/// <summary>
/// 轴相对位置运动
/// </summary>
/// <param name="nType">轴号</param>
/// <param name="dVel">速度</param>
/// <param name="dAcc">加速度</param>
/// <param name="dDistance">距离</param>
/// <param name="nCardNum">卡号</param>
public void AxisRMove(ENUM_AXIS_TYPE nType, double dVel, double dAcc, double dDistance, short nCardNum = 0)
{
if (GetAxisMotionSts(nCardNum, ENUM_AXIS_TYPE.ALL_AXIS))
{
MessageBox.Show(@"请先等待轴停止！");
return;
}
s_listMotionWork[nCardNum].RMove((short)nType, dVel, dAcc, dDistance);
}
/// <summary>
/// 点位运动
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="dPosition">位置</param>
/// <param name="dVel">速度：默认10</param>
/// <param name="dAcc">加速度：默认1</param>
/// <returns></returns>
public bool AxisAbsMotion(short nCardNum, ENUM_AXIS_TYPE nAxis, double dPosition, double dVel = 10,
double dAcc = 1)
{
if (GetAxisMotionSts(0, nAxis))
{
MessageBox.Show(@"请等待轴停止！");
return(false);
}
return(s_listMotionWork[nCardNum].AbsMove((short)nAxis, dPosition, dVel, dAcc));
}
/// <summary>
/// 阻塞式等待轴结束运动
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
public void WaitAxisOverMotion(short nCardNum, ENUM_AXIS_TYPE nAxis)
{
var bAxisSts = GetAxisMotionSts(nCardNum, nAxis);
//等待点位运动停止
while (bAxisSts)
{
bAxisSts = GetAxisMotionSts(nCardNum, nAxis);
Thread.Sleep(1);
}
}
/// <summary>
/// 单轴回原
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis"></param>
/// <param name="nType"></param>
public short SingleAxisHome(short nCardNum, ENUM_AXIS_TYPE nAxis, ENUM_HOME_TYPE nType)
{
if (GetAxisMotionSts(nCardNum, ENUM_AXIS_TYPE.ALL_AXIS))
{
MessageBox.Show(@"请先等待轴停止！");
return(-1);
}
var rtn = s_listMotionWork[nCardNum].StartSingleHome((short)nAxis, (short)nType, -1, 10, 1000000, 100);
return(rtn);
}
/// <summary>
/// 得到轴运动状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <returns>true：运动 false：静止</returns>
public bool GetAxisMotionSts(short nCardNum, ENUM_AXIS_TYPE nAxis)
{
//如果选择ALL_AXIS，返回整个板卡的运动状态
if (nAxis == ENUM_AXIS_TYPE.ALL_AXIS)
{
var bAllAxisSts = false;
for (short i = 1; i < s_listMotionWork[nCardNum].m_maxAxisNum; i++)
{
var bAxisSts = s_listMotionWork[nCardNum].IsMoving(i);
bAllAxisSts = bAllAxisSts || bAxisSts;
}
return(bAllAxisSts);
}
return(s_listMotionWork[nCardNum].IsMoving((short)nAxis));
}
/// <summary>
/// 得到轴报警状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis"></param>
/// <returns></returns>
public bool GetAxisAlarmSts(short nCardNum, ENUM_AXIS_TYPE nAxis)
{
return(s_listMotionWork[nCardNum].GetAxisAlarm((short)nAxis));
}
/// <summary>
/// 得到轴Home状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <returns></returns>
public bool GetAxisHomeLimitSts(short nCardNum, ENUM_AXIS_TYPE nAxis)
{
return(s_listMotionWork[nCardNum].GetAxisHomeStatus((short)nAxis));
}
/// <summary>
/// 轴平滑停止
/// </summary>
/// <param name="nAxis"></param>
/// <param name="nCardNum"></param>
public void SmoothStopAxis(ENUM_AXIS_TYPE nAxis, short nCardNum = 0)
{
s_listMotionWork[nCardNum].SetSStop((short)nAxis);
}
/// <summary>
/// 割一刀轴位置信息
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis"></param>
/// <returns></returns>
public double GetAxisCurPos(short nCardNum, ENUM_AXIS_TYPE nAxis)
{
return(s_listMotionWork[nCardNum].GetAxisCurPos((short)nAxis));
}
