/// <summary>
/// 点-点运动 等待停止
/// </summary>
/// <param name="timeout"></param>
/// <param name="pos"></param>
/// <param name="speed"></param>
/// <returns></returns>
public short GoPosTillStop(int timeout, double pos, HostarSpeed speed)
{
if (double.IsNaN(pos) || double.IsInfinity(pos))
{
return(-1);
}
Stopwatch a = new Stopwatch();
short rtn = 0;
var sd = speed.GetActSpeed(this.AxisRatio);
this.AxisMoveTrap_Abs(pos * this.AxisRatio, sd.StartSpeed, sd.MaxSpeed, sd.AccTime, sd.DecTime);
a.Start();
while (!this.AxisReach(pos))
{
Thread.Sleep(1);
if (a.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
return(rtn);
}
/// <summary>
/// 定长运动
/// </summary>
/// <param name="TrimDist">定长</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short MoveTrim(double TrimDist, HostarSpeed speed)
{
if (double.IsNaN(TrimDist) || double.IsInfinity(TrimDist))
{
return(-1);
}
this.GetAxisPos();
return(this.GoPos(this.Pos + TrimDist, speed));
}
/// <summary>
/// 根据脉冲比得到实际速度
/// </summary>
/// <param name="axisRatio"></param>
/// <returns></returns>
public HostarSpeed GetActSpeed(double axisRatio)
{
HostarSpeed speed = new HostarSpeed();
speed.StartSpeed = this.StartSpeed * axisRatio;
speed.MaxSpeed = this.MaxSpeed * axisRatio;
speed.AccTime = (this.MaxSpeed * 1000 / this.AccTime) * axisRatio;
speed.DecTime = (this.MaxSpeed * 1000 / this.DecTime) * axisRatio;
return(speed);
}
public object Clone()
{
HostarSpeed speed = new HostarSpeed();
speed.StartSpeed = this.StartSpeed;
speed.MaxSpeed = this.MaxSpeed;
speed.AccTime = this.AccTime;
speed.DecTime = this.DecTime;
return(speed);
}
/// <summary>
/// 点-点运动
/// </summary>
/// <param name="pos">位置</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short GoPos(double pos, HostarSpeed speed)
{
if (double.IsNaN(pos) || double.IsInfinity(pos))
{
return(-1);
}
var sd = speed.GetActSpeed(this.AxisRatio);
return(this.AxisMoveTrap_Abs(pos * this.AxisRatio, sd.StartSpeed, sd.MaxSpeed, sd.AccTime, sd.DecTime));
}
/// <summary>
/// 使用极限回原点的方式
/// </summary>
/// <param name="homeMode"></param>
/// <param name="direction"></param>
/// <param name="speed"></param>
/// <returns></returns>
public short GoHome(int timeout, HostarSpeed goLimit, HostarSpeed goHome, bool limit = true)
{
if (limit)
{
return(this.GoHomeWithLimit(timeout, this.HomeMode, this.HomeDirection, goLimit, goHome));
}
else
{
#region 开始回原点
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
var homeSpeed = goHome.GetActSpeed(this.AxisRatio);
short rtn = this.AxisGoHome(this.HomeMode, this.HomeDirection, homeSpeed.StartSpeed, homeSpeed.MaxSpeed, homeSpeed.AccTime, homeSpeed.DecTime);
Thread.Sleep(200);
this.GetAxisSts();
while (this.bAxisIsHoming || this.bAxisIsRunning)
{
Thread.Sleep(1);
this.GetAxisSts();
if (stopwatch.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
stopwatch.Stop();
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
this.StopAxis();
this.ClearAxisSts();
this.ZeroAxis();
stopwatch.Stop();
return(rtn);
#endregion
}
}
/// <summary>
/// Jog 运动
/// </summary>
/// <param name="speed">速度</param>
/// <param name="dirct">方向</param>
/// <returns></returns>
public short Jog(HostarSpeed speed, bool dirct)
{
var newSpeed = speed.GetActSpeed(this.AxisRatio);
return(this.AxisMoveJog(newSpeed.StartSpeed, newSpeed.MaxSpeed, newSpeed.AccTime, newSpeed.DecTime, dirct));
}
public short GoHome(int timeout, HostarSpeed goLimit, HostarSpeed goHome, IOInput limit, bool Wait = true)
{
return(this.GoHomeWithInput(timeout, this.HomeMode, this.HomeDirection, goLimit, goHome, limit));
}
private short GoHomeWithInput(int timeout, HomeMode homeMode, bool direction, HostarSpeed goLimit, HostarSpeed goHome, IOInput limit)
{
short rtn = 0;
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
this.StopAxis();
this.GetAxisSts();
#region 到轴的极限位置
if (!limit.GetIO())
{
rtn = this.Jog(goLimit, !direction); // 到极限
while (!limit.GetIO())
{
Thread.Sleep(1);
this.GetAxisSts();
if (stopwatch.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
stopwatch.Stop();
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
}
this.StopAxis();
#endregion
Thread.Sleep(200);
#region 开始回原点
stopwatch.Reset();
stopwatch.Start();
var homeSpeed = goHome.GetActSpeed(this.AxisRatio);
rtn += this.AxisGoHome(homeMode, direction, homeSpeed.StartSpeed, homeSpeed.MaxSpeed, homeSpeed.AccTime, homeSpeed.DecTime);
Thread.Sleep(200);
this.GetAxisSts();
while (this.bAxisIsHoming || this.bAxisIsRunning)
{
Thread.Sleep(1);
this.GetAxisSts();
if (stopwatch.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
stopwatch.Stop();
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
this.StopAxis();
this.ClearAxisSts();
this.ZeroAxis();
stopwatch.Stop();
return(rtn);
#endregion
}
