/// <summary>
/// 判断当前位置是否是所在按区域的时候，对应IO是否安全，安全返回TRUE,否则FLASE
/// </summary>
/// <returns></returns>
public static bool IOIsSafe(PointAggregate pa)
{
if (pa == null || pa.tag_AxisSafeManage == null || pa.tag_AxisSafeManage.tag_InIoList == null || pa.tag_AxisSafeManage.tag_InIoList.Count == 0)
{
return(true);
}
foreach (OutIOParameterPoint io in pa.tag_AxisSafeManage.tag_InIoList)
{
bool var = false;
// io.tag_IniO1.tag_name
if (io != null && io.tag_IniO2 != null && NewCtrlCardV0.GetInputIoBitStatus(io.tag_IniO2.tag_name, io.tag_IniO2.tag_IOName, out var) == 0)
{
if (var == io.tag_IniO2.tag_var)
{
}
else
{
LogOutControl.OutLog("IO:<" + io.tag_IniO2.tag_IOName + " >有安全隐患，可能撞机，请注意", 0);
return(false);
}
}
}
return(true);
}
public MainUI(FrameUI frameUI, Work work)
{
//////////////////////////////////////////////////////////////////////////
NewCtrlCardV0.tag_initResult = NewCtrlCardV0.initCard(work.tag_CardHave);
if (NewCtrlCardV0.tag_initResult == 0)
{
NewCtrlCardIO.StartListenSignal(work.tag_CardHave);
}
work.AllAxismodeInit();
//////////////////////////////////////////////////////////////////////////
InitializeComponent();
tag_Work = work;
this.frameUI = frameUI;
if (frameUI != null)
{
this.Size = new Size(frameUI.Size.Width, frameUI.Size.Height - 50);
}
webControl_NG.RefreshURL("http://www.mirsyu.xyz/HTML/NG.html");
panel_NG.Controls.Add(webControl_NG);
webControl_NG.Location = new Point(0, 0);
webControl_NG.Size = webControl_NG.Parent.Size;
webControl_Charts.RefreshURL("http://www.mirsyu.xyz/HTML/Charts.html");
panel_Charts.Controls.Add(webControl_Charts);
webControl_Charts.Location = new Point(0, 0);
webControl_Charts.Size = webControl_Charts.Parent.Size;
groupBox_RunInfo.Controls.Add(logOutControl);
logOutControl.Location = new Point(5, 20);
logOutControl.Size = new Size(groupBox_RunInfo.Size.Width - 10, groupBox_RunInfo.Size.Height - 25);
}
/// <summary>
/// 轴，iO安全检查
/// </summary>
/// <returns></returns>
public bool IoSafeCheck(StationModule sm)
{
try
{
int count = _Config.axisArray.Count;
int i = 0;
int CountIo = _Config.arrWorkStation.Count;
if (sm == null)
{
return(true);
}
while (i < count)
{
AxisConfig ac = _Config.axisArray[i];
if (ac.AxisNum >= 0 && NewCtrlCardV0.SR_GetAxisStatus(ac) == 1)
{
if (!AxisSafeManage.IoAxisIsSafe(sm, ac, 0, 0))
{
if (Global.WorkVar.tag_isFangDaiJieChu)
{
return(true);
}
return(false);
}
}
i++;
}
return(true);
}
catch
{
return(true);
}
}
/// <summary>
/// 判断当前轴运动是否是在PA 的安全 配置列表里面(pa.tag_AxisSafeManage.tag_AxisSafeList) 在返回TRUE
/// </summary>
/// <param name="_ac"></param>
/// <param name="pa"></param>
/// <returns></returns>
public static bool isIOAxisHavePoint(AxisConfig _ac, PointAggregate pa, double pos)
{
int i = 0;
if (pa == null || pa.tag_AxisSafeManage == null || pa.tag_AxisSafeManage.tag_AxisSafeList == null)
{
return(false);
}
while (i < pa.tag_AxisSafeManage.tag_AxisSafeList.Count)
{
AxisSafe currac = pa.tag_AxisSafeManage.tag_AxisSafeList[i];
if ((int)_ac.tag_MotionCardManufacturer * 1000 + _ac.CardNum * 100 + _ac.AxisNum == currac.tag_AxisId)
{
double poen_ac = 0.0;
NewCtrlCardV0.SR_GetPrfPos((int)_ac.tag_MotionCardManufacturer, _ac.CardNum, _ac.AxisNum, ref poen_ac);
// if (i == 0)
{
poen_ac = poen_ac / _ac.Eucf;
if (poen_ac <= currac.tag_max && poen_ac >= currac.tag_min)
{
return(true);
}
else
{
return(false);
}
}
}
i++;
}
return(false);
}
private void MenuPause_Click(object sender, EventArgs e)
{
if (Global.WorkVar.tag_SuspendState == 1)
{
if (Global.WorkVar.tag_ResetState != 1)
{
IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红");
IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄");
IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿");
NewCtrlCardV0.SetOutputIoBit(redlight, 0);
NewCtrlCardV0.SetOutputIoBit(yellowlight, 0);
NewCtrlCardV0.SetOutputIoBit(greenlight, 1);
}
tag_Work.Continue(null);
}
else
{
if (Global.WorkVar.tag_ResetState != 1)
{
IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红");
IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄");
IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿");
NewCtrlCardV0.SetOutputIoBit(redlight, 0);
NewCtrlCardV0.SetOutputIoBit(yellowlight, 1);
NewCtrlCardV0.SetOutputIoBit(greenlight, 0);
}
tag_Work.Suspend(null);
}
}
public void LightandBuzzer(string lightColor, bool bBuzzer = false)
{
IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红");
IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄");
IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿");
IOParameter buzzer = StationManage.FindOutputIo("主控系统", "蜂鸣器");
NewCtrlCardV0.SetOutputIoBit(redlight, 0);
NewCtrlCardV0.SetOutputIoBit(yellowlight, 0);
NewCtrlCardV0.SetOutputIoBit(greenlight, 0);
if (bBuzzer)
{
NewCtrlCardV0.SetOutputIoBit(buzzer, 1);
}
if (lightColor == "红灯")
{
NewCtrlCardV0.SetOutputIoBit(redlight, 1);
}
else if (lightColor == "黄灯")
{
NewCtrlCardV0.SetOutputIoBit(yellowlight, 1);
}
else if (lightColor == "绿灯")
{
NewCtrlCardV0.SetOutputIoBit(greenlight, 1);
}
}
/// <summary>
/// 执行复位步骤
/// </summary>
public void GoHomeRun(object o)
{
tag_work_state = 1;
tag_GohomeResult = NewCtrlCardV0.GoHome(tag_stationName, tag_AxisName);
if (tag_GohomeResult == 0)
{
tag_work_state = 2;
}
else
{
tag_work_state = -1;
}
}
private void MenuEmg_Click(object sender, EventArgs e)
{
IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红");
IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄");
IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿");
NewCtrlCardV0.SetOutputIoBit(redlight, 1);
NewCtrlCardV0.SetOutputIoBit(yellowlight, 0);
NewCtrlCardV0.SetOutputIoBit(greenlight, 0);
Global.WorkVar.tag_ButtonStopState = 1;
tag_Work.Stop();
}
/// <summary>
/// 急停所有轴
/// </summary>
/// <returns></returns>
public static short StopAllAxis()
{
foreach (StationModule sm in _Config.arrWorkStation)
{
foreach (AxisConfig af in sm.arrAxis)
{
if (NewCtrlCardV0.SR_AxisStop((int)af.tag_MotionCardManufacturer, af.CardNum, af.AxisNum) == 0)
{
}
else
{
return(-1);
}
}
}
return(0);
}
private void FrameUI_Load(object sender, EventArgs e)
{
//////////////////////////////////////////////////////////////////////////
mainUI = new MainUI(this, tag_Work);
mainUI.TopLevel = false;
mainUI.Parent = this.PanelForm;
debugUI = new DebugUI(this, tag_Work);
debugUI.TopLevel = false;
debugUI.Parent = this.PanelForm;
alarmUI = new AlarmUI();
alarmUI.TopLevel = false;
alarmUI.Parent = this.PanelForm;
formAdaptive.RecordOldSizeScale(this.PanelForm);
timer_Main.Start();
label_Version.Text = "版本号:" + System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString();
portShowControl.tag_Work = tag_Work;
portShowControl.Location = new Point(label_User.Location.X + label_User.Size.Width - 20, label_User.Location.Y - 8);
portShowControl.Size = new Size((label_Version.Location.X - portShowControl.Location.X - 10) / 5, panel_MainInfo.Size.Height - 5);
panel_MainInfo.Controls.Add(portShowControl);
modeSelectControl.tag_Work = tag_Work;
modeSelectControl.Location = new Point(portShowControl.Location.X + portShowControl.Size.Width - 40, portShowControl.Location.Y);
modeSelectControl.Size = new Size((label_Version.Location.X - modeSelectControl.Location.X - 10) / 4, panel_MainInfo.Size.Height - 5);
panel_MainInfo.Controls.Add(modeSelectControl);
ShowSubWindow(Global.CConst.FRM_MAIN);
//////////////////////////////////////////////////////////////////////////
if (Global.WorkVar.tag_StopState == 1)
{
IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红");
IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄");
IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿");
NewCtrlCardV0.SetOutputIoBit(redlight, 1);
NewCtrlCardV0.SetOutputIoBit(yellowlight, 0);
NewCtrlCardV0.SetOutputIoBit(greenlight, 0);
}
IOParameter servoOnSwith = StationManage.FindOutputIo("总复位", "使能");
if (servoOnSwith != null)
{
NewCtrlCardV0.SetOutputIoBit(servoOnSwith, 1);
}
}
/// <summary>
/// 初始化轴的模式设置，初始化运用了那些卡
/// </summary>
/// <returns></returns>
public short AllAxismodeInit()
{
int i = 0;
while (i < _Config.axisArray.Count)
{
AxisConfig ax = _Config.axisArray[i];
tag_CardHave[(int)ax.tag_MotionCardManufacturer] = 1;
NewCtrlCardV0.set_limit_mode(ax);
NewCtrlCardV0.set_pulse_mode(ax);
// NewCtrlCardV0.set_io_mode(ax);
i++;
}
return(0);
}
private void FrameUI_FormClosing(object sender, FormClosingEventArgs e)
{
if (MessageBoxLog.Show("确定要退出程序吗?", "确认", MessageBoxButtons.OKCancel, MessageBoxIcon.Question) == DialogResult.OK)
{
IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红");
IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄");
IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿");
NewCtrlCardV0.SetOutputIoBit(redlight, 0);
NewCtrlCardV0.SetOutputIoBit(yellowlight, 0);
NewCtrlCardV0.SetOutputIoBit(greenlight, 0);
Global.WorkVar.tag_ButtonStopState = 1;
tag_Work.Stop();
NewCtrlCardV0.CloseCard(tag_Work.tag_CardHave);
}
else
{
e.Cancel = true;
}
}
public void IOoutputStatus_Load(IOParameter arrOutputIo_)
{
arrOutputIo = arrOutputIo_;
if (arrOutputIo != null)
{
short var = NewCtrlCardV0.GetOutputIoBit(arrOutputIo, 0);
OutputBT.BackColor = ((var > 0 && arrOutputIo.Logic == 1) ||
(var < 1 && arrOutputIo.Logic == 0)) ? Color.Gainsboro : Color.LawnGreen;
label1.Text = arrOutputIo.StrIoName; //从ArrAxis拿轴名称
OutputBT.Text = ((var > 0 && arrOutputIo.Logic == 1) ||
(var < 1 && arrOutputIo.Logic == 0)) ? "ON" : "OFF";
label1.Text = arrOutputIo.StrIoName; //从ArrAxis拿轴名称
btstatus = ((var > 0 && arrOutputIo.Logic == 1) ||
(var < 1 && arrOutputIo.Logic == 0)) ? true : false;
label1.Text = arrOutputIo.StrIoName;
}
}
/// <summary>
/// 卡初始化
/// </summary>
/// <param name="card"></param>
/// <param name="axisCount"></param>
/// <param name="configFileName"></param>
/// <returns></returns>
public short _SR_InitCard()
{
short returnValue;
returnValue = (short)adt8960m.adt8960_initial();
if (returnValue <= 0)
{
string str = "8960控制卡初始化失败!";
if (returnValue == 0)
{
str = str + "\r\n没有安装ADT卡";
}
if (returnValue == -1)
{
str = str + "没有安装端口驱动程序！";
}
if (returnValue == -2)
{
str = str + "PCI桥故障！";
}
MessageBoxLog.Show(str);
return(-1);
}
IOParameter diancifaLeft = StationManage.FindOutputIo("左工位", "左载具电磁阀");
IOParameter diancifaRight = StationManage.FindOutputIo("右工位", "右载具电磁阀");
NewCtrlCardV0.SetOutputIoBit(diancifaLeft, 1);
NewCtrlCardV0.SetOutputIoBit(diancifaRight, 1);
//int aaa = _SR_set_io_mode(0, 0, 0);
//if (aaa != 0)
//{
// return -1;
//}
return(returnValue);
}
public static bool IsRestExit()
{
bool axio = false;
bool stopIoS = false;
NewCtrlCardV0.GetInputIoBitStatus("", "急停", out stopIoS);
//NewCtrlCardV0.GetInputIoBitStatus("", "Z1报警", out axio);
if (axio || !stopIoS)
{
LogOutControl.OutLog("轴报警", 0);
return(true);
}
if (Global.WorkVar.tag_SuspendState == 1 || Global.WorkVar.tag_ButtonStopState == 1)
{
Global.WorkVar.tag_StopState = 1;
Global.WorkVar.tag_SuspendState = 0;
return(true);
}
return(false);
}
//往下移动停止
private void Jog_minusBT_MouseUp(object sender, MouseEventArgs e)
{
Global.WorkVar.tag_isFangDaiJieChu = false;
if (arrAxis == null)
{
return;
}
if (StationManage.Distancemode == "长距" || StationManage.Distancemode == "短距")
{
return;
}
else
{
resutl = NewCtrlCardV0.SR_AxisEmgStop((int)arrAxis.tag_MotionCardManufacturer, arrAxis.CardNum, arrAxis.AxisNum);
if (resutl != 0)
{
MessageBoxLog.Show("轴停止异常");
}
}
}
/// <summary>
/// 判断当前位置是否是本点的安全区 安全返回TRUE
/// </summary>
/// <returns></returns>
public bool PointIsSafe(PointAggregate point)
{
foreach (StationModule sm in StationManage._Config.arrWorkStation)
{
foreach (AxisConfig ac in sm.arrAxis)
{
AxisSafe asf = GetAxisSafe((short)ac.tag_MotionCardManufacturer, ac.CardNum, ac.AxisNum);
if (asf != null)
{
double poen_ac = 0;
NewCtrlCardV0.SR_GetPrfPos((int)ac.tag_MotionCardManufacturer, ac.CardNum, ac.AxisNum, ref poen_ac);
poen_ac = poen_ac / ac.Eucf;
if (!asf.IsSafe(poen_ac))
//if (!asf.IsSafe(ac.dblEncPos))
{
return(false);
}
}
}
}
return(true);
}
/// <summary>
/// 轴，iO安全检查
/// </summary>
/// <returns></returns>
public bool AxisSafeCheck()
{
int count = _Config.axisArray.Count;
int i = 0;
while (i < count)
{
AxisConfig ac = _Config.axisArray[i];
if (ac.AxisNum >= 0 && ac.CardNum >= 0 && NewCtrlCardV0.SR_GetAxisStatus(ac) == 1)
{
if (!AxisSafeManage.AxisIsSafe(_Config.tag_safeStationModule, ac, 0, 0))
{
if (Global.WorkVar.tag_isFangDaiJieChu)
{
return(true);
}
return(false);
}
}
i++;
}
return(true);
}
//输出按钮
private void OutputBT_Click(object sender, EventArgs e)
{
if (arrOutputIo == null)
{
return;
}
if (arrOutputIo.tagPointAggregate != null && arrOutputIo.tagPointAggregate.tag_AxisSafeManage != null && !arrOutputIo.tagPointAggregate.tag_AxisSafeManage.PointIsSafe(arrOutputIo.tagPointAggregate))
{
MessageBoxLog.Show("失败");
return;
}
if (btstatus == false)
{
result = NewCtrlCardV0.SetOutputIoBit(arrOutputIo, 1);
if (result != 0)
{
MessageBoxLog.Show("置位IO失败");
return;
}
OutputBT.Text = "ON";
OutputBT.BackColor = Color.LawnGreen;
btstatus = true;
}
else
{
result = NewCtrlCardV0.SetOutputIoBit(arrOutputIo, 0);
if (result != 0)
{
MessageBoxLog.Show("复位IO失败");
return;
}
OutputBT.Text = "OFF";
OutputBT.BackColor = Color.Gainsboro;
btstatus = false;
}
}
public void CheckIoThread(object o)
{
while (true)
{
bool suspendIo = false;
bool stopIoS = false;
bool RestIoS = false;
bool AxisAlarm = false;
bool AxisLimitAlarm = false;
bool SafetyDoorIoS = false; //安全门
bool RasterIoS_L = false; //左安全光栅
bool RasterIoS_R = false; //右安全光栅
if (NewCtrlCardV0.tag_isInit == 0)
{
Thread.Sleep(100);
continue;
}
IOParameter SuspendIo = StationManage.FindInputIo("暂停");
IOParameter StopIo = StationManage.FindInputIo("急停");
IOParameter RestIo = StationManage.FindInputIo("复位");
IOParameter Raster_L = StationManage.FindInputIo("左安全光栅");
IOParameter Raster_R = StationManage.FindInputIo("右安全光栅");
IOParameter SafetyDoor = StationManage.FindInputIo("安全门");
//AxisAlarm = IsAxisAlarm();
AxisLimitAlarm = IsAxisLimitAlarm();
if (SuspendIo == null)
{
LogOutControl.OutLog("请配置<暂停IO>", 0);
Thread.Sleep(100);
continue;
}
if (StopIo == null)
{
LogOutControl.OutLog("请配置<急停IO>", 0);
Thread.Sleep(100);
continue;
}
if (RestIo == null)
{
LogOutControl.OutLog("请配置<复位IO>", 0);
Thread.Sleep(100);
continue;
}
if (Raster_L == null)
{
LogOutControl.OutLog("请配置<左安全光栅IO>", 0);
Thread.Sleep(100);
continue;
}
if (Raster_R == null)
{
LogOutControl.OutLog("请配置<右安全光栅IO>", 0);
Thread.Sleep(100);
continue;
}
if (SafetyDoor == null)
{
LogOutControl.OutLog("请配置<安全门IO>", 0);
Thread.Sleep(100);
continue;
}
NewCtrlCardV0.GetInputIoBitStatus("", "暂停", out suspendIo);
NewCtrlCardV0.GetInputIoBitStatus("", "复位", out RestIoS);
NewCtrlCardV0.GetInputIoBitStatus("", "急停", out stopIoS);
NewCtrlCardV0.GetInputIoBitStatus("", "安全门", out SafetyDoorIoS);
NewCtrlCardV0.GetInputIoBitStatus("", "左安全光栅", out RasterIoS_L);
NewCtrlCardV0.GetInputIoBitStatus("", "右安全光栅", out RasterIoS_R);
//if (!stopIoS || Global.WorkVar.tag_StopState == 2 || !IsafeIOOk() || !IoAllSafeCheck() || !AxisSafeCheck() || AxisAlarm || (AxisLimitAlarm && Global.WorkVar.tag_ResetState != 1))
if (!stopIoS || Global.WorkVar.tag_StopState == 2 || !IsafeIOOk() || !IoAllSafeCheck() || !AxisSafeCheck() || AxisAlarm)
{
IsafeIOInit();
Stop();
Thread.Sleep(100);
continue;
}
else if (((!SafetyDoorIoS && !_Config.tag_PrivateSave.tag_safeGateOffOn) || suspendIo) && Global.WorkVar.tag_SuspendState == 0 && (Global.WorkVar.bWork_L || Global.WorkVar.bWork_R))
{
Suspend(null);
Thread.Sleep(500);
}
else if (RestIoS)
{
Global.WorkVar.tag_StopState = 0;
if (Global.WorkVar.tag_ResetState != 1 && Global.WorkVar.tag_workState == 0)
{
Rest();
}
else
{
}
continue;
}
else if (suspendIo && Global.WorkVar.tag_SuspendState == 1)
{
Continue(null);
Thread.Sleep(500);
continue;
}
else if (Global.WorkVar.bcanRunFalg == true && Global.WorkVar.tag_ResetState == 2 && Global.WorkVar.tag_workState == 0)
{
Global.WorkVar.bcanRunFalg = false;
if (start())
{
Global.WorkVar.bcanRunFalg = true;
}
continue;
}
if (!RasterIoS_L && !_Config.tag_PrivateSave.tag_safeLightOffOn && Global.WorkVar.bWork_L && !Global.WorkVar.bSuspendState_L)
{
Suspend_L(null);
}
else if (RasterIoS_L && Global.WorkVar.bSuspendState_L)
{
Continue_L(null);
}
if (!RasterIoS_R && !_Config.tag_PrivateSave.tag_safeLightOffOn && Global.WorkVar.bWork_R && !Global.WorkVar.bSuspendState_R)
{
Suspend_R(null);
}
else if (RasterIoS_R && Global.WorkVar.bSuspendState_R)
{
Continue_R(null);
}
Thread.Sleep(100);
}
}
//往下移动
private void Jog_minusBT_MouseDown(object sender, MouseEventArgs e)
{
if (!Work.IsMove(1))
{
return;
}
setspeed();
if (arrAxis == null)
{
MessageBoxLog.Show("");
return;
}
double pos = 0;
if (arrAxis.SoftLimitEnablel == 0)
{
pos = arrAxis.SoftLimitMaxValue;
}
else
{
pos = -1000;
}
if (StationManage.Distancemode == "短距")
{
nowpset = StationManage.Shortdistanceset;
/* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint - nowpset) * arrAxis.Eucf))
* {
* return;
* }*/
PointModule _pointModule = new PointModule();
_pointModule.dblAcc = arrAxis.Acc;
_pointModule.blnPointEnable = true; //表示点位是否启用
_pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变
_pointModule.dblPonitValue = nowpoint - nowpset; //点位数据
_pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度
_pointModule.dblAcc = arrAxis.Acc; //加速度
_pointModule.dblDec = arrAxis.Dec; //减速度
_pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间
_pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间
_pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度
_pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度
resutl = NewCtrlCardV0.SR_AbsoluteMove(arrAxis, _pointModule);
if (resutl != 0)
{
MessageBoxLog.Show("轴运动异常");
}
}
else
{
if (StationManage.Distancemode == "长距")
{
nowpset = StationManage.Longdistanceset;
/* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint - nowpset) * arrAxis.Eucf))
* {
* return;
* }*/
PointModule _pointModule = new PointModule();
_pointModule.dblAcc = arrAxis.Acc;
_pointModule.blnPointEnable = true; //表示点位是否启用
_pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变
_pointModule.dblPonitValue = nowpoint - nowpset; //点位数据
_pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度
_pointModule.dblAcc = arrAxis.Acc; //加速度
_pointModule.dblDec = arrAxis.Dec; //减速度
_pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间
_pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间
_pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度
_pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度
resutl = NewCtrlCardV0.SR_AbsoluteMove(arrAxis, _pointModule);
if (resutl != 0)
{
MessageBoxLog.Show("轴运动异常");
}
}
else
{
/* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint + nowpset) * arrAxis.Eucf))
* {
* return;
* }*/
PointModule _pointModule = new PointModule();
_pointModule.dblAcc = arrAxis.Acc;
_pointModule.blnPointEnable = true; //表示点位是否启用
_pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变
_pointModule.dblPonitValue = nowpoint - 6000; //点位数据
_pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度
_pointModule.dblAcc = arrAxis.Acc; //加速度
_pointModule.dblDec = arrAxis.Dec; //减速度
_pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间
_pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间
_pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度
_pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度
resutl = NewCtrlCardV0.SR_continue_move(arrAxis, _pointModule, 1);
if (resutl != 0)
{
MessageBoxLog.Show("轴运动异常");
}
}
}
}