public bool StopMove(short Axis)
{
int rtn = 0;
bHomeStop[Axis] = true;
try
{
if (Axis < 8 && Axis > -1)
{
lock (lockObj)
{
rtn = cmApi.Motion.Stop(Axis);
if (rtn != 0)
{
string errorCode = "";
errorCode = WMX3Api.ErrorToString(rtn);
// Global.logger.ErrorFormat("WMX3 轴{0}停止失败！错误信息：{1}", Axis, errorCode);
return(false);
}
}
return(true);
}
else
{
return(false);
}
}
catch (Exception ex)
{
// Global.logger.ErrorFormat("WMX3 轴{0}停止异常！异常信息：{1}", Axis, ex.Message);
return(false);
}
}
public bool JogMove(short Axis, double dAcc, double dDec, double dVel)
{
if (!bInitOK)
{
return(false);
}
lock (lockObj)
{
s_JogCommand.Axis = Axis; //运动的轴号
s_JogCommand.Profile.Type = ProfileType.SCurve; //运动曲线类型，建议用SCurve
s_JogCommand.Profile.Velocity = dVel; //运动速度
s_JogCommand.Profile.Acc = dAcc / 0.001; //运动加速度
s_JogCommand.Profile.JerkAcc = dAcc / 0.001; //运动加加速(加速度的加速度)
s_JogCommand.Profile.Dec = dDec / 0.001; //运动减速度
s_JogCommand.Profile.JerkDec = dDec / 0.001; //运动减减速(减速度的加速度)
int rtn = 0;
rtn = cmApi.Motion.StartJog(s_JogCommand);
if (rtn != 0)
{
string errorCode = "";
errorCode = WMX3Api.ErrorToString(rtn);
// Global.logger.ErrorFormat("WMX3初始化失败！错误信息：{0}", errorCode);
return(false);
}
}
return(true);
}
public SoftservoControler()
{
wmx = new WMX3Api();
status = new CoreMotionStatus();
s_JogCommand = new Motion.JogCommand();
fx_PosBlock = new Motion.PosCommand();
fx_LinearIntplCommand = new Motion.LinearIntplCommand();
fx_CenterAndEndCir = new Motion.CenterAndEndCircularIntplCommand();
fx_ThroughAndEnd = new Motion.ThroughAndEndCircularIntplCommand();
}
public override bool Init(HardWareInfoBase infoHardWare)
{
int ret = wmx.CreateDevice(@"C:\Program Files\SoftServo\WMX3\", DeviceType.DeviceTypeNormal, 0);
if (ret != 0)
{
string errorCode = "";
errorCode = WMX3Api.ErrorToString(ret);
// Global.logger.ErrorFormat("WMX3初始化失败！错误信息：{0}", errorCode);
//return false;
}
else
{
bInitOK = true;
}
//建立通讯
Thread thread = new Thread(new ParameterizedThreadStart(EstablishCommunication));
thread.IsBackground = true;
thread.Start(infoHardWare);
return(true);
}
public bool ArcMoveWithThroughAndEnd(short AxisX, short AxisY, short AxisZ, double dAcc, double dDec, double dSpeed, double endPosX, double endPosY, double throughPosX, double throughPosY)
{
try
{
int rtn = 0;
fx_ThroughAndEnd.Axis[0] = AxisX;
fx_ThroughAndEnd.Axis[1] = AxisY;
fx_ThroughAndEnd.EndPos[0] = endPosX;
fx_ThroughAndEnd.EndPos[1] = endPosY;
fx_ThroughAndEnd.ThroughPos[0] = throughPosX;
fx_ThroughAndEnd.ThroughPos[1] = throughPosY;
fx_ThroughAndEnd.Profile.Acc = dAcc / 0.001;
fx_ThroughAndEnd.Profile.Dec = dDec / 0.001;
fx_ThroughAndEnd.Profile.Velocity = dSpeed;
fx_ThroughAndEnd.Profile.StartingVelocity = dSpeed; //该参数确定加减速曲线的初始速度
fx_ThroughAndEnd.Profile.SecondVelocity = dSpeed; //此参数确定加减速曲线的第二个速度
fx_ThroughAndEnd.Profile.Type = ProfileType.SCurve; //动作的曲线类型。SCurve:产生S形速度曲线。
fx_ThroughAndEnd.Profile.EndVelocity = dSpeed;
fx_ThroughAndEnd.Profile.JerkAcc = dAcc / 0.001;
fx_ThroughAndEnd.Profile.JerkDec = dDec / 0.001;
rtn = cmApi.Motion.StartCircularIntplPos(fx_ThroughAndEnd);
if (rtn != 0)
{
string errorCode = "";
errorCode = WMX3Api.ErrorToString(rtn);
// Global.logger.ErrorFormat("WMX3 执行 ThroughAndEndCircularIntplCommand 圆弧插补失败！错误信息：{0}", errorCode);
return(false);
}
return(true);
}
catch (Exception ex)
{
// Global.logger.ErrorFormat("WMX3 执行 ThroughAndEndCircularIntplCommand 圆弧插补出现异常！异常信息：{0}", ex.Message);
return(false);
}
}
public bool StartSearchLimit(short axis, double dAcc, double dDec, double dCatchSpeed)
{
bool sRtn;
bHomeStop[axis] = false;
bHomeDone[axis] = false;
bHomeLast[axis] = false;
if (axis < 8 && axis > -1)
{
lock (lockObj)
{
s_JogCommand.Axis = axis; //运动的轴号
s_JogCommand.Profile.Type = ProfileType.SCurve; //运动曲线类型，建议用SCurve
s_JogCommand.Profile.Velocity = dCatchSpeed; //运动速度
s_JogCommand.Profile.Acc = dAcc / 0.001; //运动加速度
s_JogCommand.Profile.JerkAcc = dAcc / 0.001; //运动加加速(加速度的加速度)
s_JogCommand.Profile.Dec = dDec / 0.001; //运动减速度
s_JogCommand.Profile.JerkDec = dDec / 0.001; //运动减减速(减速度的加速度)
int rtn = 0;
rtn = cmApi.Motion.StartJog(s_JogCommand);
if (rtn != 0)
{
string errorCode = "";
errorCode = WMX3Api.ErrorToString(rtn);
// Global.logger.ErrorFormat("WMX3初始化失败！错误信息：{0}", errorCode);
return(false);
}
}
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// 建立通讯
/// </summary>
/// <param name="infoHardWare"></param>
private void EstablishCommunication(object infoHardWare)
{
var softservoInfo = infoHardWare as SoftservoControlerInfo;
int ret;
Thread.Sleep(5000);
cmApi = new CoreMotion(wmx);
fx_EventControl = new EventControl(wmx);
fx_ApiBuffer = new ApiBuffer(wmx);
ecapi = new EcApiLib(wmx);
fx_ListMotion = new ListMotion(wmx);
wmx_IO = new Io(wmx);
//设置系统参数
ret = cmApi.Config.ImportAndSetAll(softservoInfo.m_strConfigPath);
if (ret != 0)
{
string errorCode = "";
errorCode = WMX3Api.ErrorToString(ret);
// Global.logger.ErrorFormat("WMX3参数获取失败！错误信息：{0}", errorCode);
//return false;
}
//开始进行通讯
int wd_count = 0;
do
{
ret = wmx.StartCommunication();//通讯函数
Thread.Sleep(500);
wd_count++;
cmApi.GetStatus(ref status);
} while ((status.EngineState == EngineState.Communicating) && (wd_count < 10));//确认是否通讯成功
if (status.EngineState != EngineState.Communicating)
{
// string ErrorCode = "";
// wmx.ErrorToString(ret, ref ErrorCode, 128);
string errorCode = WMX3Api.ErrorToString(ret); //获取错误代码
// Global.logger.ErrorFormat("WMX3通讯失败，错误信息：{0}！", errorCode);
//return false;
}
//清除轴警信息
for (int i = 0; i < 8; i++)
{
cmApi.AxisControl.ClearAmpAlarm(i);
cmApi.AxisControl.ClearAxisAlarm(i);
}
//轴上使能
for (int i = 0; i < 8; i++)
{
cmApi.AxisControl.SetServoOn(i, 1);
}
//检查所用到的轴有没上使能
Thread.Sleep(1000);
cmApi.GetStatus(ref status);
for (int i = 0; i < 8; i++)
{
if (status.AxesStatus[i].ServoOn == false)
{
//使用失败的处理。
// Global.logger.ErrorFormat("WMX3 轴{0}使能失败！", i);
//return false;
}
}
//timer1.Interval = 50;
//timer1.Enabled = true;
ret = cmApi.Motion.CreateSplineBuffer(5, 1024);
if (ret != 0)
{
// Global.logger.ErrorFormat("WMX3创建缓存出现错误！错误信息：{0}", WMX3Api.ErrorToString(ret));
}
while (bInitOK)
{
Thread.Sleep(10);
GetAllMotionStatus();
GetAllIOStatus();
}
}
