// 更新脉冲数
private void UpdateDMC3400Pulse()
{
stageXPulseEdit.Text = Convert.ToString(LTDMC.dmc_get_position(m_dmc3400ACard.m_cardNo, 0));
stageYPulseEdit.Text = Convert.ToString(LTDMC.dmc_get_position(m_dmc3400ACard.m_cardNo, 1));
CCDXPulseEdit.Text = Convert.ToString(LTDMC.dmc_get_position(m_dmc3400ACard.m_cardNo, 2));
CCDZPulseEdit.Text = Convert.ToString(LTDMC.dmc_get_position(m_dmc3400ACard.m_cardNo, 3));
}
public ushort GetErrorCode()
{
ushort errcode = 0;
LTDMC.nmc_get_errcode(CarNum, 2, ref errcode);
return(errcode);
}
public bool resetCar() // 重启运动控制卡 报警
{
LTDMC.dmc_soft_reset(CarNum);
LTDMC.dmc_board_reset();
LTDMC.dmc_board_close();
for (int i = 0; i < 15; i++)//总线卡软件复位耗时15s左右
{
Thread.Sleep(1000);
Global.frmMain.PushMess(i + "/15....");
}
var a = LTDMC.dmc_board_init();
Global.frmMain.PushMess("Card Number: " + a + "");
if (a > 0)
{
return(true);
}
else
{
return(false);
}
// Axis.nmc_get_errcode(MyGlobal._CarId, 2, ref errcode);
// mess_textBox.AppendText("总线卡软件复位完成,请确认总线状态" + errcode.ToString());
}
/// <summary>
/// 获取单卡 正极限输入状态
/// </summary>
/// <param name="card"></param>
/// <param name="pValue"></param>
/// <returns></returns>
public short _SR_GetLimitPInput(short card, short axisNum, out bool pValue)
{
pValue = false;
if (tag_CardCount < 1 || card >= tag_CardCount)
{
return(-1);
}
uint status = LTDMC.dmc_axis_io_status((ushort)tag_cardids[card], (ushort)axisNum);
if (card == 0 && axisNum == 0)
{
}
int bit = (int)Math.Pow(2, 1);
if ((status & bit) == bit)
{
pValue = true;
}
else
{
pValue = false;
}
return(0);
}
//1.板卡设置功能--
#region //检查控制卡数量 返回卡号
public bool CarInitial() //检查控制卡数量 返回卡号
{
int carNub = 0;
try
{
short num = LTDMC.dmc_board_init();//获取卡数量
if (num <= 0 || num > 8)
{
//MessageBox.Show("初始卡失败!", "出错");
CarErrCode = 1;
return(false);
}
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
CarErrCode = 2;
// MessageBox.Show("获取卡信息失败!");
return(false);
}
CarNum = cardids[0];
return(true);
}
catch (Exception ex)
{
// MessageBox.Show(ex.Message);
CarErrCode = 3;
return(false);
}
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_AbsoluteMove(AxisConfig axisC, PointModule point)
{
short shrResult = 0;
if (point.dblPonitSpeed == 0.0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
LTDMC.dmc_set_s_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, 0, point.db_S_Time); //设置S段时间（0-0.05s)
LTDMC.dmc_set_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, axisC.StartSpeed, point.dblPonitSpeed, point.db_StopSpeed, point.dblAccTime, point.dblDecTime); //设置起始速度、运行速度、停止速度、加速时间、减速时间
shrResult = LTDMC.dmc_pmove((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, (int)(point.dblPonitValue * axisC.Eucf), 1); //定长运动
if (shrResult != shrGtsSuccess)
{
CommandResult("_SR_RelativeMove", shrResult);
return(shrFail);
}
return(shrResult);
}
private void Axis_GOCommandExecute(object obj)
{
if (System.Windows.Forms.MessageBox.Show($"是否运动到点{int.Parse(obj.ToString()) + 1}？", "确认", MessageBoxButtons.OKCancel) == DialogResult.OK)
{
if (LTDMC.dmc_check_done(_CardID, 0) == 1 && LTDMC.dmc_check_done(_CardID, 1) == 1 && LTDMC.dmc_check_done(_CardID, 2) == 1)
{
Task.Run(() => {
DMC5400ASVN[0] = true; DMC5400ASVN[1] = true; DMC5400ASVN[2] = true;
Res = LTDMC.dmc_write_sevon_pin(_CardID, 0, 0); //励磁
Res = LTDMC.dmc_write_sevon_pin(_CardID, 1, 0); //励磁
Res = LTDMC.dmc_write_sevon_pin(_CardID, 2, 0); //励磁
Res = LTDMC.dmc_set_profile(_CardID, 0, 200, 2000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_set_profile(_CardID, 1, 200, 2000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_set_profile(_CardID, 2, 200, 2000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_pmove(_CardID, 0, (int)(PrefilePos[int.Parse(obj.ToString())].X * 100), 1);
Res = LTDMC.dmc_pmove(_CardID, 1, (int)(PrefilePos[int.Parse(obj.ToString())].Y * 100), 1);
Res = LTDMC.dmc_pmove(_CardID, 2, (int)(PrefilePos[int.Parse(obj.ToString())].Z * 100), 1);
while (LTDMC.dmc_check_done(_CardID, 0) == 0 || LTDMC.dmc_check_done(_CardID, 1) == 0 || LTDMC.dmc_check_done(_CardID, 2) == 0)
{
System.Threading.Thread.Sleep(100);
}
});
}
else
{
AddMessage("错误:轴Busy");
}
}
}
public static void AxisStop(ushort CardNo, ushort Axis, ushort Stop_mode)
{
lock (Lock2)
{
LTDMC.dmc_stop(CardNo, Axis, Stop_mode);
}
}
//控制卡的输入端
public uint DoInput()
{
uint vio1 = LTDMC.dmc_read_inport(0, 0);//读0卡IO输入
IoInput = ~((vio1 & 0xffff));
return(IoInput);
}
public ushort Check_Enable()
{
ushort Axis_State_machine = 0;
LTDMC.nmc_get_axis_state_machine(_CardID, axis, ref Axis_State_machine);
return(Axis_State_machine);
}
public static void WriteOUT(ushort CardNum, ushort Bitno, ushort On_Off)
{
lock (Lock0)
{
LTDMC.dmc_write_outbit(CardNum, (ushort)(Bitno + 8), On_Off);//0打开，1关闭
}
}
/// <summary>
/// 连续运动
/// </summary>
/// <param name="axis"></param>
/// <param name="start"></param>
/// <param name="speed"></param>
/// <param name="stop"></param>
/// <param name="acc"></param>
/// <param name="dec"></param>
/// <param name="Direct"></param>
public void ContinuationMove(ushort axis, double start, double speed, double stop, double acc, double dec, ushort Direct)
{
LTDMC.dmc_set_pulse_outmode(_CardID, axis, 0); //设置脉冲模式
LTDMC.dmc_set_s_profile(_CardID, axis, 0, 0.01); //设置S段时间（0-0.05s)
LTDMC.dmc_set_profile(_CardID, axis, start, speed, acc, dec, stop); //设置起始速度、运行速度、停止速度、加速时间、减速时间
LTDMC.dmc_vmove(_CardID, axis, Direct); //连续运动
}
private void label_Click(object sender, EventArgs e)
{
int index = -1;
foreach (Label label in groupBox2.Controls)
{
if (label == sender)
{
index = Convert.ToInt32(label.Text);
break;
}
}
if (index > -1)
{
short state = LTDMC.dmc_read_outbit(m_cardID, (ushort)index);
if (state == 0)
{
LTDMC.dmc_write_outbit(m_cardID, (ushort)index, 1);
}
else
{
LTDMC.dmc_write_outbit(m_cardID, (ushort)index, 0);
}
}
}
/// <summary>
/// 初始化运动控制卡，仅初始化一次
/// </summary>
/// <param name="cardNum">控制卡号</param>
/// <param name="isRun">是否初始化</param>
/// <returns>是否初始化成功</returns>
public static bool InitMotionCard(ref short cardNum, bool isRun)
{
IsRun = isRun;
if (IsRun)
{
return(true);
}
try
{
cardNum = LTDMC.dmc_board_init();
if (cardNum <= 0 || cardNum > 8)
{
MessageBox.Show("初始化控制卡失败！", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning);
return(false);
}
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败！", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning);
}
CardId = cardids[0];
}
catch (Exception ex)
{
m_logFile.AppendText("运动控制卡初始化异常：" + ex.Message);
return(false);
}
return(true);
}
private void FrMain_FormClosed(object sender, FormClosedEventArgs e)
{
LTDMC.dmc_emg_stop(0); //停轴
LTDMC.nmc_set_axis_disable(0, 0);
LTDMC.nmc_set_axis_disable(0, 1);
LTDMC.nmc_set_axis_disable(0, 2);
LTDMC.nmc_set_axis_disable(0, 3);
LTDMC.nmc_set_axis_disable(0, 4);
LTDMC.dmc_board_close();
if (VarClass.Homeing) //归零中
{
myPublicClass.myHomeThread.Abort();
}
if (VarClass.Autoing) //自动中
{
myPublicClass.myAutoThread.Abort();
}
myCycleThread.Abort();
try
{
Environment.Exit(0);
}
catch (Exception ex)
{ }
}
static void LSConnectDetail()
{
short i = LTDMC.dmc_board_init();
if (i <= 0 || i > 8)
{
throw new Exception($"雷赛卡初始化错误，返回值：{i}");
}
else
{
ushort _num = 0;
ushort[] cardIDs = new ushort[8];
uint[] cardTypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardTypes, cardIDs);
if (res != 0)
{
throw new Exception($"雷赛卡无法获取卡信息，错误代码：{res}");
}
foreach (ControllerListSource cls in
IODataCollection.controllerNameList.Where(c => c.name.StartsWith(_name + '-')))
{
string s = string.Join("，", cardIDs).TrimEnd('，');
if ((Array.IndexOf(cardIDs, ushort.Parse(cls.IP)) == -1) ||
((int.Parse(cls.IP) == 0) && (cardIDs[0] != 0)))
{
throw new Exception($"雷赛卡卡号不存在：{cls.IP}，卡号列表:{s}");
}
LSu.Connect(cls.name, int.Parse(cls.IP));
}
}
}
/// <summary>
/// 检测轴在指定延迟时间内是否完成动作
/// </summary>
/// <param name="axis"></param>
/// <param name="milliseconds"></param>
/// <returns></returns>
public bool WaitForAxisMoveDone(ushort axis, int milliseconds)
{
if (axis < 0 || axis >= m_axisCount)
{
return(false);
}
short state = 0;
while (true)
{
if (milliseconds-- == 0)
{
return(false); //动作超时
}
lock (globalLock)
{
state = LTDMC.dmc_check_done(m_cardNo, axis);
if (state == 1)
{
return(true);
}
}
Thread.Sleep(1);
}
}
public bool AxisHMV(int motionDevIndex, int axis)
{
ushort state = 0;
var ret = LTDMC.dmc_get_home_result((ushort)DevIndex, (ushort)axis, ref state);
return(state == 1);
}
public bool IsAxisHmv(int index, int axis)
{
ushort state = 0;
var ret = LTDMC.dmc_get_home_result((ushort)Id, (ushort)axis, ref state);
return(state != 1);
}
public bool InitDMC3400ACard()
{
short num = LTDMC.dmc_board_init();//获取卡数量
if (num <= 0 || num > 8)
{
MessageBox.Show("初始卡失败!", "出错");
return(false);
}
ushort _num = 0;
ushort[] cardids = new ushort[8];
uint[] cardtypes = new uint[8];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败!");
return(false);
}
m_cardNo = cardids[0];
for (ushort i = 0; i < m_axisCount; i++)
{
// 设定脉冲模式及逻辑方向
LTDMC.dmc_set_pulse_outmode(m_cardNo, i, 4);
// 设置 EL 限位信号
LTDMC.dmc_set_el_mode(m_cardNo, i, 1, 1, 0);
// 设置编码器的计数方式
LTDMC.dmc_set_counter_inmode(m_cardNo, i, 0);
//设置指定轴的 EZ 信号
//LTDMC.dmc_set_ez_mode(m_cardNo, i, 0);
}
return(true);
}
private void timer1_Tick(object sender, EventArgs e)
{
GetAxisLimitedSensor(0, ref homeSensor0, ref posLimited0, ref negLimited0);
GetAxisLimitedSensor(1, ref homeSensor1, ref posLimited1, ref negLimited1);
GetAxisLimitedSensor(2, ref homeSensor2, ref posLimited2, ref negLimited2);
GetAxisLimitedSensor(3, ref homeSensor3, ref posLimited3, ref negLimited3);
SetCondition();
//输入口
uint n = LTDMC.dmc_read_inport(m_cardID, 0);
for (int i = 0; i < 16; i++)
{
Label lable = GetINLabel(i);
if (label1 != null)
{
SetIOStateColor(lable, (n & 1) == 1);
}
n = n >> 1;//n右移一位
}
//输出口
n = LTDMC.dmc_read_outport(m_cardID, 0);
for (int i = 0; i < 16; i++)
{
Label label = GetOUTLabel(i);
if (label1 != null)
{
SetIOStateColor(label, (n & 1) == 1);
}
n = n >> 1;
}
}
//获取对应感应器信号
public void Getsing(ref bool[] sing)
{
uint IoState = LTDMC.dmc_axis_io_status(_CardID, axis);
if ((IoState & 2) == 2)//检测正限位信号
{
sing[0] = true;
}
else
{
sing[0] = false;
}
if ((IoState & 4) == 4)//检测负限位信号
{
sing[1] = true;
}
else
{
sing[1] = false;
}
if ((IoState & 16) == 16)//检测原点信号
{
sing[2] = true;
}
else
{
sing[2] = false;
}
}
public ushort GetAxisStatus()
{
ushort Axis_State_machine2 = 0;
LTDMC.nmc_get_axis_state_machine(_CardID, 2, ref Axis_State_machine2);
return(Axis_State_machine2);
}
public static void AxisInitialize()
{
short Cardnum = 0;
Cardnum = LTDMC.dmc_board_init();
if (Cardnum > 0 && Cardnum < 8)
{
// MessageBox.Show("找到控制卡！" + Cardnum);
}
else
{
MessageBox.Show("未找到控制卡！");
return;
}
Thread.Sleep(500);
ushort err = 0;
short res = LTDMC.dmc_soft_reset(0);
if (res != 0)
{
MessageBox.Show("复位错误" + res.ToString());
}
Thread.Sleep(3000);
LTDMC.nmc_set_axis_enable(0, 0);
LTDMC.nmc_set_axis_enable(0, 1);
LTDMC.nmc_set_axis_enable(0, 2);
LTDMC.nmc_set_axis_enable(0, 3);
LTDMC.nmc_set_axis_enable(0, 4);
}
/// <summary>
/// 界面初始化
/// </summary>
public 打孔器机械臂界面()
{
#region 设置listview
this.listView1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.listView1.FullRowSelect = true;
this.listView1.HideSelection = false;
this.listView1.GridLines = true;
this.listView1.Location = new System.Drawing.Point(5, 41);
this.listView1.Name = "listView1";
this.listView1.Size = new System.Drawing.Size(425, 206);
this.listView1.TabIndex = 20;
this.listView1.UseCompatibleStateImageBehavior = false;
this.listView1.View = System.Windows.Forms.View.Details;
listView1.Visible = false;//使listview1不可见
listView1.Clear();
listView1.Columns.Add("步数", 65, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("x位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("y位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("z位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("a位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("b位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
listView1.Columns.Add("c位置", 60, System.Windows.Forms.HorizontalAlignment.Left);
this.Controls.Add(listView1);
#endregion
checkstep.OntempChange += new EventCheckChange.tempChange(event_stepchange);
InitializeComponent();
button_cycle_start.Enabled = false;
short num = LTDMC.dmc_board_init();//获取卡数量
board_num = num;
if (num <= 0 || num > 6)
{
MessageBox.Show("初始卡失败!", "出错");
}
ushort _num = 0;
ushort[] cardids = new ushort[6];
uint[] cardtypes = new uint[6];
short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
if (res != 0)
{
MessageBox.Show("获取卡信息失败!");
}
_cardid = cardids[0];
InitializationCalculate();//初始化matlab
//InitializationPlot();//
robot1 = new HoleRobot(_cardid);
m_thread = new Thread(Display);
m_thread.Start();
robot1.PlotRobot = true;//开启图像仿真
timer1.Start();
timer_Hole.Start();
robot1.PropertyChanged += PropertyChangedManage;
button6.Enabled = true;
button2.Enabled = true;
button_cycle_start.Enabled = false;
button3.Enabled = false;
userControl11.Enabled = false;
// double[] q0 = new double[6] { PI / 2, PI / 2, 0, 0, 0, 0 };
//PaintRobot(q0);
}
public double GetAxisEncodePos(ushort axis)
{
double curPos = 0;
curPos = LTDMC.dmc_get_encoder(m_cardNo, axis);
return(curPos);// * m_axisRes[axis];
}
public double GetAxisPulsePos(ushort axis)
{
double curPos = 0;
curPos = LTDMC.dmc_get_position(m_cardNo, axis);
return(curPos); // * m_axisRes[axis];
}
private void SetPara(ushort axis, double dist)
{
LTDMC.dmc_set_equiv(FormMain.CardId, axis, FormMain.PulseEquiv);
LTDMC.dmc_set_profile_unit(FormMain.CardId, axis, FormMain.StartSpeed, FormMain.MoveSpeed, FormMain.AccTime, FormMain.DecTime, FormMain.StopSpeed);
LTDMC.dmc_set_s_profile(FormMain.CardId, axis, 0, FormMain.SParamSpeed);
LTDMC.dmc_set_dec_stop_time(FormMain.CardId, axis, FormMain.DecStopTime);
LTDMC.dmc_pmove_unit(m_cardID, 0, dist, 0);
}
private void btnAxisW_Click(object sender, EventArgs e)
{
double dDist;//目标位置
dDist = Convert.ToDouble(txtFinalPosW.Text);
setPara(3);
LTDMC.dmc_pmove_unit(_CardID, 3, dDist, 1);//定长运动
}
public void SetMotionParam(ushort nAxisIndex, AxisParam axisParam)
{
// 设置单轴运动速度曲线
LTDMC.dmc_set_profile(m_cardNo, nAxisIndex, axisParam.nStartSpeed, axisParam.nRunSpeed,
axisParam.nAccelerateTime, axisParam.nDecelerateTime, axisParam.nEndSpeed);
//设定S段时间
LTDMC.dmc_set_s_profile(m_cardNo, nAxisIndex, 0, axisParam.nSDecelerateTime); //S 段时间，单位：s；范围：0~0.5 s
}