/// <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);
}
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>
/// IO输出
/// </summary>
/// <param name="io">IO类对象</param>
/// <param name="ioValue">输出状态</param>
/// <returns></returns>
public static short GetOutputIoBit(IOParameter io, short ioValue)
{
short shrResult = 0;
bool bioValue = false;
if (io == null)
{
return(shrFail);
}
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)io.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)io.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
shrResult = Base_.SR_GetOutputBit(io.CardNum, io.IOBit, out bioValue);
if (shrResult != shrSuccess)
{
shrResult = -1;
return(shrResult);
}
if (bioValue)
{
shrResult = 1;
}
else
{
shrResult = 0;
}
return(shrResult);
}
/// <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>
/// 直线查补运动
/// </summary>
/// <param name="card"></param>
/// <param name="postion">目标点位</param>
/// <param name="crd">坐标系</param>
/// <param name="posi_mode">运动模式，1:相对坐标模式，0:绝对坐标模式</param>
public static short SR_LineMulticoorMove(AxisConfig[] axisC, PointModule[] point, short crd, short posi_mode)
{
short shrResult = 0;
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC[0].tag_MotionCardManufacturer];
if (Base_ == null || Base_.SR_LineMulticoorMove == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC[0].tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
if (Base_.SR_LineMulticoorMove != null)
{
if (posi_mode == 0)
{
posi_mode = 1;
}
else
{
posi_mode = 0;
}
shrResult = Base_.SR_LineMulticoorMove(axisC, point, crd, posi_mode);
}
if (shrResult != shrGtsSuccess)
{
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 伺服电机回原函数
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <returns></returns>
public static short GoHome(string stationName, string axisName)
{
AxisConfig axisC = StationManage.FindAxis(stationName, axisName);
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 = -1;
switch (axisC.GoHomeType)
{
case 0:
shrResult = Base_.SR_GoHome(axisC);
break;
case 1:
shrResult = Base_.SR_GoHome(axisC);
break;
case 2:
shrResult = Base_.SR_GoOneHome(axisC);
break;
case 3:
shrResult = Base_.SR_GoOneHomeOrg(axisC);
break;
default:
shrResult = Base_.SR_GoHome(axisC);
break;
}
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 设置单轴停止 减速停止
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static short SR_AxisStop(int Cardtype, short card, short axis)
{
short shrResult;
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[Cardtype];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)Cardtype) + "控制卡初始化失败!");
return(shrFail);
}
shrResult = Base_.SR_AxisStop(card, axis);
if (shrResult != shrGtsSuccess)
{
return(-1);
}
return(0);
}
/// <summary>
/// 获取轴运动状态 1，运动，0 飞运动 -1异常
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public static short SR_GetAxisStatus(AxisConfig axisC)
{
short shrResult = 0;
int axisStatus = 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(-1);
}
shrResult = Base_.SR_GetAxisStatus(axisC.CardNum, axisC.AxisNum, out axisStatus);
if (shrResult == 1)
{
return(-1);
}
return((short)axisStatus);
}
/// <summary>
/// 读取板卡规划位置
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="pos"></param>
/// <param name="count"></param>
/// <returns></returns>
public static short SR_GetPrfPos(int Cardtype, short card, short axis, ref double pos)
{
short shrResult;
int posV = 0;
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[Cardtype];
shrResult = Base_.SR_GetPrfPos(card, axis, ref pos);
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)Cardtype) + "控制卡初始化失败!");
return(shrFail);
}
if (shrResult != shrGtsSuccess)
{
return(-1);
}
return(0);
}
/// <summary>
/// 获取单通道（Bit）输入IO状态，函数执行成功 判断status参数值 TRUE 有信号输入 FALSE无信号输入
/// </summary>
/// <param name="stationName"></param>
/// <param name="ioName"></param>
/// <param name="status"></param>
/// <returns></returns>
public static short GetInputIoBitStatus(string stationName, string ioName, out bool status)
{
short shrResult;
status = false;
if (ioName == null)
{
status = true;
return(0);
}
IOParameter ioP = StationManage.FindInputIo(ioName);
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)ioP.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)ioP.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
if (ioP == null)
{
MessageBoxLog.Show(stationName + "\r\nIO:<" + ioName + ">没有找到，请配置");
return(shrFail);
}
shrResult = Base_.SR_GetInputBit(ioP.CardNum, ioP.IOBit, out status);
if (ioP.Logic == 0)
{
if (status)
{
status = false;
}
else
{
status = true;
}
}
if (shrResult
== -1)
{
return(shrFail);
}
return(shrSuccess);
}
/// <summary>
/// 轴绝对运动
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <param name="pointName"></param>
/// <returns></returns>
public static short AxisAbsoluteMove(string stationName, string axisName, string pointName, int asxisIndex)
{
StationModule stationM = StationManage.FindStation(stationName);
if (stationM == null)
{
return(shrFail);
}
AxisConfig axisC = StationManage.FindAxis(stationM, axisName);
if (axisC == null)
{
return(shrFail);
}
PointAggregate pointA = StationManage.FindPoint(stationM, pointName);
if (pointA == null)
{
return(shrFail);
}
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 shrResult = 0;
if (pointA.tag_motionType == 0)
{
shrResult = Base_.SR_AbsoluteMove(axisC, pointA.arrPoint[asxisIndex]);
}
else
{
shrResult = Base_.SR_RelativeMove(axisC, pointA.arrPoint[asxisIndex]);
}
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrSuccess);
}
/// <summary>
/// 设定正负方向限位输入nLMT信号的模式
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public static short set_pulse_mode(AxisConfig axisC)
{
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null || Base_.SR_set_pulse_mode == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
if (axisC == null)
{
return(shrFail);
}
short shrResult = (short)Base_.SR_set_pulse_mode((int)axisC.CardNum, (int)axisC.AxisNum, axisC.tag_CC_value, axisC.tag_CC_logic, axisC.tag_dir_logic);
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 设定正负方向限位输入nLMT信号的模式
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public static short set_limit_mode(AxisConfig axisC)
{
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null || Base_.SR_set_limit_mode == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
if (axisC == null)
{
return(shrFail);
}
short shrResult = Base_.SR_set_limit_mode(axisC.CardNum, axisC.AxisNum, axisC.tag_IoLimtPEnable, axisC.tag_IoLimtNEnable, axisC.tag_IoLimtPNHighEnable);
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrResult);
}
/// <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 static short SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
short shrResult = 0;
if (point.dblPonitSpeed == 0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
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);
}
shrResult = Base_.SR_continue_move(axisC, point, dir);
if (shrResult != shrGtsSuccess)
{
return(shrFail);
}
return(shrSuccess);
}
/// <summary>
/// 判断是否报警 TRUE 报警
/// </summary>
public bool IsAxisLimitAlarm()
{
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])
{
AxisConfig name = IshaveAxis((int)i, j, n);
if (name != null)
{
if (name.tag_IoLimtPNHighEnable == 1)
{
if ((((int)NewCtrlCardIO.tag_CardAxisLimitNIO[CardIndex] & (1 << n)) > 0) && name.tag_IoLimtNEnable == 0)
{
LogOutControl.OutLog(NewCtrlCardBase.GetManufacturerName((int)i) + "第" + j + "卡" + n + "轴负限位(" + name.AxisName + ")报警", 0);
ret = true;
}
if ((((int)NewCtrlCardIO.tag_CardAxisLimitPIO[CardIndex] & (1 << n)) > 0) && name.tag_IoLimtPEnable == 0)
{
LogOutControl.OutLog(NewCtrlCardBase.GetManufacturerName((int)i) + "第" + j + "卡" + n + "轴正限位(" + name.AxisName + ")报警", 0);
ret = true;
}
}
else
{
if ((((int)NewCtrlCardIO.tag_CardAxisLimitNIO[CardIndex] & (1 << n)) == 0) && name.tag_IoLimtNEnable == 0)
{
LogOutControl.OutLog(NewCtrlCardBase.GetManufacturerName((int)i) + "第" + j + "卡" + n + "轴负限位(" + name.AxisName + ")报警", 0);
ret = true;
}
if ((((int)NewCtrlCardIO.tag_CardAxisLimitPIO[CardIndex] & (1 << n)) == 0) && name.tag_IoLimtPEnable == 0)
{
LogOutControl.OutLog(NewCtrlCardBase.GetManufacturerName((int)i) + "第" + j + "卡" + n + "轴正限位(" + name.AxisName + ")报警", 0);
ret = true;
}
}
}
axisIndex++;
n++;
}
CardIndex++;
j++;
}
//
}
return(ret);
}
