/// <summary>
/// 添加一个轴安全区
/// </summary>
/// <param name="card"></param>
/// <param name="axisId"></param>
/// <returns></returns>
public AxisSafe Add(short type, short card, short axisId)
{
AxisSafe asf = new AxisSafe(type, card, axisId);
Add(asf);
return(asf);
}
/// <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>
/// 设置一card 的axisId 轴的安全区
/// </summary>
/// <param name="card"></param>
/// <param name="axisId"></param>
/// <param name="max"></param>
/// <param name="min"></param>
/// <returns></returns>
public bool SetAxisSafe(short type, short card, short axisId, double max, double min)
{
Add(type, card, axisId);
AxisSafe asf = GetAxisSafe(type, card, axisId);
asf.tag_max = max;
asf.tag_min = min;
return(true);
}
/// <summary>
/// 添加一个轴安全区
/// </summary>
/// <param name="asf"></param>
/// <returns></returns>
public bool Add(AxisSafe asf)
{
foreach (AxisSafe af in tag_AxisSafeList)
{
if (af.tag_AxisId == asf.tag_AxisId)
{
return(false);
}
}
tag_AxisSafeList.Add(asf);
return(false);
}
/// <summary>
/// 判断当前位置是否是本点的安全区 安全返回TRUE
/// </summary>
/// <returns></returns>
public bool PointIsSafe(PointAggregate point)
{
foreach (StationModule sm in StationManage._Config.arrWorkStation)
{
foreach (AxisConfig ac in sm.arrAxis)
{
AxisSafe asf = GetAxisSafe((short)ac.tag_MotionCardManufacturer, ac.CardNum, ac.AxisNum);
if (asf != null)
{
double poen_ac = 0;
NewCtrlCardV0.SR_GetPrfPos((int)ac.tag_MotionCardManufacturer, ac.CardNum, ac.AxisNum, ref poen_ac);
poen_ac = poen_ac / ac.Eucf;
if (!asf.IsSafe(poen_ac))
//if (!asf.IsSafe(ac.dblEncPos))
{
return(false);
}
}
}
}
return(true);
}
public AxisSafetySetControl(AxisSafe asf, string axisName)
{
tag_axisName = axisName;
tag_AxisSafe = asf;
InitializeComponent();
}