private void btHomeX_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[0], out errInfo);
if (null == ci)
{
MessageBox.Show("X轴:\"" + _axisNames[0] + "\" Home操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
int errCode = md.Home(ci.ChannelIndex);
if (0 != errCode)
{
MessageBox.Show("X轴:\"" + _axisNames[0] + "\" Home操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("X轴:\"" + _axisNames[0] + "\" Home运动开始");
}
void OnServonButtonClicked(object sender, EventArgs e)
{
int i = 0;
for (i = 0; i < btServons.Length; i++)
{
if (sender == btServons[i])
{
break;
}
}
string axisName = _axisNames[i];
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(axisName, out errInfo);
if (null == ci)
{
MessageBox.Show("轴" + _axisNames[i] + "伺服操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
bool isCurrSerOn = md.IsSVO(ci.ChannelIndex);
int errCode = 0;
if (isCurrSerOn)
{
errCode = md.ServoOff(ci.ChannelIndex);
}
else
{
errCode = md.ServoOn(ci.ChannelIndex);
}
if (errCode != 0)
{
MessageBox.Show("轴" + _axisNames[i] + "伺服操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("轴" + _axisNames[i] + "伺服" + (isCurrSerOn?"去使能":"使能") + "成功");
}
protected override bool ActionGenuine(out string errorInfo)
{
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
//if(!md.IsSVO(ci.ChannelIndex)) //HTM控制卡在未上电时，调用Stop会异常退出
//{
// errorInfo = "\"轴ID\" = " + axisID + " 未励磁";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return true;
//}
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
errorInfo = md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
private void btAbsMoveR_Click(object sender, EventArgs e)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 定位操作失败，ErrorInfo:" + errInfo);
return;
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
double tgtPos = Convert.ToDouble(numAbsCmdR.Value);
int errCode = md.AbsMove(ci.ChannelIndex, tgtPos);
if (errCode != 0)
{
MessageBox.Show("R轴:\"" + _axisNames[3] + "\" 定位操作失败，ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("R轴:\"" + _axisNames[3] + "\" 开始移动到 ：" + tgtPos);
}
/// <summary>
/// 获取轴反馈坐标
/// </summary>
/// <param name="AxisName"></param>
/// <param name="pos"></param>
/// <param name="errMsg"></param>
/// <returns></returns>
public int GetAxisFbkPos(string AxisName, out double pos, out string errMsg)
{
pos = 0;
errMsg = "";
IJFInitializable dev;
JFDevCellInfo ci;
double UV2xy = 0;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, AxisName, out dev, out ci, out errMsg))
{
return((int)ErrorDef.InvokeFailed);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.GetFbkPos(ci.ChannelIndex, out UV2xy);
if (errCode != (int)ErrorDef.Success)
{
errMsg = md.GetErrorInfo(errCode);
return(errCode);
}
pos = UV2xy;
return((int)ErrorDef.Success);
}
private void btPY_MouseDown(object sender, MouseEventArgs e)
{
if (cbMoveMode.SelectedIndex != 1) //未选中连续模式
{
return;
}
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[1], out errInfo);
if (null == ci)
{
MessageBox.Show("Y轴正向连续运动失败！配置中没有通道信息，Name = \"" + _axisNames[1] + "\" ErrorInfo:" + errInfo);
return;
}
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.VelMove(ci.ChannelIndex, _dVelParam, true);
if (errCode != 0)
{
MessageBox.Show("Y轴正向连续运动失败！Name = \"" + _axisNames[1] + "\" ErrorInfo:" + errInfo);
return;
}
}
/// <summary>
/// 停止连续运动X
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btPX_MouseUp(object sender, MouseEventArgs e)
{
if (cbMoveMode.SelectedIndex != 1) //未选中连续模式
{
return;
}
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[0], out errInfo);
if (null == ci)
{
return;
}
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
ShowTips("X轴停止运动失败！Name = \"" + _axisNames[0] + "\" ErrorInfo:" + errInfo);
return;
}
ShowTips("X轴已停止");
}
JFDevCellInfo CheckAxisDevInfo(string axisName, out string errorInfo)
{
JFDevCellInfo ci = JFHubCenter.Instance.MDCellNameMgr.GetAxisCellInfo(axisName); //在命名表中的通道信息
if (null == ci)
{
errorInfo = "未找到轴:\"" + axisName + "\"设备信息";
return(null);
}
IJFDevice_MotionDaq dev = JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq;
if (null == dev)
{
errorInfo = "未找到轴:\"" + axisName + "\"所属设备:\"" + ci.DeviceID + "\"";
return(null);
}
if (!dev.IsDeviceOpen)
{
errorInfo = "轴:\"" + axisName + "\"所属设备:\"" + ci.DeviceID + "\"未打开";
return(null);
}
if (ci.ModuleIndex >= dev.McCount)
{
errorInfo = "轴:\"" + axisName + "\"模块序号:\"" + ci.ModuleIndex + "\"超出限制!";
return(null);
}
IJFModule_Motion md = dev.GetMc(ci.ModuleIndex);
if (ci.ChannelIndex >= md.AxisCount)
{
errorInfo = "轴:\"" + axisName + "\"通道序号:\"" + ci.ChannelIndex + "\"超出限制!";
return(null);
}
errorInfo = "";
return(ci);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isPositive = (bool)GetInitParamValue("正向移动");
double velocity = Convert.ToDouble(GetInitParamValue("移动速度"));
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int errCode = md.VelMove(ci.ChannelIndex, velocity, isPositive);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
public void SetAxis(IJFModule_Motion module, int axis)
{
motionModule = module;
axisIndex = axis;
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
JFMotionParam mp = (JFMotionParam)GetInitParamValue("运动参数");
/*
* public double vs { get; set; }
* /// <summary>最大速度</summary>
* public double vm { get; set; }
* /// <summary>结束速度</summary>
* public double ve { get; set; }
* /// <summary>加速度</summary>
* public double acc { get; set; }
* /// <summary>减速度</summary>
* public double dec { get; set; }
* /// <summary>s曲线因子(0~1.0)</summary>
* public double curve { get; set; }
* /// <summary>加加速</summary>
* public double jerk { get; set; }
*/
if (mp.vs < 0)
{
errorInfo = "起始速度参数vs < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.vm <= 0)
{
errorInfo = "运行速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.ve < 0)
{
errorInfo = "终点速度参数ve < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.acc <= 0)
{
errorInfo = "加速度参数acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.dec <= 0)
{
errorInfo = "减速度参数dec <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.curve < 0 || mp.curve > 1)
{
errorInfo = "加速度曲线段系数不在允许范围0~1";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetMotionParam(ci.ChannelIndex, mp);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
JFHomeParam hp = (JFHomeParam)GetInitParamValue("轴归零参数");
/*
* 归零模式 0:使用Org（原点）作为归零参考 1：使用限位信号作为归零参考 2：仅使用EZ信号作为归零参考
*/
if (hp.mode != 0 && hp.mode != 1 && hp.mode != 2 && hp.mode != -1 && hp.mode != -2)
{
errorInfo = "归零模式设置错误,mode=" + hp.mode;
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.acc <= 0)
{
errorInfo = "加速度/减速度acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vm <= 0)
{
errorInfo = "最大速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vo <= 0)
{
errorInfo = "寻找原点速度vo <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.va <= 0)
{
errorInfo = "接近速度va <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.shift < 0)
{
errorInfo = "回零偏移量sift < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.offset < 0)
{
errorInfo = "回零补偿值offset < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetHomeParam(ci.ChannelIndex, hp);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
///// <summary>
///// 使通道可用（如伺服上电，光源/触发可用）
///// 建议在 打开设备->检查通道可用性 之后调用
///// </summary>
///// <param name="errorInfo"></param>
///// <returns></returns>
public bool EnabledChannel(out string errorInfo)
{
errorInfo = "Unknown-Error";
bool isOK = false;
if (!CheckAvalid(out errorInfo))
{
return(false);
}
int errorCode = 0;
IJFDevice dev = Device();
switch (CellType)
{
case JFDevCellType.DI:
isOK = true;
errorInfo = "Success";
break;
case JFDevCellType.DO:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.Axis:
{
IJFDevice_MotionDaq devMD = Device() as IJFDevice_MotionDaq;
JFDevCellInfo ci = CellInfo();
IJFModule_Motion mm = devMD.GetMc(ci.ModuleIndex);
errorCode = mm.ServoOn(ci.ChannelIndex);
if (errorCode != 0)
{
errorInfo = mm.GetErrorInfo(errorCode);
}
else
{
isOK = true;
errorInfo = "Success";
}
}
break;
case JFDevCellType.AI:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.AO:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.CmpTrig:
errorInfo = "Success";
isOK = true;
break;
case JFDevCellType.Light:
dev = Device();
if (dev is IJFDevice_LightControllerWithTrig) //光源控制器
{
IJFDevice_LightControllerWithTrig devLT = dev as IJFDevice_LightControllerWithTrig;
errorCode = devLT.SetWorkMode(JFLightWithTrigWorkMode.TurnOnOff); //切换为开关模式
if (errorCode != 0)
{
errorInfo = "切换为开关模式失败:" + devLT.GetErrorInfo(errorCode);
break;
}
}
IJFDevice_LightController devl = dev as IJFDevice_LightController;
errorCode = devl.SetLightChannelEnable(CellInfo().ChannelIndex, true);
if (errorCode != 0)
{
errorInfo = "通道使能失败:" + devl.GetErrorInfo(errorCode);
break;
}
isOK = true;
errorInfo = "Success";
break;
case JFDevCellType.Trig:
dev = Device();
if (dev is IJFDevice_LightControllerWithTrig) //光源控制器
{
IJFDevice_LightControllerWithTrig devLT = dev as IJFDevice_LightControllerWithTrig;
errorCode = devLT.SetWorkMode(JFLightWithTrigWorkMode.Trigger); //切换为触发模式
if (errorCode != 0)
{
errorInfo = "切换为触发模式失败:" + devLT.GetErrorInfo(errorCode);
break;
}
}
IJFDevice_TrigController devt = dev as IJFDevice_TrigController;
errorCode = devt.SetTrigChannelEnable(CellInfo().ChannelIndex, true);
if (errorCode != 0)
{
errorInfo = "通道使能失败:" + devt.GetErrorInfo(errorCode);
break;
}
isOK = true;
errorInfo = "Success";
break;
default:
errorInfo = "未定义的通道类型";
break;
}
return(isOK);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\"的值:\"" + axisID + "\"在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "归0前获取轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if (!AxisStatus[md.MSID_MDN])
//{
// errorInfo = "轴当前运动未完成";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return false;
//}
err = md.Home(ci.ChannelIndex);
if (err != 0)
{
errorInfo = "调用SDK失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
double dPos = Convert.ToDouble(GetInitParamValue("目标位置"));
bool IsAbsMove = Convert.ToBoolean(GetInitParamValue("绝对位置模式"));
if (IsAbsMove)
{
err = md.AbsMove(ci.ChannelIndex, dPos);
}
else
{
err = md.RelMove(ci.ChannelIndex, dPos);
}
if (err != 0)
{
errorInfo = (IsAbsMove?"绝对":"相对") + "位置运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string axisID = GetMethodInputValue(PN_AxisID) as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
int timeoutMilSeconds = (int)GetMethodInputValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);;
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, axisID);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_md.MSID_SVO])
{
errorInfo = "轴伺服已断电!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_MDN])
{
ActionErrorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到轴:\" " + axisID + "\"归零完成 ";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
double tgtPos = 0;
int errCode = _md.GetCmdPos(_ci.ChannelIndex, out tgtPos);
if (0 != errCode)
{
errorInfo = "恢复运行时获取目标位置失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errCode = _md.AbsMove(_ci.ChannelIndex, tgtPos);
if (0 != errCode)
{
errorInfo = "恢复轴P2P运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
else
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
}
}
protected bool JFMotionDone(string AxisName, out string errorInfo, int delaytime)
{
errorInfo = "";
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, AxisName);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
return(false);
}
//if (!axisStatus[_md.MSID_SVO])
//{
// errorInfo = "轴伺服已断电!";
// _workCmd = 0;
// _isRunning = false;
// SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
// return false;
//}
if (axisStatus[_md.MSID_MDN])
{
ActionErrorInfo = "Success";
_workCmd = 0;
_isRunning = false;
return(true);
}
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= delaytime)
{
errorInfo = "超时未等到轴:\" " + AxisName + "\"动作完成 ";
_workCmd = 0;
_isRunning = false;
return(false);
}
Thread.Sleep(10);
}
else if (1 == _workCmd)//当前为暂停状态
{
_station.StopAxis(LeftClampName);
_station.StopAxis(LeftPushName);
_isRunning = false;
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
_station.StopAxis(LeftClampName);
_station.StopAxis(LeftPushName);
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
return(false);
}
else
{
Thread.Sleep(10);
continue;
}
}
}
protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string[] axisIDList = GetInitParamValue(PN_AxisID) as string[];
if (axisIDList == null)
{
errorInfo = "轴ID列表长度为空";
return(false);
}
int[] iAxisIDList = new int[axisIDList.Length];
if (axisIDList.Length <= 0)
{
errorInfo = "轴ID列表长度<=0";
return(false);
}
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
IJFDevice_MotionDaq _dev = null;
IJFDevice_MotionDaq _devBuff = null;
List <JFDevCellInfo> cibuffList = new List <JFDevCellInfo>();
_mdList = new List <IJFModule_Motion>();
_ciList = new List <JFDevCellInfo>();
//检查轴参数合法性
for (int i = 0; i < axisIDList.Length; i++)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisIDList[i]))
{
errorInfo = "参数项:\"轴ID\" = " + axisIDList[i] + " 在设备名称表中不存在";
return(false);
}
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, axisIDList[1]);
if (!axisChn.CheckAvalid(out errorInfo))
{
return(false);
}
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
if (_devBuff != null)
{
if (_devBuff != _dev)
{
errorInfo = "轴ID列表中的所有轴并不来源于同一个设备";
return(false);
}
}
_devBuff = _dev;
foreach (JFDevCellInfo jFDevCellInfo in cibuffList)
{
if (jFDevCellInfo.ChannelIndex == _ci.ChannelIndex)
{
errorInfo = "轴ID列表中存在重复的轴名称";
return(false);
}
}
cibuffList.Add(_ci);
_ciList.Add(_ci);
_mdList.Add(_md);
iAxisIDList[i] = _ci.ChannelIndex;
}
int timeoutMilSeconds = (int)GetMethodInputValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);
bool isAbs = (bool)GetMethodInputValue(PN_AbsMode);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
// 其他状态检查
bool[] axisStatus;
bool isMotionDone = true;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].GetMotionStatus(_ciList[i].ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_mdList[i].MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (_mdList[i].MSID_EMG > -1 && axisStatus[_mdList[i].MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_mdList[i].MSID_SVO])
{
errorInfo = "轴伺服已断电!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_mdList[i].MSID_MDN])
{
isMotionDone = false;
break;
}
}
if (isMotionDone)
{
errorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到直线插补运动完成 ";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
int errCode = 0;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].StopAxis(_ciList[i].ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
}
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
double[] dPosList = new double[_ciList.Count];
double tgtPos = 0;
int errCode = 0;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].GetCmdPos(_ciList[i].ChannelIndex, out tgtPos);
if (0 != errCode)
{
errorInfo = "恢复直线插补运行时获取目标位置失败:" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
dPosList[i] = tgtPos;
}
if (isAbs)
{
errCode = _mdList[0].AbsLine(iAxisIDList, dPosList);
}
else
{
errCode = _mdList[0].RelLine(iAxisIDList, dPosList);
}
if (0 != errCode)
{
errorInfo = "恢复轴" + (isAbs ? "绝对式" : "相对式") + "直线插补运动失败:" + _mdList[0].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
int errCode = 0;
for (int i = 0; i < _ciList.Count; i++)
{
errCode = _mdList[i].StopAxis(_ciList[i].ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _mdList[i].GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
}
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
else
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
}
}
protected override bool ActionGenuine(out string errorInfo)
{
string[] axisIDList = GetInitParamValue("轴ID列表") as string[];
double[] dPosList = GetMethodInputValue("目标位置列表") as double[];
bool IsAbsMove = (bool)GetMethodInputValue("绝对位置模式");
if (axisIDList == null || dPosList == null)
{
errorInfo = "轴ID列表长度或者目标位置列表长度为空";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int[] iaxisIDList = new int[axisIDList.Length];
if (axisIDList.Length <= 0)
{
errorInfo = "轴ID列表长度<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (dPosList.Length <= 0)
{
errorInfo = "目标位置列表<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (axisIDList.Length != dPosList.Length)
{
errorInfo = "轴ID列表长度为" + axisIDList.ToString() + "与目标列表长度" + dPosList.Length.ToString() + "不一致。";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
IJFInitializable devbuff = null;
JFDevCellInfo ci = null;
List <JFDevCellInfo> cibuffList = new List <JFDevCellInfo>();
for (int m = 0; m < axisIDList.Length; m++)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisIDList[m]))
{
errorInfo = "参数项:\"轴ID\" = " + axisIDList[m] + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisIDList[m], out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
iaxisIDList[m] = ci.ChannelIndex;
if (devbuff != null)
{
if (devbuff != dev)
{
errorInfo = "轴ID列表中的所有轴并不来源于同一个设备";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
}
devbuff = dev;
if (cibuffList.Contains(ci))
{
errorInfo = "轴ID列表中存在重复的轴名称";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
cibuffList.Add(ci);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (IsAbsMove)
{
err = md.AbsLine(iaxisIDList, dPosList);
}
else
{
err = md.RelLine(iaxisIDList, dPosList);
}
if (err != 0)
{
errorInfo = (IsAbsMove ? "绝对" : "相对") + "直线插补运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
