public override async Task AbsMoveAsync(uint axisindex, int position)
{
if (!m_isInitialed)
{
throw new Exception("请先初始化");
}
if (!m_isLoadConfigFile)
{
throw new Exception("未加载xml配置文件");
}
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_ACC, acc);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_DEC, dec);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_VS, startv);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_VM, maxv);
double maxv = 0;
APS168.APS_get_axis_param_f((int)axisindex, (int)APS_Define.PRA_VM, ref maxv);
await Task.Run(() =>
{
APS168.APS_absolute_move((int)axisindex, position, (int)maxv);
//等待Motion Down完成
int motionStatusMdn = 5;
while ((APS168.APS_motion_status((int)axisindex) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(100);
}
});
}
private void btnRelativeMove_Click(object sender, EventArgs e)
{
var boardId = Convert.ToInt32(txtCardId.Text);
var selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
var praAcc = Convert.ToDouble(txtPraAcc.Text);
var praDec = Convert.ToDouble(txtPraDec.Text);
var praVm = Convert.ToInt32(txtPraVm.Text);
var pulse = Convert.ToInt32(txtRelativePulse.Text);
_primADLink.AxisSetAcc(boardId, selectAxis, praAcc);
_primADLink.AxisSetDec(boardId, selectAxis, praDec);
if (_primADLink.PrimConnStat == PrimConnState.Connected)
{
var task = new Task(() =>
{
APS168.APS_relative_move(selectAxis, pulse, praVm);
//等待Motion Down完成
var motionStatusMdn = 5;
while ((APS168.APS_motion_status(selectAxis) & (1 << motionStatusMdn)) == 0)
{
Thread.Sleep(100);
}
MessageBox.Show("运动完成！");
});
task.Start();
}
else
{
MessageBox.Show("请加载配置文件！");
}
}
/// <summary>
/// 是否停止移动
/// </summary>
/// <returns></returns>
public bool IsDown(int axisNo, bool hasExtEncode = false)
{
var status = APS168.APS_motion_status(axisNo);
//判断是否停止
if (((status >> (int)APS_Define.MTS_NSTP) & 1) == 0)
{
return(false);
}
//判断是否正常停止
if (((status >> (int)APS_Define.MTS_ASTP) & 1) == 1)
{
var reason = GetStopReason(axisNo);
return(false);
}
//判断INP鑫海
if (hasExtEncode)
{
var inp = APS168.APS_motion_io_status(axisNo);
if (((inp >> (int)APS_Define.MIO_INP) & 1) == 0)
{
return(false);
}
}
return(true);
}
public override async Task RelMoveAsync(uint axisindex, int distance)
{
if (!m_isInitialed)
{
throw new Exception("请先初始化");
}
if (!m_isLoadConfigFile)
{
throw new Exception("未加载xml配置文件");
}
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_ACC, acc);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_DEC, dec);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_VS, startv);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_VM, maxv);
int maxv = 0;
APS168.APS_get_axis_param((int)axisindex, (int)APS_Define.PRA_VM, ref maxv);
await Task.Run(() =>
{
APS168.APS_relative_move((int)axisindex, distance, (int)maxv);
int motionStatusMdn = 5;
while ((APS168.APS_motion_status((int)axisindex) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(50);
}
});
}
private void btnAbsoluteMove_Click(object sender, EventArgs e)
{
_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
var praAcc = Convert.ToDouble(txtPraAcc.Text);
var praDec = Convert.ToDouble(txtPraDec.Text);
var praVm = Convert.ToInt32(txtPraVm.Text);
var pulse = Convert.ToInt32(txtAbsolutePulse.Text);
APS168.APS_set_axis_param_f(_selectAxis, (int)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxis, (int)APS_Define.PRA_DEC, praDec); // Set deceleration rate
if (_card0.IsLoadXmlFile)
{
var task = new Task(() =>
{
APS168.APS_absolute_move(_selectAxis, pulse, praVm);
//等待Motion Down完成
var motionStatusMdn = 5;
while ((APS168.APS_motion_status(_selectAxis) & (1 << motionStatusMdn)) == 0)
{
Thread.Sleep(100);
}
MessageBox.Show("运动完成！");
});
task.Start();
}
else
{
MessageBox.Show("请加载配置文件！");
}
}
public override async Task HomeAsync(uint axisindex)
{
if (!m_isInitialed)
{
throw new Exception("请先初始化");
}
if (!m_isLoadConfigFile)
{
throw new Exception("未加载xml配置文件");
}
// APS168.APS_set_axis_param((int)axisindex, (Int32)APS_Define.PRA_HOME_DIR,Convert .ToInt32(homedir)); // Set home direction
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_HOME_ACC, acc);
//// Set homing acceleration rate
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_HOME_VM, maxv); // Set homing maximum velocity.
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_HOME_VS, startv); // Set homing start speed
await Task.Run(() =>
{
APS168.APS_home_move((int)axisindex);
int motionStatusCstp = 0, motionStatusAstp = 16;
while ((APS168.APS_motion_status((int)axisindex) & 1 << motionStatusCstp) == 0)
{
Thread.Sleep(100);
}
Thread.Sleep(500);
if ((APS168.APS_motion_status((int)axisindex) & 1 << motionStatusAstp) != 0)
{
throw new Exception($"轴 { axisindex} 回零失败！");
}
// Thread.Sleep(500);
// APS168.APS_set_position_f((int)axisindex,0);
});
}
private int GetMotionStatus(int axisNo)
{
var ret = APS168.APS_motion_status(axisNo);
if (ret < 0)
{
ThrowIfResultError(ret);
}
return(ret);
}
private void btnRun_Click(object sender, EventArgs e)
{
//重置触发计数
//APS168.APS_reset_trigger_count(_card0.CardId, 0);
//关闭触发
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//0=Negative direction , 1= Positive direction, 2=Bi-direction(No direction)
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TCMP0_DIR, 2);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("0100", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_PWD, 50000); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_LOGIC, 0); //设置1可能会多一次触发
//重置触发计数
//APS168.APS_reset_trigger_count(_card0.CardId, 0);
//线程1，设置触发点，开始运动
Task.Factory.StartNew(() =>
{
//位置比较触发点
var CMP_x = new[]
{
2000, 4000, 7000, 9000, 12000, 15000, 19000, 22000, 23000, 25000,
24000, 21000, 18000, 15000, 11000, 9000
};
APS168.APS_set_trigger_table(_card0.CardId, 0, CMP_x, CMP_x.Length);
//运动到30000
APS168.APS_absolute_move(_selectAxis, 30000, 30000);
while ((APS168.APS_motion_status(_selectAxis) & (1 << 5)) == 0) //motionStatusMdn = 5
{
Thread.Sleep(100);
}
//运动到0
APS168.APS_absolute_move(_selectAxis, 0, 30000);
while ((APS168.APS_motion_status(_selectAxis) & (1 << 5)) == 0) //motionStatusMdn = 5
{
Thread.Sleep(100);
}
});
}
private int GetMotionStatus(int axisNo)
{
var ret = APS168.APS_motion_status(axisNo);
//if (ret < 0)
//{
// var innerMsg = "";
// innerMsg = GetErrorCodeDesc((APS_Define)ret);
// if (innerMsg != "No Error")
// MessageBox.Show(string.Format("APS_motion_status Error:{0}", innerMsg));
// //ThrowIfResultError(ret);
//}
return(ret);
}
/// <summary>
/// 检测指定轴的运动状态
/// </summary>
/// <param name="axisNo"></param>
/// <param name="hasExtEncode">是否有编码器接入(步进电机无外部编码器)</param>
/// <remarks>判断INP鑫海</remarks>
public int CheckDone(int axisNo, double timeoutLimit, bool hasExtEncode = false)
{
var status = 0;
var inp = 1;
var strtime = new Stopwatch();
strtime.Start();
do
{
//判断是否正常停止
status = APS168.APS_motion_status(axisNo);
if (((status >> (int)APS_Define.MTS_ASTP) & 1) == 1)
{
return(-1);
}
status = (status >> (int)APS_Define.MTS_NSTP) & 1;
//判断INP鑫海
if (hasExtEncode)
{
inp = APS168.APS_motion_io_status(axisNo);
inp = (inp >> (int)APS_Define.MIO_INP) & 1;
}
//break条件是否满足
if ((status == 1) && (inp == 1))
{
break;
}
//检查是否超时
strtime.Stop();
if (strtime.ElapsedMilliseconds / 1000.0 > timeoutLimit)
{
APS168.APS_emg_stop(axisNo);
return(-2);
}
strtime.Start();
//延时
Thread.Sleep(20);
} while (true);
return(0);
}
private void StartHoming(int boardId, int axisId, int homeMode, int homeDir, double praCurve, double praAcc, double praVm)
{
//
// 1. Select home mode and config home parameters
_primADLink.AxisSetHomeMode(boardId, axisId, homeMode); // Set home mode
_primADLink.AxisSetHomeDir(boardId, axisId, homeDir); // Set home direction
_primADLink.AxisSetHomeCurve(boardId, axisId, praCurve); // Set acceleration paten (T-curve)
_primADLink.AxisSetHomeAcc(boardId, axisId, praAcc); // Set homing acceleration rate
_primADLink.AxisSetHomeMaxVel(boardId, axisId, praVm); // Set homing maximum velocity.
_primADLink.AxisSetHomeVO(boardId, axisId, praVm / 5); // Set homing VO speed
_primADLink.AxisSetHomeEZA(boardId, axisId, 0); // Set EZ signal alignment (yes or no)
_primADLink.AxisSetHomeShift(boardId, axisId, 0); // Set home position shfit distance.
_primADLink.AxisSetHomePos(boardId, axisId, 0); // Set final home position.
_primADLink.AxisHomeMove(boardId, axisId); // Start Axis Home Move
//servo on
_primADLink.AxisSetEnable(boardId, axisId, true);
Thread.Sleep(500); // Wait stable.
// 2. Start home move
//APS168.APS_home_move(axisId);
_primADLink.AxisHomeMove(boardId, axisId); // Start Axis Home Move
int motionStatusCstp = 0, motionStatusAstp = 16;
while ((APS168.APS_motion_status(axisId) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
Thread.Sleep(500);
//if ((APS168.APS_motion_status(axisId) & 1 << motionStatusAstp) == 0)
if ((_primADLink.GetAxisMotionStatus(axisId) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + axisId + "回零成功！");
}
else
{
MessageBox.Show("轴" + axisId + "回零失败！");
}
}
public override int GetMotionSts(int cardId, int axisId, ref int sts)
{
int _sts, _rSts;
_sts = APS168.APS_motion_status(axisId);
_rSts = 0;
if (XConvert.BitEnable(_sts, XAPS_Define.MTS_ASTP))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MTS_ASTP);
}
if (XConvert.BitEnable(_sts, XAPS_Define.MTS_HMV))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MTS_HMV);
}
if (XConvert.BitEnable(_sts, XAPS_Define.MTS_MDN))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MTS_MDN);
}
sts = _rSts;
return(0);
}
private void StartHoming(int axisId, int homeMode, int homeDir, double praCurve, double praAcc, double praVm)
{
// 1. Select home mode and config home parameters
APS168.APS_set_axis_param(axisId, (int)APS_Define.PRA_HOME_MODE, homeMode); // Set home mode
APS168.APS_set_axis_param(axisId, (int)APS_Define.PRA_HOME_DIR, homeDir); // Set home direction
APS168.APS_set_axis_param_f(axisId, (int)APS_Define.PRA_HOME_CURVE, praCurve); // Set acceleration paten (T-curve)
APS168.APS_set_axis_param_f(axisId, (int)APS_Define.PRA_HOME_ACC, praAcc); // Set homing acceleration rate
APS168.APS_set_axis_param_f(axisId, (int)APS_Define.PRA_HOME_VM, praVm); // Set homing maximum velocity.
APS168.APS_set_axis_param_f(axisId, (int)APS_Define.PRA_HOME_VO, praVm / 5); // Set homing VO speed
APS168.APS_set_axis_param_f(axisId, (int)APS_Define.PRA_HOME_EZA, 0); // Set EZ signal alignment (yes or no)
APS168.APS_set_axis_param_f(axisId, (int)APS_Define.PRA_HOME_SHIFT, 0); // Set home position shfit distance.
APS168.APS_set_axis_param_f(axisId, (int)APS_Define.PRA_HOME_POS, 0); // Set final home position.
//servo on
APS168.APS_set_servo_on(axisId, 1);
Thread.Sleep(500); // Wait stable.
// 2. Start home move
APS168.APS_home_move(axisId);
int motionStatusCstp = 0, motionStatusAstp = 16;
while ((APS168.APS_motion_status(axisId) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
Thread.Sleep(500);
if ((APS168.APS_motion_status(axisId) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + axisId + "回零成功！");
}
else
{
MessageBox.Show("轴" + axisId + "回零失败！");
}
}
public void MoveRelative(int x, int y)
{
double praAcc = 1000000;
double praDec = 1000000;
int praVm = 1000;
int pulseX = x;
int pulseY = y;
if (IsInitialed == false)
{
return;
}
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//if (_card0.IsLoadXmlFile)
{
Task task = new Task(() =>
{
APS168.APS_relative_move(_selectAxisX, pulseX, praVm);
APS168.APS_relative_move(_selectAxisY, pulseY, praVm);
//等待Motion Down完成
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(_selectAxisX) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(_selectAxisY) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(100);
}
//MessageBox.Show("运动完成！");
});
task.Start();
}
}
public void MoveAbs(int x, int y)
{
//_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
double praAcc = 1000000;
double praDec = 1000000;
int praVm = 1000;
int pulseX = x;
int pulseY = y;
if (IsInitialed == false)
{
return;
}
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//if (_card0.IsLoadXmlFile)
{
Task task = new Task(() =>
{
APS168.APS_absolute_move(_selectAxisX, pulseX, praVm);
APS168.APS_absolute_move(_selectAxisY, pulseY, praVm);
//等待Motion Down完成
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(_selectAxisX) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(_selectAxisY) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(100);
}
});
task.Start();
}
}
/// <summary>
/// 检查回零是否完成
/// </summary>
/// <param name="axisNo"></param>
/// <returns></returns>
public int CheckHomeDone(int axisNo, double timeoutLimit)
{
var status = 0;
var strtime = new Stopwatch();
strtime.Start();
do
{
//检查运动是否完成
status = APS168.APS_motion_status(axisNo);
if (((status >> (int)APS_Define.MTS_ASTP) & 1) == 1)
{
return(-1);
}
status = (status >> (int)APS_Define.MTS_HMV) & 1;
if (status == 0)
{
break;
}
//检查是否超时
strtime.Stop();
if (strtime.ElapsedMilliseconds / 1000.0 > timeoutLimit)
{
APS168.APS_emg_stop(axisNo);
return(-2);
}
strtime.Start();
//延时
Thread.Sleep(20);
} while (true);
return(0);
}
public void GetLineValues(int pxStart, int pyStart, int pxEnd, int pyEnd, ref List <LineData> data)
{
LineData tempDate = new LineData();
int[] Axis_ID = new int[2] {
_selectAxisX, _selectAxisY
};
double[] PositionStart = new double[2] {
pxStart, pyStart
};
double[] PositionEnd = new double[2] {
pxEnd, pyEnd
};
Class_8338.Interpolation_2D_line_move(Axis_ID, PositionStart, false);
//add start
tempDate.X = pxStart;
tempDate.Y = pyStart;
tempDate.Z = ReadSickValue();
data.Add(tempDate);
Class_8338.Interpolation_2D_line_moveNowait(Axis_ID, PositionEnd, false);
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(Axis_ID[0]) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(Axis_ID[1]) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(300);
tempDate.Z = ReadSickValue();
GetPostionAbs(ref tempDate.X, ref tempDate.Y);
data.Add(tempDate);
}
//add end
tempDate.X = pxEnd;
tempDate.Y = pyEnd;
tempDate.Z = ReadSickValue();
data.Add(tempDate);
}
public override void GetAxisStatue(uint axisindex, ref int value)
{
value = APS168.APS_motion_status((int)axisindex);
}
private void PointTableMove(double x, double y)
{
PTSTS ptStatus = new PTSTS();
PTLINE Line = new PTLINE();
PTDWL dwell = new PTDWL();
dwell.DwTime = 200;
int _bufTotalPoint, _bufFreeSpace, _bufUsageSpace, _bufRunningCnt;
Int32 ptbId = 0, dimension = 2;
int[] axisIdArray = new int[] { 0, 1 };
double vStart = 5000;
double vMax = 40000;
double vEnd = 5000;
int ret = APS168.APS_pt_disable(0, 0);
ret = APS168.APS_pt_enable(0, ptbId, dimension, axisIdArray);
ret = APS168.APS_pt_set_absolute(0, ptbId);
ret = APS168.APS_pt_set_trans_buffered(0, ptbId);
ret = APS168.APS_pt_set_acc(0, ptbId, 500000);
ret = APS168.APS_pt_set_dec(0, ptbId, 500000);
{
{
ret = APS168.APS_get_pt_status(0, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
if (ptStatus.PntBufFreeSpace > 10)
{
ret = APS168.APS_pt_set_vm(0, ptbId, 1000); //最大速度
ret = APS168.APS_pt_set_ve(0, ptbId, 1000); //结束速度
Line.Dim = dimension;
Line.Pos = new Double[] { x, y, 0, 0, 0, 0 };
ret = APS168.APS_pt_line(0, ptbId, ref Line, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(0, ptbId, 8, 1);
ret = APS168.APS_pt_dwell(0, ptbId, ref dwell, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(0, ptbId, 8, 0);
ret = APS168.APS_pt_dwell(0, ptbId, ref dwell, ref ptStatus);
}
else
{
Thread.Sleep(1);
}
}
}
APS168.APS_pt_start(0, 0);
//等待buffer跑完, motionStatus的ptbFlag=false则连续运动结束。
bool ptbFlag = true;
while (ptbFlag)
{
int motionStatus = APS168.APS_motion_status(axisIdArray[0]);
ptbFlag = (motionStatus & (1 << 11)) != 0;
ret = APS168.APS_get_pt_status(0, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
Thread.Sleep(100);
}
}
private void PointTableMove()
{
var ptStatus = new PTSTS();
var Line = new PTLINE();
var dwell = new PTDWL();
dwell.DwTime = 200;
int ptbId = 0, dimension = 2;
var axisIdArray = new[] { 0, 1 };
//double vStart = 5000;
//double vMax = 40000;
//double vEnd = 5000;
var ret = APS168.APS_pt_disable(_card0.CardId, ptbId);
ret = APS168.APS_pt_enable(_card0.CardId, ptbId, dimension, axisIdArray);
ret = APS168.APS_pt_set_absolute(_card0.CardId, ptbId);
ret = APS168.APS_pt_set_trans_buffered(_card0.CardId, ptbId);
ret = APS168.APS_pt_set_acc(_card0.CardId, ptbId, 500000);
ret = APS168.APS_pt_set_dec(_card0.CardId, ptbId, 500000);
foreach (DataRow row in _pointTable.Rows)
{
while (true)
{
ret = APS168.APS_get_pt_status(_card0.CardId, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
if (ptStatus.PntBufFreeSpace > 10)
{
//ret = APS168.APS_pt_set_vs(_card0.CardId, ptbId, vStart);
ret = APS168.APS_pt_set_vm(_card0.CardId, ptbId, Convert.ToDouble(row[4]));
ret = APS168.APS_pt_set_ve(_card0.CardId, ptbId, Convert.ToDouble(row[5]));
Line.Dim = dimension;
Line.Pos = new[] { Convert.ToDouble(row[1]), Convert.ToDouble(row[2]), 0, 0, 0, 0 };
ret = APS168.APS_pt_line(_card0.CardId, ptbId, ref Line, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(_card0.CardId, ptbId, 8, 1);
ret = APS168.APS_pt_dwell(_card0.CardId, ptbId, ref dwell, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(_card0.CardId, ptbId, 8, 0);
ret = APS168.APS_pt_dwell(_card0.CardId, ptbId, ref dwell, ref ptStatus);
break;
}
Thread.Sleep(1);
}
}
//等待buffer跑完, motionStatus的ptbFlag=false则连续运动结束。
var ptbFlag = true;
while (ptbFlag)
{
var motionStatus = APS168.APS_motion_status(axisIdArray[0]);
ptbFlag = (motionStatus & (1 << 11)) != 0;
ret = APS168.APS_get_pt_status(_card0.CardId, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
Thread.Sleep(100);
}
}
private void tmrUpdateUi_Tick(object sender, EventArgs e)
{
if (_card0.IsLoadXmlFile)
{
_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
double d = 0;
APS168.APS_get_position_f(_selectAxis, ref d);
txtFeedbackPos.Text = d.ToString("f0");
txtFeedbackPosition.Text = d.ToString("f0");
switch (tabControl1.SelectedTab.Name)
{
case "tabMotion":
int index;
bool status;
int motionIoStatus, motionStatus;
//刷新MotionIoStatus
motionIoStatus = APS168.APS_motion_io_status(_selectAxis);
foreach (var label in grpMotionIo.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (motionIoStatus & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
//刷新MotionStatus
motionStatus = APS168.APS_motion_status(_selectAxis);
foreach (var label in grpMotion.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (motionStatus & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
//刷新Feedback信息
double value = 0;
APS168.APS_get_command_f(_selectAxis, ref value);
txtCommandPosition.Text = value.ToString("f0");
//APS168.APS_get_position_f(_selectAxis, ref value);
//txtFeedbackPos.Text = value.ToString("f0");
//txtFeedbackPosition.Text = value.ToString("f0");
APS168.APS_get_target_position_f(_selectAxis, ref value);
txtTargetPosition.Text = value.ToString("f0");
APS168.APS_get_error_position_f(_selectAxis, ref value);
txtErrorPosition.Text = value.ToString("f0");
APS168.APS_get_command_velocity_f(_selectAxis, ref value);
txtCommandVelocity.Text = value.ToString("f0");
APS168.APS_get_feedback_velocity_f(_selectAxis, ref value);
txtFeedbackVelocity.Text = value.ToString("f0");
//刷新ServoOn, motionIoStatus第7位
status = (motionIoStatus & (1 << 7)) != 0;
lblServoOn.BackColor = status ? Color.LawnGreen : Color.DimGray;
//刷新JOG正 和 JOG负
var jogPostive = (motionStatus & (1 << 15)) != 0 && (motionStatus & (1 << 4)) != 0;
var jogNegative = (motionStatus & (1 << 15)) != 0 && (motionStatus & (1 << 4)) == 0;
lblJogPostive.BackColor = jogPostive ? Color.LawnGreen : Color.DimGray;
lblJogNegative.BackColor = jogNegative ? Color.LawnGreen : Color.DimGray;
break;
case "tabIo":
var diValue = 0;
APS168.APS_read_d_input(_card0.CardId, 0, ref diValue);
foreach (var label in grpDi.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (diValue & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
var doValue = 0;
APS168.APS_read_d_output(_card0.CardId, 0, ref doValue);
foreach (var label in grpDo.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (doValue & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
break;
case "tabTrigger":
{
var count = 0;
APS168.APS_get_trigger_count(0, 0, ref count);
txtTriggerCount0.Text = count.ToString();
APS168.APS_get_trigger_count(0, 1, ref count);
txtTriggerCount1.Text = count.ToString();
}
break;
case "tabPtline":
{
if (_ptEnabled)
{
txtTotalPoint.Text = _bufTotalPoint.ToString();
txtBufFreeSpace.Text = _bufFreeSpace.ToString();
txtbufUsageSpace.Text = _bufUsageSpace.ToString();
txtRunningCnt.Text = _bufRunningCnt.ToString();
}
}
break;
}
}
}
private void button7_Click(object sender, EventArgs e)
{
var boardId = Convert.ToInt32(txtCardId.Text);
int motionStatusCstp = 0, motionStatusAstp = 16;
APS168.APS_absolute_move(0, -220000, 50000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
Thread.Sleep(500);
APS168.APS_absolute_move(1, 30000, 10000);
while ((APS168.APS_motion_status(1) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(1) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
APS168.APS_absolute_move(2, 0, 10000);
while ((APS168.APS_motion_status(2) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(2) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
APS168.APS_absolute_move(1, -15000, 10000);
//关闭触发
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//Bi-direction(No direction)
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_DIR, 1);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("0100", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_PWD, 1500); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_LOGIC, 0);
//add points to 1th
//int[] xPoint = new int[] { 100000, 90000, 80000 };
var xPoint = new int[330];
var csvFile = new CsvReader("x1.csv");
var xTable = csvFile.ReadIntoDataTable(new[] { typeof(int) });
for (var i = 0; i < 330; i++)
{
xPoint[i] = Convert.ToInt32(xTable.Rows[i][0]); //表格行的数据
}
APS168.APS_set_trigger_table(boardId, 0, xPoint, 330);
}
private void btnLineTrigTest_Click(object sender, EventArgs e)
{
int motionStatusCstp = 0, motionStatusAstp = 16;
var boardId = Convert.ToInt32(txtCardId.Text);
var praAcc = Convert.ToDouble(txtPraAcc.Text);
var praDec = Convert.ToDouble(txtPraDec.Text);
APS168.APS_set_axis_param_f(0, (int)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(0, (int)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//回起始点
APS168.APS_absolute_move(0, -220000, 100000);
APS168.APS_absolute_move(1, -15000, 100000);
APS168.APS_absolute_move(2, 0, 10000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
}
APS168.APS_absolute_move(0, -62000, 50000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
}
//关闭触发
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//Bi-direction(No direction)
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_DIR, 1);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("11000", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_PWD, 2000); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_LOGIC, 0);
//重置触发计数
APS168.APS_reset_trigger_count(boardId, 0);
APS168.APS_reset_trigger_count(boardId, 1);
APS168.APS_set_trigger_linear(boardId, 0, -61000, 900, 11);
APS168.APS_relative_move(0, 20000, 5000);
//Int32 ptbId = 0; //Point table id 0
//Int32 dimension = 3; //2D point table
//Int32 i = 0;
//Int32 ret = 0;
//int[] Axis_ID_Array = new int[] { 0, 1, 2 };
//PTSTS Status = new PTSTS();
//PTLINE Line = new PTLINE();
////Enable point table
//ret = APS168.APS_pt_disable(boardId, ptbId);
///////////////////////////ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
//ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
////Configuration
//ret = APS168.APS_pt_set_absolute(boardId, ptbId); //Set to absolute mode
//ret = APS168.APS_pt_set_trans_buffered(boardId, ptbId); //Set to buffer mode
//ret = APS168.APS_pt_set_acc(boardId, ptbId, 5000000); //Set acc
//ret = APS168.APS_pt_set_dec(boardId, ptbId, 5000000); //Set dec
//ret = APS168.APS_get_pt_status(boardId, ptbId, ref Status);
//if ((Status.BitSts & 0x02) == 0) //Buffer is not Full
//{
// Line.Dim = 3;
// double Vslow = 300000;
// {
// PTDWL pwdell = new PTDWL();
// pwdell.DwTime = 2000;
// //1st line
// ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);
// ret = APS168.APS_pt_set_ve(boardId, ptbId, Vslow);
// Line.Pos = new double[] { -218000, -22000, 50, 0, 0, 0 };
// ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);//1段起始点
// APS168.APS_set_trigger_linear(boardId, 0, -72000, 900, 11);
// double praAcc = Convert.ToDouble(txtPraAcc.Text);
// double praDec = Convert.ToDouble(txtPraDec.Text);
// APS168.APS_set_axis_param_f(1, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
// APS168.APS_set_axis_param_f(1, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
// APS168.APS_relative_move(0, 20000, 100000);
// }
//}
}