private void waitCurrentRunFinish()
{
Thread.Sleep(2);
//读取输入信息
ReadInput();
//int es = GetDi(Define.DiEmergencyStop);
//if (es == 1)
//{
// EmgStop();
// CancleCommPause();
// source.Cancel();
// source.Token.ThrowIfCancellationRequested();
//}
lock (cardActLock)
{
short rtn;
ushort axisSts;
rtn = GT400.GT_GetSts(out axisSts);
runningError("当前轴状态状态查询", rtn);
bool showTmp = true;
//判断是否在运动中
while (0 != (axisSts & 0x400))
{
rtn = GT400.GT_GetSts(out axisSts);
runningError("当前轴状态状态查询", rtn);
if (showTmp)
{
showTmp = false;
}
Thread.Sleep(10);
}
}
}
/// <summary>
/// 指定轴运动到指定位置
/// </summary>
/// <param name="axisIndex">轴编号</param>
/// <param name="pos">位移量</param>
/// <param name="isAbsolute">绝对运动</param>
public void AxisPosMove(int axisIndex, int pos, bool isAbsolute)
{
ushort testAxis = (ushort)axisIndex;
if (homeFinish == false)
{
Util.Notify("控制卡未回原点");
return;
}
lock (cardActLock)
{
short rtn;
int prfPos = 0;
rtn = GT400.GT_Axis(testAxis);
ushort axisSts;
rtn = GT400.GT_GetSts(out axisSts);//如果测试轴正在运动则退出
runningError("当前轴状态状态查询", rtn);
if (0 != (axisSts & 0x400))
{
Util.Notify("轴动作中");
//return;
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
if (0 != rtn)
{
return;
}
if (isAbsolute)
{
prfPos = pos;
}
else
{
rtn = GT400.GT_GetPrfPos(out prfPos);
runningError("当前轴位置读取", rtn);
prfPos += pos;
}
//Thread.Sleep(2);
//Thread.Sleep(2);
rtn = GT400.GT_SetMAcc(accRun);
//rtn = GT400.GT_SetAcc(accRun);
runningError("当前轴加速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_SetVel(speedRun);
runningError("当前轴目标速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_SetPos(prfPos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_SetJerk(0.087);
runningError("当前轴加加速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_Update(); //参数更新后，就可以开始运行了。
runningError("当前轴参数更新", rtn);
}
}
/// <summary>
/// 指定轴回原点
/// </summary>
/// <param name="axisIndex"></param>
public void Homing(int axisIndex, int pos, double acc, double speed)
{
short rtn;
ushort axisSts;
int prfPos;
if (isLink == false)
{
Util.Notify("控制卡未连接");
return;
}
lock (cardActLock)
{
Util.Notify(axisIndex + "开始回原点");
rtn = GT400.GT_Axis((ushort)axisIndex); //该命令一般不用检测是否正确执行
rtn = GT400.GT_GetSts(out axisSts);
runningError("当前轴状态状态查询", rtn);
if (0 != (axisSts & 0x400))
{
Util.Notify("轴动作中");
return;
}
rtn = GT400.GT_ClrSts(); //清除当前轴异常状态
runningError("当前轴状态异常状态清除", rtn);
if (0 != rtn)
{
return;
}
//在当前位置基础上，以S曲线向前运动指定个脉冲
rtn = GT400.GT_SetMAcc(acc);
//rtn = GT400.GT_SetAcc(acc);
runningError("当前轴加速度设置", rtn);
rtn = GT400.GT_SetVel(speed);
runningError("当前轴目标速度设置", rtn);
rtn = GT400.GT_SetPos(pos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_SetJerk(0.087);
runningError("当前轴加加速度设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
Thread.Sleep(10);
waitCurrentRunFinish();
rtn = GT400.GT_GetPrfPos(out prfPos);
runningError("当前轴位置读取", rtn);
//通过判断 pos正负来确定返回位置
if (pos >= 0)
{
prfPos -= 100;
}
else
{
prfPos += 100;
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
rtn = GT400.GT_SetPos(prfPos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
//MyNotify.Notify("轴小段后退中");
waitCurrentRunFinish();
//MyNotify.Notify("轴小段后退完成");
Thread.Sleep(10);
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
rtn = GT400.GT_SetVel(speedHomeY / 10.0);
runningError("当前轴目标速度设置", rtn);
rtn = GT400.GT_SetPos(pos); //继续执行回原点：靠-200000这个值自动判断是不是回原点。
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
waitCurrentRunFinish();
rtn = GT400.GT_ZeroPos();
runningError("轴位置状态清零", rtn);
Util.Notify(axisIndex + "轴原点回归完成");
}
}
protected override void ProcDataDeal()
{
while (isLink)
{
// 状态读取
try
{
commWaitResetEvent.WaitOne();
#region INT读取
short rtn;
int ofst;
ReadInput();
#endregion
Thread.Sleep(3);
#region OUT写入
//// 锁定,从共享存储器获取要写入plc的数据
//mutexShMem.WaitOne();
//short data = new short();
//ofst = DMO_OFST;
//data = Marshal.ReadInt16(mapAddrPtr, ofst);
//// 解除
//mutexShMem.ReleaseMutex();
////状态取反后输出
//ushort ioOutput = (ushort)(~data);
//lock (cardActLock)
//{
// GT400.GT_ExOpt(ioOutput);
//}
#endregion
commWaitResetEvent.WaitOne();
#region 轴状态获取
ushort[] status = new ushort[axisNum];
int[] pos = new int[axisNum];
for (int i = 0; i < axisNum; i++)
{
lock (cardActLock)
{
rtn = GT400.GT_Axis((ushort)(i + 1));
runningError("当前轴设置", rtn);
rtn = GT400.GT_GetSts(out status[i]);
runningError("当前轴状态读取", rtn);
rtn = GT400.GT_GetPos(out pos[i]);
runningError("当前轴位置信息读取", rtn);
}
Thread.Sleep(3);
}
int count = 0;
for (int i = 0; i < axisNum; i++)
{
mutexShMem.WaitOne();
// 共有存储在存储器
ofst = DMI_OFST + (1 + i) * Marshal.SizeOf(typeof(short));
//将读取到的PLC数据写入到相应的内存区域
Marshal.WriteInt16(mapAddrPtr, ofst, (short)status[i]);
//位置信息
ofst = DMI_OFST + (DMO_A_START + count) * Marshal.SizeOf(typeof(int));
count++;
Marshal.WriteInt32(mapAddrPtr, ofst, pos[i]);
ofst = DMI_OFST + (DMO_A_START + count) * Marshal.SizeOf(typeof(int));
count++;
// 解除
mutexShMem.ReleaseMutex();
}
#endregion
Thread.Sleep(3);
commWaitResetEvent.WaitOne();
////Measurement.MeasurementManager measureManger = Measurement.MeasurementManager.Instance;
////int left = GetDi(Define.DiLeftButton);
////int es = GetDi(Define.DiEmergencyStop);
//if (left == 1 && leftButtonBefore == 0 &&
// measureManger.InMeasurement == false&&
// es==0)
//{
// try
// {
// source = new CancellationTokenSource();
// Task.Run(() =>
// {
// measureManger.RunMeasurementLeft();
// }, source.Token);
// }
// catch (AggregateException)//捕获紧急停止按钮
// {
// //MessageBox.Show("停止按钮被按下", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
// }
//}
//leftButtonBefore = left;
//int right = GetDi(Define.DiRightButton);
//if (right == 1 &&
// rightButtonBefore == 0 &&
// measureManger.InMeasurement == false&&
// es==0)
//{
// try
// {
// source = new CancellationTokenSource();
// Task.Run(() =>
// {
// measureManger.RunMeasurementRight();
// }, source.Token);
// }
// catch (AggregateException)//捕获紧急停止按钮
// {
// //MessageBox.Show("停止按钮被按下", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
// }
//}
//rightButtonBefore = right;
//if (es==1&&esButtonBefore==0)
//{
// measureManger.InMeasurement = false;
// //MessageBox.Show("停止按钮被按下", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
//}
//esButtonBefore = es;
}
catch (Exception)
{
}
Thread.Sleep(3);
}
CloseCom();
}
