/// <summary>
/// 关闭气缸，可选延迟
/// </summary>
/// <param name="delay">等待时间,等于0时不等待直接返回OK</param>
/// <param name="bdoevnet">为True时，循环中处理其他系统信息，例如界面刷新等</param>
/// <returns></returns>
public EM_RES SetOff(int delay = 0, bool bdoevnet = false)
{
//防呆
if (ChkSafe != null)
{
EM_RES res = ChkSafe((int)GPIO.IO_STA.OUT_OFF);
if (res != EM_RES.OK)
{
return(res);
}
}
//set off
io_out.SetOff();
if (io_out.res != EM_RES.OK)
{
return(io_out.res);
}
//delay
if (delay > 0)
{
while (delay > 0)
{
Thread.Sleep(delay);
if (bdoevnet)
{
Application.DoEvents();
}
delay -= 10;
}
}
return(EM_RES.OK);
}
public EM_RES ChkParam()
{
if (type == IO_TYPE.NULL)
{
res = EM_RES.OK;
}
if (m_id < 0)
{
if (bShowErrmsg)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, String.Format("{0} ID({1})异常!", disc, m_id));
}
bShowErrmsg = false;
res = EM_RES.PARA_ERR;
return(res);
}
if (card == null || !card.isReady)
{
if (bShowErrmsg)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, String.Format("{0} 对应板卡{1}未初始化!", disc, card.disc));
}
bShowErrmsg = false;
res = EM_RES.PARA_ERR;
return(res);
}
bShowErrmsg = true;
res = EM_RES.OK;
return(res);
}
/// <summary>
/// 打开气缸，可选等待传感器到位
/// </summary>
/// <param name="bquit">取消控制</param>
/// <param name="waitms">等待时间,等于0时不等待直接返回OK</param>
/// <param name="bdoevnet">为True时，循环中处理其他系统信息，例如界面刷新等</param>
/// <returns>在指定时间内感应到对应的传感器则返回OK</returns>
public EM_RES SetOn(ref bool bquit, int waitms = 0, bool bdoevnet = false)
{
//防呆
if (ChkSafe != null)
{
EM_RES res = ChkSafe((int)GPIO.IO_STA.OUT_ON);
if (res != EM_RES.OK)
{
return(res);
}
}
//set on
io_out.SetOn();
if (io_out.res != EM_RES.OK)
{
return(io_out.res);
}
//wait for sensor
EM_RES ret = EM_RES.OK;
if (waitms > 0)
{
if (io_sen_on != null)
{
ret = io_sen_on.WaitForSta(ref bquit, io_sen_on_active, (uint)waitms, true, bdoevnet);
if (ret != EM_RES.OK)
{
return(ret);
}
}
if (io_sen_off != null)
{
ret = io_sen_off.WaitForSta(ref bquit, io_sen_off_active == GPIO.IO_STA.IN_ON ? GPIO.IO_STA.IN_OFF : GPIO.IO_STA.IN_ON, (uint)waitms, true, bdoevnet);
if (ret != EM_RES.OK)
{
return(ret);
}
}
if (io_sen_on == null && io_sen_off == null)
{
while (waitms > 0)
{
Thread.Sleep(waitms);
if (bdoevnet)
{
Application.DoEvents();
}
waitms -= 10;
}
}
}
return(ret);
}
private void btn_m_Click(object sender, EventArgs e)
{
if (gpio_out != null)
{
EM_RES ret = gpio_out.Invert();
if (ret != EM_RES.OK)
{
MessageBox.Show(gpio_out.disc + " IO Operation error！");
}
lbl_on.BackColor = (gpio_out.isON ? mOUT_Color : Color.Silver);
}
}
/// <summary>
/// 等待到指定状态后立刻返回
/// </summary>
/// <param name="bquit">取消控制</param>
/// <param name="sta_wait_for">指定状态</param>
/// <param name="timeout_ms">超时控制</param>
/// <param name="bshow_mgs">显示异常信息</param>
/// <param name="bdoevnet">为True时，循环中处理其他系统信息，例如界面刷新等</param>
/// <returns>在指时间内检查到指定状态则返回EM_RES.OK</returns>
public EM_RES WaitForSta(ref bool bquit, IO_STA sta_wait_for, uint timeout_ms, bool bshow_mgs = true, bool bdoevnet = false)
{
//check
res = ChkParam();
if (res != EM_RES.OK)
{
return(res);
}
IO_STA pbitstate = 0;
int timeout = (int)timeout_ms;
do
{
//cancel
if (bquit == true)
{
return(res = EM_RES.QUIT);
}
//check and return
pbitstate = Status;
if (pbitstate == sta_wait_for)
{
return(res = EM_RES.OK);
}
else if (pbitstate == IO_STA.ERR)
{
res = EM_RES.ERR;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, String.Format("{0} 等待状态返回异常！", disc));
return(res);
}
//delay 10ms
if (timeout > 0)
{
timeout -= 10;
if (bdoevnet)
{
Application.DoEvents();
}
Thread.Sleep(10);
}
} while (timeout > 0);
if (bshow_mgs)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, String.Format("{0} 等待 {1} 超时({2}ms)！", disc, sta_wait_for == IO_STA.IN_ON ? "ON" : "OFF", timeout_ms));
}
return(EM_RES.TIMEOUT);
}
public static EM_RES SetAxToManualSpd(List <AXIS> ax_list)
{
EM_RES ret = EM_RES.OK;
foreach (AXIS ax in ax_list)
{
ret = ax.SetToManualHighSpd();
if (ret != EM_RES.OK)
{
return(ret);
}
}
return(ret);
}
public static EM_RES SetAxToWorkSpd(List <AXIS> ax_list, double persent = 1.0)
{
EM_RES ret = EM_RES.OK;
foreach (AXIS ax in ax_list)
{
ret = ax.SetToWorkSpd(persent);
if (ret != EM_RES.OK)
{
return(ret);
}
}
return(ret);
}
/// <summary>
/// 取反气缸，可选延迟
/// </summary>
/// <param name="delay">等待时间,等于0时不等待直接返回OK</param>
/// <param name="bdoevnet">为True时，循环中处理其他系统信息，例如界面刷新等</param>
/// <returns></returns>
public EM_RES Invert(int delay = 0, bool bdoevnet = false)
{
if (io_out == null)
{
return(EM_RES.PARA_ERR);
}
//防呆
if (ChkSafe != null)
{
EM_RES res = ChkSafe((int)(io_out.isON?GPIO.IO_STA.OUT_OFF: GPIO.IO_STA.OUT_ON));
if (res != EM_RES.OK)
{
return(res);
}
}
//invert
io_out.Invert();
if (io_out.res != EM_RES.OK)
{
return(io_out.res);
}
//delay
if (delay > 0)
{
while (delay > 0)
{
Thread.Sleep(delay);
if (bdoevnet)
{
Application.DoEvents();
}
delay -= 10;
}
}
return(EM_RES.OK);
}
/// <summary>
/// 检查板卡是否在线，否在重连
/// </summary>
/// <returns></returns>
public EM_RES ChkOnline(string filename = "")
{
EM_RES res = EM_RES.OK;
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
if (isReady)
{
return(EM_RES.OK);
}
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
//check on line
if (((long)handle) == 0)
{
if (bshowmsg)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0} 掉线!", disc));
}
bshowmsg = false;
return(res = EM_RES.ERR);
}
uint val = 0;
int ret = zmcaux.ZAux_Direct_GetIn(handle, 0, ref val);
if (ret != 0)
{
if (bshowmsg)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0} 掉线!", disc));
}
if (((long)handle) != 0)
{
zmcaux.ZAux_Close(handle);
}
handle = (IntPtr)0;
bshowmsg = false;
res = EM_RES.ERR;
}
else if (((long)handle) == 0)
{
bshowmsg = true;
res = Init(ip, filename);
}
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
foreach (AXIS ax in AxList)
{
ax.AzdMotor.ErrorCount = 0;
}
if (AZD.Motor.isRs485Ready)
{
return(res = EM_RES.OK);
}
else
{
res = Init();
return(res);
//res = EM_RES.ERR;
//return res;
}
}
#endif
return(res);
}
public EM_RES DownLoadFile(string filename = "")
{
int ret = 0;
//if (!isReady) return EM_RES.ERR;
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
//download config
if (filename == "")
{
filename = string.Format("{0}DMC3800_{1}.ini", Path.GetFullPath("..") + "\\syscfg\\", card_id);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}下载配置,{1}", str_disc, filename));
ret = LTDMC.dmc_download_configfile((ushort)card_id, filename);
if (ret != 0)
{
LTDMC.dmc_board_close();
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, String.Format("{0}/id{1},配置失败！Err:0x{2:X8}", disc, card_id, ret));
return(EM_RES.ERR);
}
else
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}/id{1},更新配置成功！", disc, card_id));
}
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
//下载时，容易引起程序丢失
//if (filename == "") filename = string.Format("{0}{1}_{2}.bas", Path.GetFullPath("..") + "\\syscfg\\", str_disc, id);
//VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}下载配置,{1}", str_disc, filename));
//ret = zmcaux.ZAux_BasDown(handle, filename);
//if (ret != 0)
//{
// isInit = false;
// zmcaux.ZAux_Close(handle);
// handle = (IntPtr)0;
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0} 下载配置失败,Err:{1},{2}", disc, ret, filename));
// return EM_RES.ERR;
//}
//else
//{
// //set max_spd
// foreach (AXIS ax in AxList)
// {
// zmcaux.ZAux_Direct_SetMaxSpeed(handle, ax.num, (int)(ax.max_spd * ax.pul_per_mm));
// if (ret != 0)
// {
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0} 配置MAX_SPD失败,Err:{1}", disc, ret));
// }
// }
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}/id{1},更新配置成功！", disc, id));
//}
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
if (!Motor.isRs485Ready)
{
EM_RES res = Init();
if (res != EM_RES.OK)
{
return(res);
}
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}下载配置", str_disc));
foreach (AXIS ax in AxList)
{
UInt32 temp = 0;
UInt32 temp2 = 0;
ushort[] dat;
bool bres = true;
////(ZHOME)•运行速度 688/689
////(ZHOME)•加减速 690/691
//temp = (ushort)(ax.home_spd * ax.pul_per_mm);
//temp2 = (ushort)(ax.tacc / 0.001);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp2 >> 16), (ushort)(temp2 & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(688, dat);
//if(!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置运行速度/加速出错!",ax.disc));
// return EM_RES.ERR;
//}
////SLN作为 原点/预置位置 908/909
//temp = (ushort)(ax.sln * ax.pul_per_mm);
//dat = new ushort[2] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(908, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置原点出错!", ax.disc));
// return EM_RES.ERR;
//}
//POS0点数据 1024/1025
//POS1点数据 1026/1027
temp = (ushort)(ax.pos0 * ax.pul_per_mm);
temp2 = (ushort)(ax.pos1 * ax.pul_per_mm);
dat = new ushort[4] {
(ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp2 >> 16), (ushort)(temp2 & 0XFFFF)
};
bres = ax.AzdMotor.WriteReg(1024, dat);
if (!bres)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置POS0/POS1出错!", ax.disc));
return(EM_RES.ERR);
}
////速度No.0 1152/1153
////速度No.1 1154/1155
//temp = (ushort)(ax.spd_work * ax.pul_per_mm);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(1152,dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置速度0/速度1出错!", ax.disc));
// return EM_RES.ERR;
//}
////方式No.0 1280/1281 1-绝对定位
////方式No.1 1282/1283 1-绝对定位
//dat = new ushort[4] { 0, 1, 0, 1 };
//bres = ax.AzdMotor.WriteReg(1280, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置定位方式0/1出错!", ax.disc));
// return EM_RES.ERR;
//}
////加减速单位 654/655 0：•kHz/s• 1：•s• 2：•ms / kHz
//dat = new ushort[2] { 0,1 };
//bres = ax.AzdMotor.WriteReg(654, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置加减速单位出错!", ax.disc));
// return EM_RES.ERR;
//}
////起动/变速No.0 1536/1537
////起动/变速No.1 1538/1539
//temp = (ushort)(ax.tacc/0.001);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(1536, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置加速度出错!", ax.disc));
// return EM_RES.ERR;
//}
////停止No.0 1664/1665
////停止No.1 1666/1667
//temp = (ushort)(ax.tdec / 0.001);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(1664, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置减速度出错!", ax.disc));
// return EM_RES.ERR;
//}
return(EM_RES.OK);
}
}
#endif
return(EM_RES.OK);
}
/// <summary>
/// 初始化板卡。
/// 如有主次卡之分，请先初始化主卡。关闭则相反，先关从卡再关主卡。
/// </summary>
/// <param name="id">卡ID</param>
/// <param name="maincard_id">主卡ID</param>
/// <param name="ip">卡IP</param>
/// <param name="filename">配置文件路径</param>
/// <returns></returns>
public EM_RES Init(int card_id = -1, int maincard_id = -1, string ip = "", string filename = "")
{
if (isReady)
{
return(EM_RES.OK);
}
int ret = 0;
EM_RES res = EM_RES.OK;
//update id
if (card_id >= 0)
{
this.card_id = card_id;
}
else
{
card_id = this.card_id;
}
//update ip
if (ip.Length > 7)
{
this.ip = ip;
}
else
{
ip = this.ip;
}
//update maincard_id
if (maincard_id >= 0)
{
this.maincard_id = maincard_id;
}
else
{
maincard_id = this.maincard_id;
}
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
if (type == TYPE.MOTION)
{
//init card
ret = LTDMC.dmc_board_init();
if (ret < 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}ID有重复，请检查确认!0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
//get card list
ushort cardnum = 0;
ushort[] cardid = new ushort[64];
uint[] cardtype = new uint[64];
ret = LTDMC.dmc_get_CardInfList(ref cardnum, cardtype, cardid);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("获取{0}列表错误，0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
//search card list
bool bfound = false;
for (int n = 0; n < cardnum; n++)
{
if (card_id == cardid[n])
{
bfound = true;
break;
}
}
if (!bfound)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}列表找不到ID为{1}的板卡!", disc, card_id));
return(EM_RES.ERR);
}
//download config
res = DownLoadFile(filename);
if (res != EM_RES.OK)
{
return(res);
}
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
else if (type == TYPE.CAN_IO)
{
//连接IO卡
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 1, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}连接失败,Err:0x{1:X8},重新连接...", disc, ret));
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 1, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}重新连接失败,请确认卡连接是否正确!Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
}
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
#if LEADSHINE_IO
else if (type == TYPE.IO)
{
ret = IOC0640.ioc_board_init();
if (ret > 0)
{
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
return(EM_RES.OK);
}
else
{
IOC0640.ioc_board_close();
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}初始化失败!Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
}
#endif
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
//check ip
if (ip.Length < 7)
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0} IP异常,{1}", disc, ip));
return(EM_RES.CAM_PARA_ERR);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0} 连接...", disc));
////search and open,多网卡时，搜索异常
//for (int n = 0; n < 10; n++)
//{
// ret = zmcaux.ZAux_SearchEth(ip, 100);
// if (ret == 0) break;
// Application.DoEvents();
//}
ret = 0;
if (ret == 0)
{
ret = zmcaux.ZAux_OpenEth(ip, out handle);
if (ret != 0)
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}初始化失败,IP={1},Err:{2}", disc, ip, ret));
return(EM_RES.ERR);
}
else
{
//check param
int ftemp = 0;
bool bdownload = false;
foreach (AXIS ax in AxList)
{
zmcaux.ZAux_Direct_GetMaxSpeed(handle, ax.num, ref ftemp);
if (Math.Abs((ax.max_spd * ax.pul_per_mm) - ftemp) > 100)
{
bdownload = true;
break;
}
}
//download config
if (bdownload)
{
res = DownLoadFile(filename);
if (res != EM_RES.OK)
{
return(res);
}
}
isInit = true;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
foreach (AXIS ax in AxList)
{
ax.Init();
}
return(EM_RES.OK);
}
}
else
{
isInit = false;
handle = (IntPtr)0;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}找不到，IP={1}", disc, ip));
return(EM_RES.ERR);
}
}
#endif
#if ADVANTTECH
if (brand == BRAND.ADVANTTECH)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, "研华库未添加!");
return(EM_RES.ERR);
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
//get config
if (filename.Length < 3)
{
filename = Path.GetFullPath("..") + "\\syscfg\\ORIENTALMOTOR.ini";
}
if (File.Exists(filename))
{
IniFile inf = new IniFile(filename);
int temp = inf.ReadInteger("COM", "PORT", -1);
if (temp >= 0 && temp < 100)
{
PortName = string.Format("COM{0}", temp);
}
temp = inf.ReadInteger("COM", "BAUD", -1);
if (temp > 0)
{
Baudrate = temp;
}
}
if (0 == AZD.Motor.InitRs485(PortName, Baudrate))
{
isInit = true;
handle = (IntPtr)1;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}初始化成功!", disc));
foreach (AXIS ax in AxList)
{
ax.Init();
}
return(EM_RES.OK);
}
else
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("InitRs485异常，BRAND={0}，TYPE={1},Port={2}/{3}", brand, type, PortName, Baudrate));
return(EM_RES.ERR);
}
}
#endif
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("未定义异常，BRAND={0}，TYPE={1}", brand, type));
return(EM_RES.ERR);
}
public static EM_RES Move(ref bool bquit, ref AXIS ax_x, double xpos, ref AXIS ax_y, double ypos, ref AXIS ax_z, double zpos, ref AXIS ax_r, double rpos, int time_out_ms = 10000, bool bdoevent = false)
{
EM_RES ret = EM_RES.OK;
//start move
if (ax_x != null)
{
ret = ax_x.MoveTo(ref bquit, xpos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_y != null)
{
ret = ax_y.MoveTo(ref bquit, ypos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_z != null)
{
ret = ax_z.MoveTo(ref bquit, zpos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_r != null)
{
ret = ax_r.MoveTo(ref bquit, rpos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
//wait
if (ax_x != null)
{
ret = ax_x.WaitForMoveDone(ref bquit, xpos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_y != null)
{
ret = ax_y.WaitForMoveDone(ref bquit, ypos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_z != null)
{
ret = ax_z.WaitForMoveDone(ref bquit, zpos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_r != null)
{
ret = ax_r.WaitForMoveDone(ref bquit, rpos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
return(EM_RES.OK);
MOVE_END:
if (ax_x != null)
{
ax_x.Stop();
}
if (ax_y != null)
{
ax_y.Stop();
}
if (ax_z != null)
{
ax_z.Stop();
}
if (ax_r != null)
{
ax_r.Stop();
}
return(ret);
}
/// <summary>
/// 等待到OFF状态后立刻返回
/// </summary>
/// <param name="bquit">取消控制</param>
/// <param name="timeout_ms">超时控制</param>
/// <param name="bshow_mgs">显示异常信息</param>
/// <param name="bdoevnet">为True时，循环中处理其他系统信息，例如界面刷新等</param>
/// <returns>在指时间内检查到OFF状态则返回EM_RES.OK</returns>
public EM_RES WaitOFF(ref bool bquit, uint timeout_ms = 3000, bool bshow_mgs = true, bool bdoevnet = false)
{
res = WaitForSta(ref bquit, IO_STA.IN_OFF, timeout_ms, bshow_mgs, bdoevnet);
return(res);
}
