#include <PanelMain.h> raw
#Include "CONTEC_Motion.pcs"

'---------------------------------------------------
'	Initialization
'---------------------------------------------------
Sub Panel_INITIALIZE()
	CONTEC_Motion "SIGMA_5", "CaoProv.CONTEC.SMC", "", "DeviceName=SMC000,@Ifnotmember=True" 

	'1 axis pulse output initialization
	smcSetIniPis "SIGMA_5", 1, 4, 1, 0
	
	'1 axis counter movement settings
	smcSetIniCnt "SIGMA_5", 1, 0, 0, 0
	
	'1 axis control I/O settings
	smcSetIniDio "SIGMA_5", 1, 1, 0, 0, 0, 0
	
	'1 axis encoder settings 

	smcSetIniEnc "SIGMA_5", 1, 1, 0, 0, 0, 0
	
	'1 axis origin settings
	smcSetIniOrg "SIGMA_5", 1, 1, 1, 0, 0, 1
	
	'1 axis speed resolution settings
	smcSetReSpd "SIGMA_5", 1, 10
	
	'1 axis other initial settings
	smcSetIniExt "SIGMA_5", 1, 0, 0, 0
End Sub

'---------------------------------------------------
'	General purpose output: OUT1 �� ON/OFF
'---------------------------------------------------
Sub ipbOUT1_CLICKED()
	If smcOutBitCheck( "SIGMA_5", 1, 1 ) = 0 Then
		smcOut1_On "SIGMA_5", 1
		ipbOUT1.State = 1
	ElseIf smcOutBitCheck( "SIGMA_5", 1, 1 ) = 1 Then
		smcOut1_Off "SIGMA_5", 1
		ipbOUT1.State = 0
	End If
End Sub

'---------------------------------------------------
'	General purpose output: OUT2 = ON
'---------------------------------------------------
Sub ipbOUT2_CLICKED()
	smcOut2_On "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	General purpose output: OUT3 = ON
'---------------------------------------------------
Sub ipbOUT3_CLICKED()
	smcOut3_On "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	General purpose output: OUT2 = OFF
'---------------------------------------------------
Sub ipbOUT2_RELEASED()
	smcOut2_Off "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	General purpose output: OUT3 = OFF
'---------------------------------------------------
Sub ipbOUT3_RELEASED()
	smcOut3_Off "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	Timer 1 event
'---------------------------------------------------
Sub Timer1_TIMER()
	'"/S-ON"	(General purpose output 1: Out1)	status
	If smcOutBitCheck( "SIGMA_5", 1, 1 ) = 0 Then
		ipbOUT1.State = 0
	ElseIf smcOutBitCheck( "SIGMA_5", 1, 1 ) = 1 Then
		ipbOUT1.State = 1
	End If

	'"ALM"	(General purpose input 1: In1)	status
	If smcIn1( "SIGMA_5", 1 ) = 0 Then
		plIN1.State =0
	ElseIf smcIn1( "SIGMA_5", 1 ) = 1 Then
		plIN1.State =1
	End If

	'"/COIN"	(General purpose input 2: In2)	status
	If smcIn2( "SIGMA_5", 1 ) = 0 Then
		plIN2.State =0
	ElseIf smcIn2( "SIGMA_5", 1 ) = 1 Then
		plIN2.State =1
	End If

	'"/S-RDY"	(General purpose input 3: In3)	status
	If smcIn3( "SIGMA_5", 1 ) = 0 Then
		plIN3.State =0
	ElseIf smcIn3( "SIGMA_5", 1 ) = 1 Then
		plIN3.State =1
	End If

	'"/TGON"	(General purpose input 4: In4)	status
	If smcIn4( "SIGMA_5", 1 ) = 0 Then
		plIN4.State =0
	ElseIf smcIn4( "SIGMA_5", 1 ) = 1 Then
		plIN4.State =1
	End If

	'"ALO1"	(General purpose input 5: In5)	status
	If smcIn5( "SIGMA_5", 1 ) = 0 Then
		plIN5.State =0
	ElseIf smcIn5( "SIGMA_5", 1 ) = 1 Then
		plIN5.State =1
	End If

	'"ALO2"	(General purpose input 6: In6)	status
	If smcIn6( "SIGMA_5", 1 ) = 0 Then
		plIN6.State =0
	ElseIf smcIn6( "SIGMA_5", 1 ) = 1 Then
		plIN6.State =1
	End If

	'"ALO3"	(General purpose input 7: In7)	status
	If smcIn7( "SIGMA_5", 1 ) = 0 Then
		plIN7.State =0
	ElseIf smcIn7( "SIGMA_5", 1 ) = 1 Then
		plIN7.State =1
	End If

	'ALM limit (alarm/emergency stop limit) status
	If (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 0 ) = 0 Then
		plALM.State = 0
	ElseIf (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 0 ) = 2 ^ 0 Then
		plALM.State = 1
	End If

	'+LMT limit (CW limit) status
	If (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 1 ) = 0 Then
		plLMTP.State = 0
	ElseIf (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 1 ) = 2 ^ 1 Then
		plLMTP.State = 1
	End If

	'-LMT limit (CCW limit) status
	If (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 2 ) = 0 Then
		plLMTM.State = 0
	ElseIf (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 2 ) = 2 ^ 2 Then
		plLMTM.State = 1
	End If

	'ORG limit (origin limit) status
	If (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 3 ) = 0 Then
		plORG.State = 0
	ElseIf (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 3 ) = 2 ^ 3 Then
		plORG.State = 1
	End If

	'SD  limit (deceleration stop limit) status
	If (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 4 ) = 0 Then
		plSD.State = 0
	ElseIf (smcGetStsLmt( "SIGMA_5", 1 ) And 2 ^ 4 ) = 2 ^ 4 Then
		plSD.State = 1
	End If

	'Pulse status
	lblCNTPLS.Caption = smcGetCntPls( "SIGMA_5", 1 )
	
	'Encoder status
	lblCNTENC.Caption = smcGetCntEnc( "SIGMA_5", 1 )

	'Pulse output speed during movement
	lblSTSSPD.Caption = smcGetStsSpd( "SIGMA_5", 1 )

	'Motor movement status	
	Select Case smcGetStsMov( "SIGMA_5", 1 )
	Case 0
		lblSTSMOV.Caption = "Stopped"
	Case 1
		lblSTSMOV.Caption = "Performing PTP movement"
	Case 2
		lblSTSMOV.Caption = "Performing JOG movement"
	Case 3
		lblSTSMOV.Caption = "Performing origin return"
	Case 4
		lblSTSMOV.Caption = "Performing bank movement (single)"
	Case 5
		lblSTSMOV.Caption = "Performing bank movement (loop)"
	End Select
	
	'Motor stop cause
	Select Case smcGetStsStp( "SIGMA_5", 1 )
	Case 0
		lblSTSSTP.Caption = "Moving"
	Case 1
		lblSTSSTP.Caption = "Stop command"
	Case 2
		lblSTSSTP.Caption = "Deceleration stop command"
	Case 3
		lblSTSSTP.Caption = "Other axis stop"
	Case 4
		lblSTSSTP.Caption = "Alarm/emergency stop signal"
	Case 5
		lblSTSSTP.Caption = "CW limit stop signal"
	Case 6
		lblSTSSTP.Caption = "CCW limit stop signal"
	Case 7
		lblSTSSTP.Caption = "Deceleration stop signal"
	Case 255
		lblSTSSTP.Caption = "Movement function complete"
	End Select

	'Pulse output status
	Select Case smcGetStsPls( "SIGMA_5", 1 )
	Case 0 
		lblSTSPLS.Caption = "Pulse output stopped"
	Case 1
		lblSTSPLS.Caption = "Moving with constant speed at starting speed"
	Case 2
		lblSTSPLS.Caption = "Moving with constant speed at target speed"
	Case 3
		lblSTSPLS.Caption = "Awaiting synchronous start"
	Case 4
		lblSTSPLS.Caption = "Awaiting ERC timer completion"
	Case 5
		lblSTSPLS.Caption = "Awaiting direction change timer completion"
	Case 6
		lblSTSPLS.Caption = "Accelerating"
	Case 7
		lblSTSPLS.Caption = "Decelerating"
	Case 8
		lblSTSPLS.Caption = "INP input wait status"
	End Select

	'Origin return PB indication status
	If lblSTSMOV.Caption = "Performing origin return" Then
		ipbORG.State = 1
	ElseIf lblSTSMOV.Caption <> "Performing origin return" Then
		ipbORG.State = 0
	End If

	'Position movement PB indication status
	If lblSTSMOV.Caption = "Performing PTP movement" Then
		ipbMOV.State = 1
	ElseIf lblSTSMOV.Caption <> "Performing PTP movement" Then
		ipbMOV.State = 0
	End If
End Sub

'---------------------------------------------------
'	Speed change
'---------------------------------------------------
Sub SpeedChange()
	Dim dblValue As Double

	'Starting speed
	dblValue = nbSTSPD.Value
	smcSetMvStSpd "SIGMA_5", 1 , dblValue

	'Target speed
	dblValue = nbTGSPD.Value
	smcSetMvTgSpd "SIGMA_5", 1 , dblValue

	'Acceleration time
	dblValue = nbACCTM.Value
	smcSetMvAccTm "SIGMA_5", 1 , dblValue

	'Deceleration time
	dblValue = nbDECTM.Value
	smcSetMvDecTm "SIGMA_5", 1 , dblValue
End Sub

'---------------------------------------------------
'	Origin return
'---------------------------------------------------
Sub ipbORG_CLICKED()
	
	'Speed setting
	SpeedChange

	If rbORG1.State = 1 Then
		smcOrg "SIGMA_5", 1, 0	'Origin return: CW
	ElseIf rbORG2.State = 1 Then
		smcOrg "SIGMA_5", 1, 1	'Origin return: CCW
	End If

End Sub

'---------------------------------------------------
'	Count reset
'---------------------------------------------------
Sub pbCNTRST_CLICKED()

	'Output pulse count reset
	smcSetCntPls "SIGMA_5", 1, 0

	'Encoder count reset
	smcSetCntEnc "SIGMA_5", 1, 0

End Sub

'---------------------------------------------------
'	JOG(+) movement valid
'---------------------------------------------------
Sub pbJOBP_CLICKED()

	'Speed setting
	SpeedChange
	
	'JOG(+)
	smcJog "SIGMA_5", 1, 0
End Sub

'---------------------------------------------------
'	JOG(+) movement invalid
'---------------------------------------------------
Sub pbJOBP_RELEASED()
	smcMvStop "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	JOG(-) movement valid
'---------------------------------------------------
Sub plJOGM_CLICKED()
	
	'Speed setting
	SpeedChange
	
	'JOG(-)
	smcJog "SIGMA_5", 1, 1
End Sub

'---------------------------------------------------
'	JOG(-) movement invalid
'---------------------------------------------------
Sub plJOGM_RELEASED()
	smcMvStop "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	Stop
'---------------------------------------------------
Sub pbSTP_CLICKED()
	smcMvStop "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	Deceleration stop
'---------------------------------------------------
Sub pbDSTP_CLICKED()
	smcMvDStop "SIGMA_5", 1
End Sub

'---------------------------------------------------
'	Position movement
'---------------------------------------------------
Sub ipbMOV_CLICKED()
	Dim dblValue As Double	

	'Speed setting
	SpeedChange
	
	dblValue = nbSTPPOS.Value

	If rbCOODINATE1.State = 1 Then
		smcMvPtoP "SIGMA_5", 1, 0, dblValue		'Absolute movement
	ElseIf rbCOODINATE2.State = 1 Then
		smcMvPtoP "SIGMA_5", 1, 1, dblValue		'Relative movement
	End If
End Sub


#ifdef TP_DESIGNER
'<<--TPDESIGNER_RESERVED-->>
CAPTION="smcGetCntPls( \"SIGMA_5\", 1 )\"\"\""
BG=&H8CB4D2
FG=&H000000
TIMEOUT=2000
TIMEOUTMODE=1
RELEASEMODE=0
PNLCCVER=232
COLORTYPE=1
FONTTYPE=1
BORDERSTYLE=0
add_widget 7,"Rect6",470,290,160,70,&H7F7F7F,&HB0B0B0,1,1,0,1;
add_widget 7,"Rect5",530,20,100,110,&H7F7F7F,&HB0B0B0,0,1,0,1;
add_widget 7,"Rect2",10,140,130,220,&H7F7F7F,&HB0B0B0,0,1,0,1;
add_widget 7,"Rect1",10,20,130,100,&H7F7F7F,&HB0B0B0,0,1,0,1;
add_widget 2,"lblNAME12",11,330,50,20,&H000000,&H8CB4D2,0,1,0,"In7: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME11",11,300,50,20,&H000000,&H8CB4D2,0,1,0,"In6: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME10",11,270,50,20,&H000000,&H8CB4D2,0,1,0,"In5:  ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME09",11,240,50,20,&H000000,&H8CB4D2,0,1,0,"In4: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME08",11,210,50,20,&H000000,&H8CB4D2,0,1,0,"In3: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME07",11,180,50,20,&H000000,&H8CB4D2,0,1,0,"In2: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME06",11,150,50,20,&H000000,&H8CB4D2,0,1,0,"In1: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME04",11,92,50,20,&H000000,&H8CB4D2,0,1,0,"Out3: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME03",11,60,50,20,&H000000,&H8CB4D2,0,1,0,"Out2: ",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME02",11,30,50,20,&H000000,&H8CB4D2,0,1,0,"Out1: ",10,0,"MS PGOTHIC","",1,1;
add_widget 7,"Rect3",150,20,90,160,&H7F7F7F,&HB0B0B0,0,1,0,1;
add_widget 17,"ipbOUT3",60,90,70,25,&H00FF00,&H000000,0,3,1,"/CLR",10,0,0,"MS PGOTHIC";
add_widget 3,"plIN1",60,150,70,25,&H0000FF,&H000000,0,1,1,"ALM",10,0,0,"MS PGOTHIC";
add_widget 3,"plIN2",60,180,70,25,&H00FF00,&H000000,0,1,1,"/COIN",10,0,0,"MS PGOTHIC";
add_widget 3,"plIN3",60,210,70,25,&H00FF00,&H000000,0,1,1,"/S-RDY",10,0,0,"MS PGOTHIC";
add_widget 3,"plIN4",60,240,70,25,&H00FF00,&H000000,0,1,1,"/TGON",10,0,0,"MS PGOTHIC";
add_widget 3,"plIN5",60,270,70,25,&H0000FF,&H000000,0,1,1,"ALO1",10,0,0,"MS PGOTHIC";
add_widget 3,"plIN6",60,300,70,25,&H0000FF,&H000000,0,1,1,"ALO2",10,0,0,"MS PGOTHIC";
add_widget 3,"plIn7",60,330,70,25,&H0000FF,&H000000,0,1,1,"ALO3",10,0,0,"MS PGOTHIC";
add_widget 17,"ipbOUT1",60,30,70,25,&H00FF00,&H000000,0,3,1,"/S-ON",10,0,0,"MS PGOTHIC";
add_widget 17,"ipbOUT2",60,60,70,25,&H00FF00,&H000000,0,3,1,"/ALM-RST",10,0,0,"MS PGOTHIC";
add_widget 2,"lblNAME13",150,10,80,18,&HFFFFFF,&H008B8B,0,1,0,"Limit status",10,2,"MS PGOTHIC","",1,1;
add_widget 3,"plALM",160,30,70,25,&H0000FF,&H000000,0,1,1,"ALM",11,0,0,"MS PGOTHIC";
add_widget 3,"plLMTP",160,60,70,25,&H0000FF,&H000000,0,1,1,"+ Lmt",11,0,0,"MS PGOTHIC";
add_widget 3,"plLMTM",160,90,70,25,&H0000FF,&H000000,0,1,1,"- Lmt",11,0,0,"MS PGOTHIC";
add_widget 3,"plORG",160,120,70,25,&H0000FF,&H000000,0,1,1,"ORG",11,0,0,"MS PGOTHIC";
add_widget 3,"plSD",160,150,70,25,&H0000FF,&H000000,0,1,1,"SD",11,0,0,"MS PGOTHIC";
add_widget 7,"Rect4",250,20,270,160,&H7F7F7F,&HB0B0B0,0,1,0,1;
add_widget 2,"lblNAME14",250,10,100,18,&HFFFFFF,&H008B8B,0,1,0,"Motion status",10,2,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME15",260,30,90,20,&H000000,&H8CB4D2,0,1,0,"Motor movement status",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME16",260,55,90,20,&H000000,&H8CB4D2,0,1,0,"Motor stop cause",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME17",260,80,90,20,&H000000,&H8CB4D2,0,1,0,"Pulse output status",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME18",253,105,130,20,&H000000,&H8CB4D2,0,1,0,"Pulse output speed during movement",9,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblSTSMOV",350,30,160,20,&H000000,&HFAE6E6,0,1,0,"",10,1,"MS PGOTHIC","",1,1;
add_widget 2,"lblSTSSTP",350,55,160,20,&H000000,&HFAE6E6,0,1,0,"",10,1,"MS PGOTHIC","",1,1;
add_widget 2,"lblSTSPLS",350,80,160,20,&H000000,&HFAE6E6,0,1,0,"",9,1,"MS PGOTHIC","",1,1;
add_widget 2,"lblSTSSPD",379,105,131,20,&H000000,&HFAE6E6,0,1,0,"0",10,1,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME19",260,130,80,20,&H000000,&H8CB4D2,0,1,0,"Output pulse",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME20",260,155,80,20,&H000000,&H8CB4D2,0,1,0,"Encoder",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME01",10,10,80,18,&HFFFFFF,&H008B8B,0,1,0,"General purpose output ",10,2,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME05",10,130,80,18,&HFFFFFF,&H008B8B,0,1,0,"General purpose input ",10,2,"MS PGOTHIC","",1,1;
add_widget 4,"Line1",340,70,0,0,&H000000,&HB0B0B0,0,1,0,1;
add_widget 2,"lblCNTPLS",350,130,160,20,&H000000,&HFAE6E6,0,1,0,"0",10,1,"MS PGOTHIC","",1,1;
add_widget 2,"lblCNTENC",350,155,160,20,&H000000,&HFAE6E6,0,1,0,"0",10,1,"MS PGOTHIC","",1,1;
add_widget 1,"pbSTP",150,320,90,40,&H00FFFF,&H0000FF,0,3,1,"Stop",13,0,0,"MS PGOTHIC";
add_widget 1,"pbDSTP",250,320,90,40,&H00FFFF,&H2068FF,0,3,1,"Deceleration stop",13,0,0,"MS PGOTHIC";
add_widget 1,"pbCNTRST",530,140,100,40,&H000000,&HB0B0B0,0,3,1,"Counter reset",10,0,0,"MS PGOTHIC";
add_widget 11,"rbORG1",531,40,90,12,&H000000,&H8CB4D2,0,3,0,"CW",10,1,1,"MS PGOTHIC";
add_widget 1,"pbJOBP",470,190,160,40,&H0000FF,&H98FB98,0,3,1,"JOG (�{)",16,0,0,"MS PGOTHIC";
add_widget 1,"plJOGM",470,230,160,40,&H0000FF,&H98FB98,0,3,1,"JOG (�|)",16,0,0,"MS PGOTHIC";
add_widget 5,"nbSTPPOS",300,190,160,20,&H000000,&HFFFFFF,0,3,0,"",10,1,26214,"MS PGOTHIC";
add_widget 2,"lblNAME23",150,190,140,20,&H000000,&H8CB4D2,0,1,0,"Movement amount [Pulse]",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME24",150,215,140,20,&H000000,&H8CB4D2,0,1,0,"Pulse output starting speed [PPS]",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME25",150,240,140,20,&H000000,&H8CB4D2,0,1,0,"Pulse output target speed [PPS]",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME26",150,265,140,20,&H000000,&H8CB4D2,0,1,0,"Acceleration time [ms]",10,0,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME27",150,290,140,20,&H000000,&H8CB4D2,0,1,0,"Deceleration time [ms]",10,0,"MS PGOTHIC","",1,1;
add_widget 5,"nbSTSPD",300,215,160,20,&H000000,&HFFFFFF,0,3,0,"",10,1,10000,"MS PGOTHIC";
add_widget 5,"nbTGSPD",300,240,160,20,&H000000,&HFFFFFF,0,3,0,"",10,1,10000,"MS PGOTHIC";
add_widget 5,"nbACCTM",300,265,160,20,&H000000,&HFFFFFF,0,3,0,"",10,1,1,"MS PGOTHIC";
add_widget 5,"nbDECTM",300,290,160,20,&H000000,&HFFFFFF,0,3,0,"NB1",10,1,1,"MS PGOTHIC";
add_widget 11,"rbORG2",531,70,90,12,&H000000,&H8CB4D2,0,3,0,"CCW",10,1,0,"MS PGOTHIC";
add_widget 11,"rbCOODINATE1",478,310,99,12,&H000000,&H8CB4D2,1,3,0,"Absolute movement",10,1,1,"MS PGOTHIC";
add_widget 11,"rbCOODINATE2",478,340,99,12,&H000000,&H8CB4D2,1,3,0,"Relative movement",10,1,0,"MS PGOTHIC";
add_widget 2,"lblNAME21",530,10,90,18,&HFFFFFF,&H008B8B,0,1,0,"Origin return",10,2,"MS PGOTHIC","",1,1;
add_widget 2,"lblNAME22",470,280,100,18,&HFFFFFF,&H008B8B,0,1,0,"Specified position movement",10,2,"MS PGOTHIC","",1,1;
add_widget 15,"Timer1",240,130,0,1,100;
add_widget 17,"ipbMOV",350,320,110,40,&H00FF00,&H000000,0,3,1,"Position movement",13,0,0,"MS PGOTHIC";
add_widget 17,"ipbORG",540,90,80,30,&H00FF00,&H000000,0,3,1,"Origin return",13,0,0,"MS PGOTHIC";
'<<--TPDESIGNER_RESERVED-->>
#endif