8, param);
}

public byte ReadByteParam(short address, short axis)
{
Focas1.IODBPSD param=new Focas1.IODBPSD();
int ret=Focas1.cnc_rdparam(FFlibHndl, address, axis, 5, param);
if (ret == Focas1.EW_OK)
{
return param.u.cdata;
}
else
{
return 0;
}
}

public short ReadWordParam(short address, short axis)
{
Focas1.IODBPSD param=new Focas1.IODBPSD();
int ret = Focas1.cnc_rdparam(FFlibHndl, address, axis, 6, param);
if(ret==Focas1.EW_OK)
{
return param.u.idata;
}
return 0;
}

public int ReadDbWordParam(short address, short axis)
{
Focas1.IODBPSD param=new Focas1.IODBPSD();
int ret = Focas1.cnc_rdparam(FFlibHndl, address, axis, 8, param);
if (ret == Focas1.EW_OK)
{
return param.u.ldata;
}
else
{
return 0;
}
}

2.PMC讀寫：

//這邊我先定義暫存器的編號
public enum AddrType
{
G = 0,
F = 1,
Y = 2,
X = 3,
A = 4,
R = 5,
T = 6,
K = 7,
C = 8,
D = 9,
M = 10,
N = 11,
E = 12,
Z = 13
}

//這邊我先定義資料長度的編號
public enum LengthType
{
BYTE = 0,
WORD = 1,
DWORD = 2
}
//Write PMC
public void WriteByteParam(AddrType addr_type, short address, byte value)
{
Focas1.IODBPMC0 buf = new Focas1.IODBPMC0();
buf.cdata = new byte[5];//必須自己建立，且大小要5。否則會發生錯誤
buf.cdata[0] = (byte)value;
buf.type_a = (short)addr_type;
buf.type_d = (short)LengthType.BYTE;
buf.datano_s = address;
buf.datano_e = address;
int ret = Focas1.pmc_wrpmcrng(FFlibHndl, 9, buf);
}
public void WriteWordParam(AddrType addr_type, short address, short value)
{
Focas1.IODBPMC1 buf = new Focas1.IODBPMC1();
buf.idata = new short[5];//必須自己建立，且大小要5。否則會發生錯誤
buf.idata[0] = (short)value;
buf.type_a = (short)addr_type;
buf.type_d = (short)LengthType.WORD;
buf.datano_s = address;
buf.datano_e = (short)(address + 1);
int ret = Focas1.pmc_wrpmcrng(FFlibHndl, 10, buf);
}
public void WriteDbWordParam(AddrType addr_type, short address, int value)
{
Focas1.IODBPMC2 buf = new Focas1.IODBPMC2();
buf.ldata = new int[5];//必須自己建立，且大小要5。否則會發生錯誤
buf.ldata[0] = (int)value;
buf.type_a = (short)addr_type;
buf.type_d = (short)LengthType.DWORD;
buf.datano_s = address;
buf.datano_e = (short)(address + 3);
int ret = Focas1.pmc_wrpmcrng(FFlibHndl, 12, buf);
}
//Ex: Write PMC E200 = 2
//WriteByteParam(AddrType.E, 200, 2);

//Read PMC
public byte ReadByteParam(AddrType addr_type, ushort address)
{
Focas1.IODBPMC0 buf = new Focas1.IODBPMC0();
short ret = Focas1.pmc_rdpmcrng(FFlibHndl, (short)addr_type, (short)LengthType.BYTE, address, address, 9, buf);
if (ret == Focas1.EW_OK) return (byte)buf.cdata[0];
return 0;
}

public short ReadWordParam(AddrType addr_type, ushort address)
{
Focas1.IODBPMC1 buf = new Focas1.IODBPMC1();
short ret = Focas1.pmc_rdpmcrng(FFlibHndl, (short)addr_type, (short)LengthType.WORD, address, (ushort)(address + 1), 10, buf);
if (ret == Focas1.EW_OK) return (short)buf.idata[0];
return 0;
}

public int ReadDbWordParam(AddrType addr_type, ushort address)
{
Focas1.IODBPMC2 buf = new Focas1.IODBPMC2();
short ret = Focas1.pmc_rdpmcrng(FFlibHndl, (short)addr_type, (short)LengthType.DWORD, address, (ushort)(address + 3), 12, buf);
if (ret == Focas1.EW_OK) return (int)buf.ldata[0];
return 0;
}
//Ex: Read PMC E200
//byte val = ReadByteParam(AddrType.E, 200);

3.補正

//這邊我定義刀具補正的結構

public class OffsetData
{
//Wear
public int WearX;
public int WearZ;
public int WearRadius;
//Geometry
public int GeometryX;
public int GeometryZ;
public int GeometryRadius;
}

public OffsetData ReadToolOffset(short no)
{
Focas1.ODBTOFS ofs = new Focas1.ODBTOFS();
OffsetData data = new OffsetData();

short ret;
//Wear
ret = Focas1.cnc_rdtofs(FFlibHndl, no, 0, 8, ofs);
if (ret == Focas1.EW_OK) data.WearX = ofs.data;
ret = Focas1.cnc_rdtofs(FFlibHndl, no, 2, 8, ofs);
if (ret == Focas1.EW_OK) data.WearZ = ofs.data;
ret = Focas1.cnc_rdtofs(FFlibHndl, no, 4, 8, ofs);
if (ret == Focas1.EW_OK) data.WearRadius = ofs.data;

//Geometry
ret = Focas1.cnc_rdtofs(FFlibHndl, no, 1, 8, ofs);
if (ret == Focas1.EW_OK) data.GeometryX = ofs.data;
ret = Focas1.cnc_rdtofs(FFlibHndl, no, 3, 8, ofs);
if (ret == Focas1.EW_OK) data.GeometryZ = ofs.data;
ret = Focas1.cnc_rdtofs(FFlibHndl, no, 5, 8, ofs);
if (ret == Focas1.EW_OK) data.GeometryRadius = ofs.data;

return data;
}

public void WriteToolOffset(short no, OffsetData data)
{
short ret;
//Wear
ret = Focas1.cnc_wrtofs(FFlibHndl, no, 0, 8, data.WearX);
ret = Focas1.cnc_wrtofs(FFlibHndl, no, 2, 8, data.WearZ);
ret = Focas1.cnc_wrtofs(FFlibHndl, no, 4, 8, data.WearRadius);

//Geometry
ret = Focas1.cnc_wrtofs(FFlibHndl, no, 1, 8, data.GeometryX);
ret = Focas1.cnc_wrtofs(FFlibHndl, no, 3, 8, data.GeometryZ);
ret = Focas1.cnc_wrtofs(FFlibHndl, no, 5, 8, data.GeometryRadius);
}

4.巨集(Macro)

這邊只列我有在使用的部分，這些就足夠提供公司的應用

有些函式其實是一樣的功能，但是卻不好用，

public short WriteMacro(int no, double val)
{
//範圍:
//#100~#999
//#98000~#98499
int num = 1;
short ret=Focas1.cnc_wrmacror2(FFlibHndl, no, ref num, val);
return ret;
}

public short ReadMacro(int no, out double val)
{
//範圍:
//#1~#33
//#100~#999
//#1000~
//#98000~#98499
int num=1;
double [] result = new double [1];
short ret=Focas1.cnc_rdmacror2(FFlibHndl, no,ref num, result);
if(ret==Focas1.EW_OK)
{
val = result[0];
}
else
{
val = 0;
}
return ret;
}

public short WritePMacro(uint no, double val)
{
//範圍
//#10000~#89999 實際範圍請參考cnc_rdpmacroinfo, cnc_rdpmacroinfo2
uint num=1;
short ret=Focas1.cnc_wrpmacror2(FFlibHndl, no, ref num, 0, val);
return ret;
}

public short ReadPMacro(uint no, out double val)
{
//範圍
//#10000~#89999 實際範圍請參考cnc_rdpmacroinfo, cnc_rdpmacroinfo2
uint num = 1;
double[] result = new double[1];
short ret = Focas1.cnc_rdpmacror2(FFlibHndl, no, ref num, 0, result);
if (ret == Focas1.EW_OK)
{
val = result[0];
}
else
{
val = 0;
}
return ret;
}