/// <summary>
///单轴相对运动
/// </summary>
/// <param name="AxisName"></param>
/// <param name="distance"></param>
/// <param name="errMsg"></param>
/// <returns></returns>
public int AxisRelMove(string AxisName, double distance, out string errMsg)
{
errMsg = "";
IJFInitializable dev;
JFDevCellInfo ci;
string errInfo = "";
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, AxisName, out dev, out ci, out errInfo))
{
return((int)ErrorDef.InvokeFailed);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.RelMove(ci.ChannelIndex, distance);
if (errCode != (int)ErrorDef.Success)
{
errMsg = md.GetErrorInfo(errCode);
return(errCode);
}
errCode = MotionDone(AxisName, out errMsg);
if (errCode != 0)
{
return(errCode);
}
return((int)ErrorDef.Success);
}
private void btNR_Click(object sender, EventArgs e)
{
if (cbMoveMode.SelectedIndex != 0) //未选中寸动模式
{
return;
}
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[3], out errInfo);
if (null == ci)
{
MessageBox.Show("R轴负向寸动失败！配置中没有通道信息，Name = \"" + _axisNames[3] + "\" ErrorInfo:" + errInfo);
return;
}
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.RelMove(ci.ChannelIndex, -_dStepParam);
if (errCode != 0)
{
MessageBox.Show("R轴负向寸动失败！，AxisName = \"" + _axisNames[3] + "\" ErrorInfo:" + md.GetErrorInfo(errCode));
return;
}
ShowTips("R轴负向寸动OK");
}
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);
}
