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);
}
