/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_AbsoluteMove(AxisConfig axisC, PointModule point)
{
short shrResult = 0;
if (point.dblPonitSpeed == 0.0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
LTDMC.dmc_set_s_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, 0, point.db_S_Time); //设置S段时间（0-0.05s)
LTDMC.dmc_set_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, axisC.StartSpeed, point.dblPonitSpeed, point.db_StopSpeed, point.dblAccTime, point.dblDecTime); //设置起始速度、运行速度、停止速度、加速时间、减速时间
shrResult = LTDMC.dmc_pmove((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, (int)(point.dblPonitValue * axisC.Eucf), 1); //定长运动
if (shrResult != shrGtsSuccess)
{
CommandResult("_SR_RelativeMove", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 轴运动并等待停止并判断位置
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <param name="pointName"></param>
/// <param name="asxisIndex"></param>
/// <returns></returns>
public static short GT_AxisAbsoluteMoveAndWaitStopVrf(AxisConfig axisC, double pos, double speed)
{
if (GT_AbsoluteMove(axisC, pos, speed) != 0)
{
Global.WorkVar.tag_StopState = 2;
if (MessageBoxLog.Show("轴名：\r\n" + axisC.AxisName + "\t移动异常，请检查伺服驱动！") == DialogResult.OK)
{
}
return(shrFail);
}
if (WaitAxisStop(axisC) != 0)
{
return(shrFail);
}
double pos_loadY = 0;
short ret = SR_GetPrfPos((int)axisC.tag_MotionCardManufacturer, axisC.CardNum, axisC.AxisNum, ref pos_loadY);
if (Global.WorkVar.tag_SuspendState == 1 || (Global.WorkVar.bSuspendState_L && axisC.AxisName == "左Y轴") || (Global.WorkVar.bSuspendState_R && axisC.AxisName == "右Y轴"))
{
}
else if (pos_loadY / axisC.Eucf < pos - 1 || pos_loadY / axisC.Eucf > pos + 1)
{
return(shrFail);
}
return(shrSuccess);
}
/// <summary>
/// 等待轴停止
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static short WaitAxisStop(AxisConfig axisC)
{
int intAxisStatus = 0;
short shrResult = 0;
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
short ret = 0;
do
{
//程序是否正常运行
if (IsExit())
{
Base_.SR_AxisEmgStop(axisC.CardNum, axisC.AxisNum);
return(shrFail);
}
//读轴状态
shrResult = Base_.SR_GetAxisStatus(axisC.CardNum, axisC.AxisNum, out intAxisStatus);
if (shrResult != shrGtsSuccess)
{
return(shrFail);
}
Thread.Sleep(5);
} while (intAxisStatus != 0); //运动中
return(shrSuccess);
}
/// <summary>
/// 判断当前轴运动是否是本点的安全区 安全返回TRUE
/// </summary>
/// <returns></returns>
public static bool IoAxisIsSafe(StationModule sm, AxisConfig _ac, double offset, double pos)
{
bool ret = true;
if (sm.arrPoint.Count == 0)
{
return(true);
}
foreach (PointAggregate pa in sm.arrPoint)
{
if (isIOAxisHavePoint(_ac, pa, pos))
{
if (pa.tag_AxisSafeManage.PointIsSafe(pa))
{
if (IOIsSafe(pa))
{
ret = true;
// break;
}
else
{
ret = false;
break;
}
}
}
}
if (ret == false)
{
LogOutControl.OutLog(_ac.AxisName + "运动不安全", 0);
}
return(ret);
}
private void button_Add_Click(object sender, EventArgs e)
{
try
{
AxisConfig axis = null;
int i = 0;
while (i < StationManage._Config.axisArray.Count)
{
string axisFind = StationManage._Config.axisArray[i].AxisName;
if (axisFind == listBox_AllAxisConfig.SelectedItem.ToString())
{
axis = StationManage._Config.axisArray[i];
break;
}
i++;
}
foreach (AxisConfig ax in tag_StationManage.arrAxis)
{
if (ax == axis)
{
return;
}
}
tag_StationManage.arrAxis.Add(axis);
tag_StationManage.intUseAxisCount++;
listBox_Axis.Items.Add(axis.AxisName);
}
catch
{ }
}
/// <summary>
/// 单轴相对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_RelativeMove(AxisConfig axisC, PointModule point)
{
short shrResult = 0;
if (point.dblPonitSpeed == 0.0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
Dmc1000.d1000_set_s_profile(axisC.CardNum * tag_AxisCount + axisC.AxisNum, point.db_S_Time); //设置S段时间（0-0.05s)
// Dmc1000.d1000_set_profile((ushort)axisC.CardNum, (ushort)axisC.AxisNum, dblPonitSpeed.StartSpeed, point.dblPonitSpeed, point.db_StopSpeed, point.dblAccTime, point.dblDecTime);//设置起始速度、运行速度、停止速度、加速时间、减速时间
shrResult = (short)Dmc1000.d1000_start_t_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum,
(int)(point.dblPonitValue * axisC.Eucf), (int)point.dblPonitStartSpeed, (int)point.dblPonitSpeed, point.dblAcc);//定长运动
if (shrResult != shrGtsSuccess)
{
CommandResult("_SR_RelativeMove", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 运行第二段距离
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeMoveTwoDis(AxisConfig axisC)
{
short shrResult = 0;
int AxisState = 0;
adt8940a1m.adt8940a1_set_startv(axisC.CardNum, axisC.AxisNum + 1, (int)axisC.StartSpeed); //
adt8940a1m.adt8940a1_set_speed(axisC.CardNum, axisC.AxisNum + 1, (int)axisC.Speed); //
adt8940a1m.adt8940a1_set_acc(axisC.CardNum, axisC.AxisNum + 1, (int)axisC.Acc); //
int pos = (int)(axisC.intSecondFindOriginDis * axisC.Eucf);
if (axisC.HomeDir == 0)
{
pos = 0 - pos;
}
shrResult = (short)adt8940a1m.adt8940a1_symmetry_relative_move(axisC.CardNum, axisC.AxisNum + 1, pos, (int)axisC.StartSpeed, (int)axisC.HomeSpeedHight, (int)axisC.tag_accTime);
if (shrResult == 1)
{
CommandResult("adt8940a1_symmetry_relative_move", shrResult);
return(1);
}
Thread.Sleep(10);
while (true)
{
if (_SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
}
/// <summary>
/// 寻找原点 多次来回寻找,如果向负方向找到返回0，向正方向找到放回1
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short MutHomeFindHomeSinge(AxisConfig axisC1, int count)
{
int stepPos = (int)axisC1.intFirstFindOriginDis;
if (HomeFindHomeSinge(axisC1, stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
if (WorkBase.IsRestExit())
{
return(-1);
}
if (HomeFindHomeSinge(axisC1, 0 - 2 * stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
return(-1);
}
public static short set_io_mode(AxisConfig axisC)
{
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
short ret = 0;
if (axisC == null)
{
return(shrFail);
}
short shrResult = Base_.SR_set_io_mode(axisC.CardNum, 0, 0);
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 轴，iO安全检查
/// </summary>
/// <returns></returns>
public bool IoSafeCheck(StationModule sm)
{
try
{
int count = _Config.axisArray.Count;
int i = 0;
int CountIo = _Config.arrWorkStation.Count;
if (sm == null)
{
return(true);
}
while (i < count)
{
AxisConfig ac = _Config.axisArray[i];
if (ac.AxisNum >= 0 && NewCtrlCardV0.SR_GetAxisStatus(ac) == 1)
{
if (!AxisSafeManage.IoAxisIsSafe(sm, ac, 0, 0))
{
if (Global.WorkVar.tag_isFangDaiJieChu)
{
return(true);
}
return(false);
}
}
i++;
}
return(true);
}
catch
{
return(true);
}
}
/// <summary>
/// 判断是否右轴报警 TRUE 报警
/// </summary>
public bool IsAxisAlarm()
{
bool axio = false;
//NewCtrlCardV0.GetInputIoBitStatus("", "Z1报警", out axio);
if (axio)
{
LogOutControl.OutLog("轴报警", 0);
return(true);
}
int CardIndex = 0;
int axisIndex = 0;
bool ret = false;
for (MotionCardManufacturer i = 0; i < MotionCardManufacturer.MotionCardManufacturer_max; i++)
{
NewCtrlCardBase Base = NewCtrlCardV0.tag_NewCtrlCardBase[(int)i];
short j = 0;
short n = 0;
if (Base == null || NewCtrlCardIO.tag_CardHave[(int)i] == 0)
{
continue;
}
while (j < NewCtrlCardV0.tag_CardCount[(int)i])
{
axisIndex = 0;
while (n < NewCtrlCardV0.tag_CardAxisCount[(int)i])
{
//tag_CardAxisAlarm[CardIndex]
AxisConfig name = IshaveAxis((int)i, j, n);
if (name != null)
{
if (name.tag_IoAlarmNHighEnable == 1)
{
if ((((int)NewCtrlCardIO.tag_CardAxisAlarm[CardIndex] & (1 << n)) > 0))
{
LogOutControl.OutLog(NewCtrlCardBase.GetManufacturerName((int)i) + "第" + j + "卡" + n + "轴(" + name.AxisName + ")报警", 0);
ret = true;
}
}
else
{
if ((((int)NewCtrlCardIO.tag_CardAxisAlarm[CardIndex] & (1 << n)) == 0))
{
LogOutControl.OutLog(NewCtrlCardBase.GetManufacturerName((int)i) + "第" + j + "卡" + n + "轴(" + name.AxisName + ")报警", 0);
ret = true;
}
}
}
axisIndex++;
n++;
}
CardIndex++;
j++;
}
//
}
return(ret);
}
/// <summary>
/// 判断当前轴运动是否是在PA 的安全 配置列表里面(pa.tag_AxisSafeManage.tag_AxisSafeList) 在返回TRUE
/// </summary>
/// <param name="_ac"></param>
/// <param name="pa"></param>
/// <returns></returns>
public static bool isIOAxisHavePoint(AxisConfig _ac, PointAggregate pa, double pos)
{
int i = 0;
if (pa == null || pa.tag_AxisSafeManage == null || pa.tag_AxisSafeManage.tag_AxisSafeList == null)
{
return(false);
}
while (i < pa.tag_AxisSafeManage.tag_AxisSafeList.Count)
{
AxisSafe currac = pa.tag_AxisSafeManage.tag_AxisSafeList[i];
if ((int)_ac.tag_MotionCardManufacturer * 1000 + _ac.CardNum * 100 + _ac.AxisNum == currac.tag_AxisId)
{
double poen_ac = 0.0;
NewCtrlCardV0.SR_GetPrfPos((int)_ac.tag_MotionCardManufacturer, _ac.CardNum, _ac.AxisNum, ref poen_ac);
// if (i == 0)
{
poen_ac = poen_ac / _ac.Eucf;
if (poen_ac <= currac.tag_max && poen_ac >= currac.tag_min)
{
return(true);
}
else
{
return(false);
}
}
}
i++;
}
return(false);
}
/// <summary>
/// 寻找原点 多次来回寻找,如果向负方向找到返回0，向正方向找到放回1
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short MutHomeFindHomeSinge(AxisConfig axisC1, int count)
{
int stepPos = (int)axisC1.intFirstFindOriginDis;
int pos = stepPos / 2;
int addPos = stepPos / 2;
int i = 0;
do
{
if (HomeFindHomeSinge(axisC1, stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
stepPos = 0 - stepPos;
if (stepPos < 0)
{
stepPos = stepPos - addPos;
pos = 0 - stepPos;
}
else
{
stepPos = stepPos + addPos;
pos = stepPos;
}
i++;
}while (pos < axisC1.intFirstFindOriginDis + 1 && i < count);
return(-1);
}
/// <summary>
/// 寻找原点 多次来回寻找,如果向负方向找到返回0，向正方向找到放回1
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short MutHomeFindHomeSinge(AxisConfig axisC1)
{
int stepPos = 45;
int pos = 45;
int i = 0;
do
{
if (HomeFindHomeSinge(axisC1, stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
stepPos = 0 - stepPos;
if (stepPos < 0)
{
stepPos = stepPos - 45;
pos = 0 - stepPos;
}
else
{
stepPos = stepPos + 45;
pos = stepPos;
}
i++;
}while (pos < axisC1.intFirstFindOriginDis && i < 100);
return(-1);
}
private void button_Del_Click(object sender, EventArgs e)
{
try
{
AxisConfig axis = null;
int i = 0;
if (!string.IsNullOrEmpty(tag_StationManage.strStationName))
{
for (i = 0; i < tag_StationManage.intUseAxisCount; i++)
{
string axisFind = tag_StationManage.arrAxis[i].AxisName;
if (axisFind == listBox_Axis.SelectedItem.ToString())
{
axis = tag_StationManage.arrAxis[i];
break;
}
}
}
if (axis == null)
{
return;
}
tag_StationManage.arrAxis.Remove(axis);
tag_StationManage.intUseAxisCount--;
listBox_Axis.Items.Remove(axis.AxisName);
}
catch
{ }
}
/// <summary>
/// 高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)
/// </summary>
/// <param name="axisC"></param>
/// <param name="hcmp">高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)</param>
/// <returns></returns>
public short _SR_dmc_hcmp_clear_points(AxisConfig axisC, ushort hcmp)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_hcmp_clear_points((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp));
}
/// <summary>
/// 配置高速比较器 time参数(脉冲宽度)只对队列和线性比较模式起作用
/// </summary>
/// <param name="axisC"></param>
/// <param name="hcmp">高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)</param>
/// <param name="cmp_source">比较位置源:0:指令位置计数器，1:编码器计数器</param>
/// <param name="cmp_logic">有效电平:0:低电平，1:高电平</param>
/// <param name="time">脉冲宽度，单位:us，取值范围:1us~20s</param>
/// <returns></returns>
public short _SR_dmc_hcmp_set_config(AxisConfig axisC, short hcmp, short cmp_source, short cmp_logic, long time)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_hcmp_set_config((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp, (ushort)axisC.AxisNum, (ushort)cmp_source, (ushort)cmp_logic, (Int32)time));
}
/// <summary>
/// 控制指定 CMP 端口的输出
/// </summary>
/// <param name="axisC"></param>
/// <param name="hcmp">高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)</param>
/// <param name="on_off">设置 CMP 端口电平，0:低电平，1:高电平</param>
/// <returns></returns>
public short _SR_dmc_write_cmp_pin(AxisConfig axisC, short hcmp, short on_off)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_write_cmp_pin((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp, (ushort)on_off));
}
/// <summary>
/// 设置高速比较线性模式参数
/// </summary>
/// <param name="axisC"></param>
/// <param name="hcmp">高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)</param>
/// <param name="Increment">位置增量值，单位:pulse(正值表示位置递增，负值表示位置递减)</param>
/// <param name="Count">比较次数，取值范围:1~65535</param>
/// <returns></returns>
public short _SR_dmc_hcmp_set_liner(AxisConfig axisC, short hcmp, int Increment, int Count)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_hcmp_set_liner((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp, (int)Increment, Count));
}
/// <summary>
/// 添加/更新高速比较位置
/// </summary>
/// <param name="axisC"></param>
/// <param name="hcmp">高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)</param>
/// <param name="cmp_pos">队列模式下:添加比较位置，单位:pulse</param>
/// <returns></returns>
public short _SR_dmc_hcmp_add_point(AxisConfig axisC, short hcmp, int cmp_pos)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_hcmp_add_point((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp, (int)cmp_pos));
}
/// <summary>
/// 功 能:设置高速比较模式
/// 比较模式:
/// 1)当选择模式 1 时，只有当前位置等于比较位置时，CMP 端口才输出有效电平
///2)当选择模式 2 时，只要当前位置小于比较位置时，CMP 端口就一直保持有效电平
///3)当选择模式 3 时，只要当前位置大于比较位置时，CMP 端口就一直保持有效电平
///4)当选择模式 4 或 5 时，CMP 端口输出有效电平的时间通过 dmc_hcmp_set_config函数的 time 参数(脉冲宽度)设置 5)DMC5C00 后四轴不支持高速位置比较功能
/// </summary>
/// <param name="axis"></param>
/// <param name="hcmp">高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)</param>
/// <param name="cmp_mode">比较模式:0:禁止(默认值)1:等于2:小于3:大于</param>
/// <returns></returns>
public short _SR_dmc_hcmp_get_mode(AxisConfig axisC, short hcmp, ref ushort cmp_mode)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_hcmp_get_mode((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp, ref cmp_mode));
}
/// <summary>
/// 单轴连续运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
adt8960m.adt8960_set_startv(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblPonitStartSpeed); //
adt8960m.adt8960_set_speed(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblPonitSpeed); //
adt8960m.adt8960_set_acc(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblAcc); //
return((short)adt8960m.adt8960_continue_move(axisC.CardNum, axisC.AxisNum + 1, dir));
}
/// <summary>
///
/// </summary>
/// <param name="CardNo"></param>
/// <param name="hcmp"></param>
/// <param name="axis"></param>
/// <param name="cmp_source"></param>
/// <param name="cmp_logic"></param>
/// <param name="time"></param>
/// <returns></returns>
public short _SR_dmc_hcmp_get_config(AxisConfig axisC, ushort hcmp, ref ushort axis, ref ushort cmp_source, ref ushort cmp_logic, ref int time)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_hcmp_get_config((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp, ref axis, ref cmp_source, ref cmp_logic, ref time));
}
/// <summary>
/// 读取高速比较参数
/// </summary>
/// <param name="axisC"></param>
/// <param name="hcmp">高速比较器，取值范围:0~3(对应硬件 CMP0~CMP3 端口)</param>
/// <param name="remained_points">返回可添加比较点数</param>
/// <param name="current_point">返回当前比较点位置，单位:pulse</param>
/// <param name="runned_points">返回已比较点数</param>
/// <returns></returns>
public short _SR_dmc_hcmp_get_current_state(AxisConfig axisC, short hcmp, ref int remained_points, ref int current_point, ref int runned_points)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
return(LTDMC.dmc_hcmp_get_current_state((ushort)tag_cardids[axisC.CardNum], (ushort)hcmp, ref remained_points, ref current_point, ref runned_points));
}
/// <summary>
/// 单轴连续运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
int ddir = 1;
if (dir == 1)
{
ddir = -1;
}
return((short)Dmc1000.d1000_start_sv_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum, (int)point.dblPonitStartSpeed,
(int)point.dblPonitSpeed * ddir, point.dblAccTime));//连续运动
}
private void button_AddAxis_Click(object sender, EventArgs e)
{
AxisConfig axis = new AxisConfig();
axis.AxisIndex = _Worker._Config.axisArray.Count;;
_Worker._Config.axisArray.Add(axis);
AxisSetConfigControl setC = new AxisSetConfigControl();
Panel_SetAxis.Controls.Add((Control)setC);
setC.Location = new Point(3, 32 + axis.AxisIndex * setC.Height + axis.AxisIndex * 5);
setC.AxisSet = axis;
}
/// <summary>
/// 寻找原点,一次寻找pos1 ,
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindHomeSinge(AxisConfig axisC, int pos1)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = pos1;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //采集原点信号
if (!axisC.tag_homeIoHighLow) //如果信号位高电平
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum)); //停止轴
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-2);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-3);
}
}
}
public short _SR_GoHome(AxisConfig _acf)
{
if (HomeFindLimit(_acf) == 0)
{
Thread.Sleep(1000);
if (HomeMoveTwoDis(_acf) == 0)
{
return(HomeFindHomeIO(_acf));
}
}
return(-5);
}
/// <summary>
/// 寻找原点,一次寻找pos1 ,
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindHomeSinge(AxisConfig axisC, int pos1)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule();
point.dblPonitSpeed = axisC.Speed;
point.dblAcc = axisC.Acc;
point.dblDec = axisC.Dec;
point.dblDec = axisC.tag_accTime;
point.dblPonitValue = pos1;
shrResult = _SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
CommandResult("_SR_RelativeMove", shrResult);
return(1);
}
Thread.Sleep(10);
while (true)
{
_SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
if (!axisC.tag_homeIoHighLow)
{
if (!pIo)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (_SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
}
/// <summary>
/// 单原点回原,多次寻找
/// </summary>
/// <param name="_acf"></param>
/// <returns></returns>
public short _SR_GoOneHome(AxisConfig _acf)
{
short ret = MutHomeFindHomeSinge(_acf);
if (ret >= 0)
{
if (HomeMoveTwoDis(_acf) == 0)
{
return(HomeFindOneHomeIO(_acf));
}
}
return(-5);
}
