public double GetAllAxisAbsolutePositions()
{
if (_handle == 0)
{
return(0);
}
try
{
Focas1.ODBAXIS _axisPositionMachine = new Focas1.ODBAXIS();
_ret = Focas1.cnc_absolute(_handle, -1, 4 + 4 * Focas1.MAX_AXIS, _axisPositionMachine);
if (_ret != Focas1.EW_OK)
{
return(_ret);
}
for (int i = 0; i < Focas1.MAX_AXIS; i++)
{
Console.WriteLine(i.ToString() + " = " + _axisPositionMachine.data[i] / _scale);
}
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
return(0);
}
/// <summary>
/// Read Machine Position Data (MachineAbsolutePosition)
/// </summary>
/// <param name="axisNo">Axis No</param>
private void CallAbsolute(short axisNo)
{
try
{
Focas1.ODBAXIS odbAxis = new Focas1.ODBAXIS();
short pAxisNo = (short)(axisNo + 1);
focasReturn = Focas1.cnc_absolute2(fanucHandle, pAxisNo, 8, odbAxis);
if (focasReturn == EW_OK)
{
base.SetDictionary(base.AXIS_ABS, axisNo, Convert.ToDouble(odbAxis.data[0]) / 1000);
LogHandler.WriteLog(base.division, string.Format("{0} :: CallAbsolute(AxisNo = {2}) Success :: ABS = {1}", this.ToString(), base.AXIS_ABS[axisNo], axisNo));
}
else if (focasReturn == EW_SOCKET)
{
base.isConnect = false;
LogHandler.WriteLog(base.division, string.Format("{0} :: CallAbsolute(AxisNo = {1}) Fail :: SocketError", this.ToString(), axisNo));
}
else
{
LogHandler.WriteLog(base.division, string.Format("{0} :: CallAbsolute(AxisNo = {2}) Fail :: ReturnCode = {1}", this.ToString(), focasReturn, axisNo));
}
}
catch (Exception ex)
{
LogHandler.WriteLog(base.division, string.Format("{0} :: CallAbsolute(AxisNo = {2}) Exception :: Message = {1}", this.ToString(), ex.Message, axisNo));
}
}
public void Callback(object sender, EventArgs e)
{
MySqlConnection conn = connSql();
conn.Open();
#region cnc_machine
Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();
for (short i = 0; i < 3; i++)
{
int ret = Focas1.cnc_machine(Flibhndl, (short)(i + 1), 8, odbaxis);
Console.WriteLine(odbaxis.data[0] * Math.Pow(10, -3));
listView1.Items.Add(new ListViewItem(i.ToString()));
try
{
//MessageBox.Show("已经建立与数据库之间的连接");
string sql = "insert into user(username,password,registerdate) values('" + count++.ToString() + "','123','" + DateTime.Now + "')";
MySqlCommand cmd = new MySqlCommand(sql, conn);
int result = cmd.ExecuteNonQuery();
}
catch (Exception ex)
{
MessageBox.Show("发生错误：" + ex.Message);
//Console.WriteLine("发生错误："+ex.Message); //在控制台下使用这种方式
}
}
#endregion
}
//读待走移动量
#region cnc_distance
void IMachineFanuc.GetDistanceToGo(double[] distanceCoor)
{
Focas1.ODBAXIS odbaxis_Distance = new Focas1.ODBAXIS();
for (short i = 1; i <= 4; i++)
{
Focas1.cnc_distance(mFlibhndl, i, 8, odbaxis_Distance);
distanceCoor[i - 1] = odbaxis_Distance.data[0] * Math.Pow(10, -3);
}
}
//读取相对位置坐标
#region cnc_relative2
void IMachineFanuc.GetRelativeCoor(double[] relativeCoor)
{
Focas1.ODBAXIS odbaxis_RelativeCoor = new Focas1.ODBAXIS();
for (short i = 1; i <= 4; i++)
{
Focas1.cnc_relative2(mFlibhndl, i, 8, odbaxis_RelativeCoor);
relativeCoor[i - 1] = odbaxis_RelativeCoor.data[0] * Math.Pow(10, -3);
}
}
//获取绝对位置坐标
#region cnc_absolute2
void IMachineFanuc.GetAbsoluteCoor(double[] absoluteCoor)
{
Focas1.ODBAXIS odbaxis_AbsoCoor = new Focas1.ODBAXIS();
for (short i = 1; i <= 4; i++)
{
Focas1.cnc_absolute2(mFlibhndl, i, 8, odbaxis_AbsoCoor);
absoluteCoor[i - 1] = odbaxis_AbsoCoor.data[0] * Math.Pow(10, -3);
}
}
//获取机械坐标
#region cnc_machine
void IMachineFanuc.GetMachineCoor(double[] machCoor)
{
Focas1.ODBAXIS odbaxis_MachCoor = new Focas1.ODBAXIS();
for (short i = 0; i <= 3; i++)
{
Focas1.cnc_machine(mFlibhndl, (short)(i + 1), 8, odbaxis_MachCoor);
machCoor[i] = odbaxis_MachCoor.data[0] * Math.Pow(10, -3);
}
}
/// <summary>
/// 获得机床相对坐标
/// </summary>
public double GetRelativeCorX(ushort Flibhndl) //获得相对X轴
{
Focas1.ODBST odbst = new Focas1.ODBST();
Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();
short ret2 = Focas1.cnc_relative2(Flibhndl, 1, 16, odbaxis);
string relative2X = odbaxis.data[0].ToString();
double x = Convert.ToDouble(relative2X) / 1000;
return(x);
}
public double GetMachineCor3(ushort Flibhndl) //Z轴
{
double cor3;
Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();
short ret = Focas1.cnc_machine(Flibhndl, (short)(3), 8, odbaxis);
cor3 = odbaxis.data[0] * Math.Pow(10, -3);
return(cor3);
}
public double GetMachineCor2(ushort Flibhndl) //Y轴
{
double cor2;
Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();
short ret = Focas1.cnc_machine(Flibhndl, (short)(2), 8, odbaxis);
cor2 = odbaxis.data[0] * Math.Pow(10, -4);
return(cor2 * 10);
}
public static void connectToFanucDevice(string ip, string port, int timeout)
{
int ret;
int status;
Focas1.ODBST fanbuf; // CNC Status
ret = Focas1.cnc_allclibhndl3(ip, Convert.ToUInt16(port), timeout, out handleFanuc);
if (ret != Focas1.EW_OK)
{
Console.WriteLine("Fanuc lathe connection error£¡");
return;
}
//coordination of the arm
Focas1.ODBAXIS odbaxis = new Focas1.ODBAXIS();
for (short i = 0; i < 3; i++)
{
ret = Focas1.cnc_machine(handleFanuc, (short)(i + 1), 8, odbaxis);
Console.WriteLine(odbaxis.data[0] * Math.Pow(10, -4));
}
fanbuf = new Focas1.ODBST();
ret = Focas1.cnc_statinfo(handleFanuc, fanbuf);
if (ret == Focas1.EW_OK)
{
status = fanbuf.run;
switch (status)
{
case 0:
Console.WriteLine("Fanuc lathe in shutdown mode£¡");
break;
case 1:
Console.WriteLine("Fanuc lathe in standby mode£¡");
break;
case 2:
Console.WriteLine("Fanuc lathe in hold mode£¡");
break;
case 3:
Console.WriteLine("Fanuc lathe in start mode£¡");
break;
case 4:
Console.WriteLine("Fanuc lathe in manual mode, retraction and re-positioning of tools");
break;
}
}
}
public double MachinePosition()
{
if (_handle == 0)
{
return(0);
}
Focas1.ODBAXIS _axisPositionMachine = new Focas1.ODBAXIS();
_ret = Focas1.cnc_machine(_handle, 88, 8, _axisPositionMachine);
if (_ret != Focas1.EW_OK)
{
return(_ret);
}
return(_axisPositionMachine.data[0] / _scale);
}
public double RelativePosition()
{
if (_handle == 0)
{
return(0);
}
Focas1.ODBAXIS _axisPositionRelative = new Focas1.ODBAXIS();
_ret = Focas1.cnc_relative2(_handle, 88, 8, _axisPositionRelative);
if (_ret != Focas1.EW_OK)
{
return(_ret);
}
return(_axisPositionRelative.data[0] / _scale);
}
public double AbsolutePosition()
{
if (_handle == 0)
{
return(0);
}
Focas1.ODBAXIS _axisPositionAbsolute = new Focas1.ODBAXIS();
_ret = Focas1.cnc_absolute2(_handle, 88, 8, _axisPositionAbsolute);
if (_ret != Focas1.EW_OK)
{
return(_ret);
}
return(_axisPositionAbsolute.data[0] / _scale);
}
public Tuple <short, string> ReadParaReferencePositionRange(ushort flib, int start, int num, ref double[,] data)
{
if (start > 4 || start < 1)
{
return(new Tuple <short, string>(-100, "读取参考点数据错误,参考点参数数据设定错误"));
}
if ((start + num - 1) > 4 || (start + num - 1) < 1)
{
return(new Tuple <short, string>(-100, "读取参考点数据错误,参考点参数数据设定错误"));
}
if (data.Length < Focas1.MAX_AXIS * 4)
{
return(new Tuple <short, string>(-100, "读取参考点数据错误,数据存储区域过小"));
}
Focas1.ODBAXIS buf = new Focas1.ODBAXIS();
buf.data = new int[Focas1.MAX_AXIS];
short ret = -100;
short s_number = (short)(start + 1239);
short e_number = (short)(s_number + num - 1);
short length = (short)((4 + 8 * Focas1.MAX_AXIS + 2) * num);
Focas1.IODBPSD_0IF param = new Focas1.IODBPSD_0IF();
ret = Focas1.cnc_rdparar(flib, ref s_number, -1, ref e_number, ref length, param);
if (ret == 0)
{
for (int i = 0; i < num; i++)
{
string strdata = "data" + (i + 1).ToString();
object obj = param.GetType().GetField(strdata).GetValue(param);
var u = (Focas1.IODBPSD_U)obj.GetType().GetField("u").GetValue(obj);
for (int j = 0; j < Focas1.MAX_AXIS; j++)
{
data[start + i - 1, j] = u.rdatas[j].prm_val * Math.Pow(-10, u.rdatas[j].dec_val);
}
}
return(new Tuple <short, string>(0, null));
}
return(new Tuple <short, string>(ret, $"读取参考点数据错误,返回:{ret}"));
}
public Tuple <short, string> ReadPositionRange(ushort flib, CncPositionTypeEnum pos_type, ref int[] data)
{
if (data.Length < Focas1.MAX_AXIS)
{
return(new Tuple <short, string>(-100, "读取位置信息错误,数据存储区域过小"));
}
Focas1.ODBAXIS buf = new Focas1.ODBAXIS();
buf.data = new int[Focas1.MAX_AXIS];
short ret = -100;
switch (pos_type)
{
case CncPositionTypeEnum.Absolute:
ret = Focas1.cnc_absolute(flib, -1, 132, buf);
break;
case CncPositionTypeEnum.Machine:
ret = Focas1.cnc_machine(flib, -1, 132, buf);
break;
case CncPositionTypeEnum.Relative:
ret = Focas1.cnc_relative(flib, -1, 132, buf);
break;
case CncPositionTypeEnum.Distance:
ret = Focas1.cnc_distance(flib, -1, 132, buf);
break;
default:
ret = -100;
break;
}
if (ret == 0)
{
buf.data.CopyTo(data, 0);
return(new Tuple <short, string>(0, null));
}
return(new Tuple <short, string>(ret, $"读取位置信号错误,返回:{ret}"));
}
