/// <summary>
/// 停止XYZR轴的移动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btStop_Click(object sender, EventArgs e)
{
bool isOK = true;
foreach (string axisName in _axisNames)
{
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(axisName, out errInfo);
if (null != ci)
{
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
isOK = false;
ShowTips("停止轴:\"" + axisName + "\" 失败,Errornfo: " + md.GetErrorInfo(errCode));
}
}
else
{
isOK = false;
ShowTips("停止轴:\"" + axisName + "\" 失败,未找到通道信息 ");
}
if (isOK)
{
ShowTips("所有轴已停止");
}
}
}
/// <summary>
/// 停止直线插补运动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btStopLiner_Click(object sender, EventArgs e)
{
if (_module == null)
{
ShowTips("无效操作，模块未设置");
return;
}
if (!_module.IsOpen)
{
ShowTips("无效操作，模块未打开");
return;
}
if (dgvLinePos.Rows.Count == 0)
{
MessageBox.Show("无效操作:没有设置插补轴");
return;
}
List <int> axisIDs = new List <int>();
foreach (DataGridViewRow row in dgvLinePos.Rows)
{
string axisIDTxt = row.Cells[0].Value as string;
if (string.IsNullOrEmpty(axisIDTxt))
{
MessageBox.Show("操作失败:存在未设置的轴序号");
return;
}
axisIDs.Add(Convert.ToInt32(axisIDTxt));
}
bool isSuccess = true;
StringBuilder sbErr = new StringBuilder();
foreach (int axisID in axisIDs)
{
int err = _module.StopAxis(axisID);
if (err != 0)
{
sbErr.Append("轴" + axisID + " 停止失败，ErrorInfo:" + _module.GetErrorInfo(err) + "\n");
isSuccess = false;
break;
}
else
{
//ShowTips("已停止直线插补");
//return;
break;
}
}
if (isSuccess)
{
ShowTips("直线插补已停止");
}
else
{
ShowTips("停止直线插补失败:\n" + sbErr.ToString());
}
}
protected override bool ActionGenuine(out string errorInfo)
{
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
JFDevCellInfo ci = null;
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
//if(!md.IsSVO(ci.ChannelIndex)) //HTM控制卡在未上电时，调用Stop会异常退出
//{
// errorInfo = "\"轴ID\" = " + axisID + " 未励磁";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return true;
//}
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
errorInfo = md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
/// <summary>
/// 停止连续运动X
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btPX_MouseUp(object sender, MouseEventArgs e)
{
if (cbMoveMode.SelectedIndex != 1) //未选中连续模式
{
return;
}
string errInfo;
JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[0], out errInfo);
if (null == ci)
{
return;
}
IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.StopAxis(ci.ChannelIndex);
if (errCode != 0)
{
ShowTips("X轴停止运动失败！Name = \"" + _axisNames[0] + "\" ErrorInfo:" + errInfo);
return;
}
ShowTips("X轴已停止");
}
protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string axisID = GetMethodInputValue(PN_AxisID) as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
int timeoutMilSeconds = (int)GetMethodInputValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);;
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, axisID);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_md.MSID_SVO])
{
errorInfo = "轴伺服已断电!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_MDN])
{
ActionErrorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到轴:\" " + axisID + "\"归零完成 ";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
double tgtPos = 0;
int errCode = _md.GetCmdPos(_ci.ChannelIndex, out tgtPos);
if (0 != errCode)
{
errorInfo = "恢复运行时获取目标位置失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errCode = _md.AbsMove(_ci.ChannelIndex, tgtPos);
if (0 != errCode)
{
errorInfo = "恢复轴P2P运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
else
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
}
}
protected override void CleanupWhenWorkExit()
{
_md.StopAxis(_ci.ChannelIndex);
}
