public override int GetAxisActPos(int nAxisNo)
{
short rtn = 0;
double post = 0; int postCmd = 0;
if (m_MotorType[nAxisNo] >= MotorType.SEVER)
{
rtn |= CPCI_M314.CS_m314_get_position((ushort)m_nCardIndex, (ushort)nAxisNo, ref post);
}
else
{
rtn |= CPCI_M314.CS_m314_get_command((ushort)m_nCardIndex, (ushort)nAxisNo, ref postCmd);
post = postCmd;
}
if (false && m_nCardIndex == 2 && nAxisNo == 3)
{
post = post / 10.0;
}
if (rtn == 0)
{
return((int)post);
}
else
{
return(0);
}
}
public override bool StopEmg(int nAxisNo)
{
short rtn = 0;
rtn |= CPCI_M314.CS_m314_emg_stop((ushort)m_nCardIndex, (ushort)nAxisNo);
return(rtn == 0);
}
public override bool Close()
{
short rtn = 0;
rtn = CPCI_M314.CS_m314_close((ushort)m_nCardIndex);
return(rtn == 0);
}
public override bool ServoOff(short nAxisNo)
{
short rtn = 0;
rtn = CPCI_M314.CS_m314_set_servo((ushort)m_nCardIndex, (ushort)nAxisNo, 0);
return(rtn == 0);
}
/// <summary>
///按位获取输出信号
/// </summary>
/// <param name="nIndex"></param>
/// <returns></returns>
public override bool ReadIoOutBit(int nIndex)
{
short rtn = 0;
ushort a = 0;
rtn |= CPCI_M314.CS_m314_get_dio_output((ushort)m_nCardNo, (ushort)nIndex, ref a);
return(a == 1);
}
public override bool SetCmdPos(int nAxisNo, double pos)
{
logger.Info(string.Format("{0}卡{1}轴设置命令位置", m_nCardIndex, nAxisNo));
short rtn = 0;
rtn |= CPCI_M314.CS_m314_set_command((ushort)m_nCardIndex, (ushort)nAxisNo, (int)pos);
return(rtn == 0);
}
public override bool ReasetAxis(int nAxisNo)
{
short rtn = 0;
rtn |= CPCI_M314.CS_m314_set_command((ushort)m_nCardIndex, (ushort)nAxisNo, 0);
rtn |= CPCI_M314.CS_m314_set_position((ushort)m_nCardIndex, (ushort)nAxisNo, 0.0);
return(rtn == 0);
}
public override bool SetActutalPos(int nAxisNo, double pos)
{
logger.Info(string.Format("{0}卡{1}轴设置实际位置", m_nCardIndex, nAxisNo));
short rtn = 0;
rtn |= CPCI_M314.CS_m314_set_position((ushort)m_nCardIndex, (ushort)nAxisNo, pos);
return(rtn == 0);
}
public override bool StopAxis(int nAxisNo)
{
Istop = true;
double dccTime = GetTdec(nAxisNo, 0);
short rtn = 0;
return(rtn == CPCI_M314.CS_m314_sd_stop((ushort)m_nCardIndex, (ushort)nAxisNo, dccTime));
}
public bool ClearAlarm(short nAxisNo)
{
short rtn = 0;
rtn |= CPCI_M314.CS_m314_set_servo((ushort)m_nCardIndex, (ushort)nAxisNo, 0);
Thread.Sleep(20);
rtn |= CPCI_M314.CS_m314_set_servo((ushort)m_nCardIndex, (ushort)nAxisNo, 1);
return(rtn == 0);
}
/// <summary>
/// 按位输出信号
/// </summary>
/// <param name="nIndex"></param>
/// <param name="bBit"></param>
/// <returns></returns>
public override bool WriteIoBit(int nIndex, bool bBit)
{
short rtn = 0;
ushort a = 0;
if (bBit)
{
a = 1;
}
rtn |= CPCI_M314.CS_m314_set_dio_output((ushort)m_nCardNo, (ushort)nIndex, a);
return(a == 1);
}
public override bool Home(int nAxisNo, int nParam)
{
Istop = false;
short rtn = 0;
double acc = m_HomePrm[nAxisNo].AccH;
double vel = m_HomePrm[nAxisNo].VelH;
double Tacc = (vel - 0) / acc;
double Tdcc = (vel - 0) / m_HomePrm[nAxisNo].DccH;
int dir = m_HomePrm[nAxisNo]._bHomeDir ? 0 : 1;
rtn |= CPCI_M314.CS_m314_set_servo((ushort)m_nCardIndex, (ushort)nAxisNo, 1);
rtn |= CPCI_M314.CS_m314_set_home_finish_reset((ushort)m_nCardIndex, (ushort)nAxisNo, 1);
rtn |= CPCI_M314.CS_m314_set_home_config((ushort)m_nCardIndex, (ushort)nAxisNo, (short)m_HomePrm[nAxisNo]._nHomeMode, 0, 0, 0);
rtn |= CPCI_M314.CS_m314_set_home_offset_position((ushort)m_nCardIndex, (ushort)nAxisNo, (int)m_HomePrm[nAxisNo]._iSeachOffstPluse);
rtn |= CPCI_M314.CS_m314_home_move((ushort)m_nCardIndex, (ushort)nAxisNo, 0, (int)vel, Tacc, (short)dir);
if (rtn != 0)
{
return(false);
}
Stopwatch stopwatch = new Stopwatch();
stopwatch.Restart();
ushort MoSt = 1;
do
{
if (Istop)
{
rtn = -1;
break;
}
if (stopwatch.ElapsedMilliseconds > 30000)
{
m_AxisStates[nAxisNo] = AxisState.ErrAlarm;
//超时停止
CPCI_M314.CS_m314_sd_stop((ushort)m_nCardIndex, (ushort)nAxisNo, Tdcc);
CPCI_M314.CS_m314_set_servo((ushort)m_nCardIndex, (ushort)nAxisNo, 0);
logger.Warn($"{m_nCardIndex}卡{nAxisNo}号轴 回0 过程中超时");
return(false);
}
if (rtn == 0)
{
rtn |= CPCI_M314.CS_m314_reset_error_counter((ushort)m_nCardIndex, (ushort)nAxisNo);
rtn |= CPCI_M314.CS_m314_set_home_finish_reset((ushort)m_nCardIndex, (ushort)nAxisNo, 0);
}
rtn |= CPCI_M314.CS_m314_motion_done((ushort)m_nCardIndex, (ushort)nAxisNo, ref MoSt);
Thread.Sleep(10);
}while (MoSt == 0);
return(rtn == 0);
}
//public override int GetAxisNo(int IndexAxis)
//{
// return AxisInRang(IndexAxis) ? (IndexAxis - GetMinAxisNo() ) : int.MaxValue;
//}
public override bool Open()
{
m_bOpen = false;
ushort cardID = 0;
short rtn;
//================ M314 Initial =================//
ushort gCardNum = 0;
rtn = CPCI_M314.CS_m314_open(ref gCardNum);//可以多次枚举
if (gCardNum == 0)
{
MessageBox.Show("PCI_M314 not found!!", "Error");
return(false);
}
rtn |= CPCI_M314.CS_m314_get_cardno((ushort)m_nCardIndex, ref cardID);
rtn = CPCI_M314.CS_m314_initial_card(cardID);
if (rtn != 0)
{
return(false);
}
string strConfigPath = $"{System.AppDomain.CurrentDomain.BaseDirectory}PCI_M314_0.cfg";
rtn = CPCI_M314.CS_m314_config_from_file(cardID, strConfigPath);
//for (i = 0; i < 4; i++)
//{
// //----Generate Interface IO Function----//
// CPCI_M314.CS_m314_set_alm((ushort)m_nCardIndex, i, 1, 0); 0 1 2 3
// CPCI_M314.CS_m314_set_ez((ushort)m_nCardIndex, i, 0);
// CPCI_M314.CS_m314_set_erc((ushort)m_nCardIndex, i, 32);
// CPCI_M314.CS_m314_set_sd((ushort)m_nCardIndex, i, 0, 0, 0);
// CPCI_M314.CS_m314_set_ell((ushort)m_nCardIndex, i, 0);
// //----Generate Pulse IO Function----//
// CPCI_M314.CS_m314_set_pls_outmode((ushort)m_nCardIndex, i, 6); //4: Cw/CCw, 6: AB Phase
// CPCI_M314.CS_m314_set_pls_outwidth((ushort)m_nCardIndex, i, 1);
// CPCI_M314.CS_m314_set_feedback_src((ushort)m_nCardIndex, i, 0); //0: external, 1: internal
// CPCI_M314.CS_m314_set_move_ratio((ushort)m_nCardIndex, i, 1);
//}
//if(cardID==2)
//{
// rtn = CPCI_M314.CS_m314_set_gear(2, 3, 1, 10, 1);//AA机器默认设置
//}
short a1 = 0;
short a2 = 0;
ushort a3 = 0;
CPCI_M314.CS_m314_get_gear(2, 3, ref a1, ref a2, ref a3);
m_bOpen = true;
return(rtn == 0);
}
public override AxisState IsAxisNormalStop(int nAxisNo)
{
short rtn = 0;
ushort MoSt = 1;
rtn |= CPCI_M314.CS_m314_motion_done((ushort)m_nCardIndex, (ushort)nAxisNo, ref MoSt);
if (rtn == 0 && MoSt == 0)
{
return(AxisState.NormalStop);
}
else
{
return(AxisState.Moving);
}
}
/// <summary>
/// 与其他的控制卡不兼容，因为这个M314没有buf'运动
/// </summary>
/// <param name="objGroup"></param>
/// <param name="type"></param>
/// <param name="mode"></param>
/// <param name="nAxisNum">nAxisNum 3=1&2</param>
/// <param name="velHigh"></param>
/// <param name="velLow"></param>
/// <param name="Point1">Point1[0]= centerX,Point1[1]=centerY</param>
/// <param name="Point2">Point2[0]=angle</param>
/// <returns></returns>
public override bool AddBufMove(object objGroup, BufMotionType type, int mode, int nAxisNum, double velHigh, double velLow, double[] Point1, double[] Point2)
{
if (mode == 1)
{
short rtn = 0;
ushort[] array = new ushort[3] {
(ushort)nAxisNum, (ushort)(nAxisNum + 1), (ushort)(nAxisNum - 1)
};
double speed = velHigh;
double Acc = m_MovePrm[2].AccH;
double Dcc = m_MovePrm[2].DccH;
switch ((int)velHigh)
{
case 0:
Acc = m_MovePrm[2].AccH;
Dcc = m_MovePrm[2].DccH;
speed = m_MovePrm[2].VelH;
break;
case (int)SpeedType.Mid:
Acc = m_MovePrm[2].AccM;
Dcc = m_MovePrm[2].DccM;
speed = m_MovePrm[2].VelM;
break;
case (int)SpeedType.Low:
Acc = m_MovePrm[2].AccL;
Dcc = m_MovePrm[2].DccL;
speed = m_MovePrm[2].VelL;
break;
}
double Tacc = (speed - 0) / Acc;
double Tdec = (speed - 0) / Dcc;
// rtn |= CPCI_M314.CS_m314_start_ta_arc_xy((ushort)m_nCardIndex, ref array[0], (int)Point1[0], (int)(Point1[1]/10.0), Point2[0], 0, (int)speed, Tacc, Tdec);
rtn |= CPCI_M314.CS_m314_start_tr_heli_xy((ushort)m_nCardIndex, ref array[0], (int)Point1[0], (int)(Point1[1] / 10.0), (int)10, 9, 0, 0, (int)speed, Tacc, Tdec);
return(rtn == 0);
}
return(false);
}
public override bool JogMove(int nAxisNo, bool bPositive, int bStart, double nSpeed)
{
short rtn = 0;
double speed = nSpeed;
double Acc = m_MovePrm[nAxisNo].AccH;
double Dcc = m_MovePrm[nAxisNo].DccH;
switch (nSpeed)
{
case (double)0:
Acc = m_MovePrm[nAxisNo].AccH;
Dcc = m_MovePrm[nAxisNo].DccH;
speed = m_MovePrm[nAxisNo].VelH;
break;
case (double)SpeedType.Mid:
Acc = m_MovePrm[nAxisNo].AccM;
Dcc = m_MovePrm[nAxisNo].DccM;
speed = m_MovePrm[nAxisNo].VelM;
break;
case (double)SpeedType.Low:
Acc = m_MovePrm[nAxisNo].AccL;
Dcc = m_MovePrm[nAxisNo].DccL;
speed = m_MovePrm[nAxisNo].VelL;
break;
}
double Tacc = (speed - 0) / Acc;
double Tdec = (speed - 0) / Dcc;
short dir = bPositive ? (short)0 : (short)1;
if (false && m_nCardIndex == 2 && nAxisNo == 3)
{
//((ushort)m_nCardIndex, (ushort)nAxisNo, (int)(nPos / 10.0), 0, (int)(speed / 10.0), Tacc / 10.0, Tdec / 10.0);
rtn |= CPCI_M314.CS_m314_tv_move((ushort)m_nCardIndex, (ushort)nAxisNo, 0, (int)(speed / 10.0), Tacc / 10.0, dir);
}
else
{
rtn |= CPCI_M314.CS_m314_tv_move((ushort)m_nCardIndex, (ushort)nAxisNo, 0, (int)(speed), Tacc, dir);
}
return(rtn == 0);
}
public override int GetAxisCmdPos(int nAxisNo)
{
short rtn = 0;
int post = 0;
rtn |= CPCI_M314.CS_m314_get_command((ushort)m_nCardIndex, (ushort)nAxisNo, ref post);
if (false && m_nCardIndex == 2 && nAxisNo == 3)
{
post = (int)(post / 10.0);
}
if (rtn == 0)
{
return((int)post);
}
else
{
return(0);
}
}
public override long GetMotionIoState(int nAxisNo)
{
short rtn = 0;
ushort evenStatus = 0;
long lStandardIo = 0;
rtn |= CPCI_M314.CS_m314_get_io_status((ushort)m_nCardIndex, (ushort)nAxisNo, ref evenStatus);
if (rtn == 0)
{
short p = 3;
var k = p << 1;
var t = evenStatus & k;
if ((evenStatus & ((ushort)1 << 1)) == 2L)
{
lStandardIo |= (0x01 << 1);//驱动器报警存在第1位
}
if ((evenStatus & ((ushort)1 << 2)) == 4L)
{
lStandardIo |= (0x01 << 1); //正限位报警存在第2位
}
if ((evenStatus & ((ushort)1 << 3)) == 8L)
{
lStandardIo |= (0x01 << 2); //负限位报警存在第3位
}
if ((evenStatus & ((ushort)1 << 4)) == 16L)
{
lStandardIo |= (0x01 << 3); //原点到位存在第4位
}
if ((evenStatus & ((ushort)1 << 6)) == 64L)
{
lStandardIo |= (0x01 << 4); //急停触发存在第5位
}
if ((evenStatus & ((ushort)1 << 14)) == (1 << 14))
{
lStandardIo |= (0x01 << 7); //电机使能标志存在第8位
}
return(lStandardIo);
}
return(-1);
}
public override bool RelativeMove(int nAxisNo, double nPos, double nSpeed)
{
short rtn = 0;
double speed = nSpeed;
double Acc = m_MovePrm[nAxisNo].AccH;
double Dcc = m_MovePrm[nAxisNo].DccH;
switch (nSpeed)
{
case (double)0:
Acc = m_MovePrm[nAxisNo].AccH;
Dcc = m_MovePrm[nAxisNo].DccH;
speed = m_MovePrm[nAxisNo].VelH;
break;
case (double)SpeedType.Mid:
Acc = m_MovePrm[nAxisNo].AccM;
Dcc = m_MovePrm[nAxisNo].DccM;
speed = m_MovePrm[nAxisNo].VelM;
break;
case (double)SpeedType.Low:
Acc = m_MovePrm[nAxisNo].AccL;
Dcc = m_MovePrm[nAxisNo].DccL;
speed = m_MovePrm[nAxisNo].VelL;
break;
}
double Tacc = (speed - 0) / Acc;
double Tdec = (speed - 0) / Dcc;
if (false && m_nCardIndex == 2 && nAxisNo == 3)
{
rtn |= CPCI_M314.CS_m314_start_tr_move((ushort)m_nCardIndex, (ushort)nAxisNo, (int)(nPos / 10.0), 0, (int)(speed / 10.0), Tacc / 10.0, Tdec / 10.0);
}
else
{
rtn |= CPCI_M314.CS_m314_start_tr_move((ushort)m_nCardIndex, (ushort)nAxisNo, (int)nPos, 0, (int)speed, Tacc, Tdec);
}
return(rtn == 0);
}
