/// <summary>
/// 初始化电机,先归零，再初始化
/// </summary>
/// <param name="Motor"></param>
/// <param name="Comm"></param>
/// <returns></returns>
public static bool InitMotor(Electromotor Motor, AbstractComm Comm, bool OnlyStart = false, decimal gap = 0m)
{
Constants.UserAbort = false;
//var result=MoveMotor(Motor, Comm, 0);
var result = StopMotor(Motor, Comm, true);
result = result && Comm.SetRegister(Motor.Distance.Addr, 0);
result = result && Comm.SetCoilOff(Motor.InitCoil.Addr);
result = result && Comm.SetCoilOn(Motor.InitCoil.Addr);
Motor.CurrentDistance = 0m;
Motor.IsBack = true;
Motor.IsStarted = false;
if (!OnlyStart)
{
result = result && Comm.Doned(30000, false, Motor.InitCoil);
if (Motor.ProgramZero > 0)
{
result = result && MoveMotor(Motor, Comm, 0, false, true, gap);
}
}
else
{
if (Motor.ProgramZero > 0)
{
Task.Run(() =>
{
MoveMotor(Motor, Comm, 0, false, true, gap);
});
}
}
return(result);
}
/// <summary>
/// 移到指定位置,移动前关闭反馈完成信号
/// </summary>
/// <param name="Motor"></param>
/// <param name="Comm"></param>
/// <returns></returns>
public static bool MoveMotor(Electromotor Motor, AbstractComm Comm, decimal?Distance, bool OnlyStart = false, bool Start = true, decimal gap = 0m)
{
Constants.PauseResetEvent.WaitOne();
if (Constants.UserAbort)
{
return(false);
}
if (!Distance.HasValue)
{
return(false);
}
if (Distance.Value < 0)
{
Distance = 0;
}
var realdis = Motor.GetRealDistance(Distance.Value, gap);
if (Motor.CurrentDistance == realdis)
{
return(true);
}
else
{
//关闭完成信号
Comm.SetCoil(false, Motor.DoneCoil.Addr);
}
Motor.CurrentDistance = realdis;
int distance = Convert.ToInt32(realdis * Convert.ToDecimal(Motor.Factor.SetValue));
var result = Comm.SetRegister(Motor.Distance.Addr, distance);
if (Start)
{
StartMotor(Motor, Comm);
}
if (!OnlyStart)
{
result = Comm.Doned(30000, true, Motor.DoneCoil);
}
return(result);
}
/// <summary>
/// 启动连续地址电机，如加样器Y轴,距离地址连续，启动地址连续，反馈信号地址连续
/// </summary>
/// <param name="motors"></param>
/// <param name="Distances">为负值时，不会应用校正因子</param>
/// <param name="gap"></param>
/// <param name="Comm"></param>
/// <returns></returns>
public static bool MoveMotors(Electromotor[] motors, decimal[] Distances, decimal[] gap, AbstractComm Comm, bool OnlyStart, bool PauseScan = true, bool IsInjectorY = false, bool IsInitInjectorY = false)
{
Constants.PauseResetEvent.WaitOne();
if (Constants.UserAbort)
{
return(false);
}
var len = motors.Length;
byte[] dis = new byte[len * 4];
for (byte b = 0; b < len; b++)
{
var realdis = motors[b].GetRealDistance(Distances[b], gap == null?0m:gap[b]);
if (motors[b].CurrentDistance == realdis)
{
return(true);
}
else
{
motors[b].CurrentDistance = realdis < 0?0: realdis;
Distances[b] = realdis;
var val = Convert.ToInt32(realdis < 0? realdis:(realdis * Convert.ToDecimal(motors[b].Factor.SetValue)));
var bval = ByteUtil.Int4ToBytes(val);
Array.Copy(bval, 0, dis, 4 * b, 4);
}
}
var result = true;
if (PauseScan)
{
Comm.ScanRestEvent.Reset();
}
//关闭完成信号
result = result && Comm.SetBatchCoil(motors[0].DoneCoil.Addr, (short)len, 0x00);
result = result && Comm.SetBatchRegister(Comm.ConvertFatekAddrToModbusAddr(motors[0].Distance.Addr.Substring(1)), (short)(len * 2), dis);
if (IsInjectorY)
{
result = result && Comm.SetCoilOn("M99");
if (IsInitInjectorY)
{
for (byte b = 0; b < Distances.Length; b++)
{
if (Distances[b] == 0)
{
Comm.SetCoilOn(motors[b].DoneCoil.Addr);//开启反馈信号
}
}
}
}
else
{
result = result && StartMotor(motors, Comm, true, false);
}
if (PauseScan)
{
Comm.ScanRestEvent.Set();
}
if (!OnlyStart)
{
result = result && Comm.Doned(30000, true, motors.Select(item => item.DoneCoil.Addr).ToArray());
}
return(result);
}