/// <summary>
/// 将直线插补运动的所有轴伺服上电
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btLineServOn_Click(object sender, EventArgs e)
{
if (_module == null)
{
ShowTips("无效操作，模块未设置");
return;
}
if (!_module.IsOpen)
{
ShowTips("无效操作，模块未打开");
return;
}
if (dgvLinePos.Rows.Count == 0)
{
MessageBox.Show("无效操作:没有设置插补轴");
return;
}
List <int> axisIDs = new List <int>();
foreach (DataGridViewRow row in dgvLinePos.Rows)
{
string axisIDTxt = row.Cells[0].Value as string;
if (string.IsNullOrEmpty(axisIDTxt))
{
MessageBox.Show("操作失败:存在未设置的轴序号");
return;
}
axisIDs.Add(Convert.ToInt32(axisIDTxt));
}
bool isSuccess = true;
StringBuilder sbErr = new StringBuilder();
foreach (int axisID in axisIDs)
{
int err = _module.ServoOn(axisID);
if (err != 0)
{
sbErr.Append("轴" + axisID + " 伺服上电失败，ErrorInfo:" + _module.GetErrorInfo(err) + "\n");
isSuccess = false;
}
}
if (isSuccess)
{
ShowTips("所有直线插补伺服上电完成");
}
else
{
MessageBox.Show("操作失败:\n" + sbErr.ToString());
}
}
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);
int err = 0;
bool IsServoOn = (bool)GetInitParamValue("轴是否励磁");
if (IsServoOn)
{
err = md.ServoOn(ci.ChannelIndex);
}
else
{
err = md.ServoOff(ci.ChannelIndex);
}
if (err != 0)
{
errorInfo = (IsServoOn ? "励磁使能ON" : "励磁使能OFF") + "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);
}
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");
}
///// <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);
}
