/// <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);
}
Dmc1000.d1000_set_s_profile(axisC.CardNum * tag_AxisCount + axisC.AxisNum, point.db_S_Time); //设置S段时间（0-0.05s)
// Dmc1000.d1000_set_profile((ushort)axisC.CardNum, (ushort)axisC.AxisNum, dblPonitSpeed.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 = (short)Dmc1000.d1000_start_sa_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum,
(int)(point.dblPonitValue * axisC.Eucf), (int)point.dblPonitStartSpeed, (int)point.dblPonitSpeed, point.dblAcc);//定长运动
if (shrResult != shrGtsSuccess)
{
CommandResult("_SR_RelativeMove", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 卡初始化
/// </summary>
/// <param name="card"></param>
/// <param name="axisCount"></param>
/// <param name="configFileName"></param>
/// <returns></returns>
public short _SR_InitCard()
{
ushort _num = 0;
short returnValue = 0;
if (tag_isInit == 0)
{
returnValue = (short)Dmc1000.d1000_board_init(); //获取卡数量
tag_isInit = 1;
if (returnValue <= 0 || returnValue > 8)
{
string str = "DMC100B控制卡初始化失败!";
if (returnValue == 0)
{
str = str + "\r\n没有安装雷晒卡";
}
if (returnValue == -1)
{
str = str + "没有安装端口驱动程序！";
}
if (returnValue == -2)
{
str = str + "PCI桥故障！";
}
MessageBoxLog.Show(str);
return(-1);
}
}
return(returnValue);
}
/// <summary>
/// 读取板卡规划位置
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="pos"></param>
/// <param name="count"></param>
/// <returns></returns>
public short _SR_GetPrfPos(short card, short axis, ref double pos)
{
if (tag_CardCount < 1 || card >= tag_CardCount)
{
return(-1);
}
pos = (double)Dmc1000.d1000_get_command_pos(card * tag_AxisCount + axis);
return(0);
}
/// <summary>
/// 设置板卡规划位置
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="pos"></param>
/// <param name="count"></param>
/// <returns></returns>
public short _SR_SetPrfPos(short card, short axis, double pos)
{
if (tag_CardCount < 1 || card >= tag_CardCount)
{
return(-1);
}
short ret = (short)Dmc1000.d1000_set_command_pos(card * tag_AxisCount + axis, (int)pos);
return(ret);
}
public short _SR_Close()
{
short returnValue = 0;
if (tag_isInit == 1)
{
returnValue = (short)Dmc1000.d1000_board_close(); //获取卡数量
tag_isInit = 0;
}
return(0);
}
/// <summary>
/// 设置输出脉冲的工作方式 默认模式：脉冲+方向，正逻辑脉冲，方向输出信号正逻辑
/// </summary>
/// <param name="cardno"></param>
/// <param name="axis"></param>
/// <param name="value"> 0：脉冲+脉冲方式 1：脉冲+方向方式</param>
/// <param name="logic">0： 正逻辑脉冲 1： 负逻辑脉冲</param>
/// <param name="dir_logic"> 0：方向输出信号正逻辑 1：方向输出信号负逻辑</param>
/// <returns> 0：正确 1：错误</returns>
public int _SR_set_pulse_mode(Int32 CardNo, Int32 axis, Int32 value, Int32 logic, Int32 dir_logic)
{
/* 参 数：CardNo 控制卡卡号
* axis 指定轴号，取值范围：DMC3410：0~3，DMC3800：0~7，DMC3600：0~5
* DMC3400A：0~3
* outmode 脉冲输出方式选择，其值如表 8.1 所示
* 返回值：错误代码*/
ushort outmode = 0;
if (value == 0)
{
if (logic == 0)
{
outmode = 2;
}
else
{
outmode = 3;
}
}
else
{
if ((logic == 0 && dir_logic == 0)) //正脉冲逻辑，方向正
{
outmode = 0;
}
else if (logic == 0 && dir_logic == 1) //正脉冲逻辑，方向负
{
outmode = 1;
}
else if (logic == 1 && dir_logic == 0) //负方脉冲逻辑，方向正
{
outmode = 0;
}
else if (logic == 1 && dir_logic == 1) //负方脉冲逻辑，方向负
{
outmode = 1;
}
}
if (tag_CardCount < 1 || CardNo >= tag_CardCount)
{
return(-1);
}
if (axis < tag_AxisCount)
{
int returnValue = Dmc1000.d1000_set_pls_outmode((int)axis + (CardNo) * tag_AxisCount, outmode); //设定限位模式，设正负限位有效，低电平有效
if (returnValue != 0)
{
return(-1);
}
}
return(0);
}
/// <summary>
/// 获取单个输出IO状态
/// </summary>
/// <param name="card"></param>
/// <param name="ioBit"></param>
/// <param name="outputIoStatus"></param>
/// <returns></returns>
public short _SR_GetOutputBit(short card, short ioBit, out bool outputIoStatus)
{
outputIoStatus = false;
int IOBool = Dmc1000.d1000_get_outbit(ioBit + card * 32);
if (IOBool == 1)
{
outputIoStatus = true;
}
return(0);
}
/// <summary>
/// 单轴连续运动
/// </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_continue_move(AxisConfig axisC, PointModule point, int dir)
{
int ddir = 1;
if (dir == 1)
{
ddir = -1;
}
return((short)Dmc1000.d1000_start_sv_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum, (int)point.dblPonitStartSpeed,
(int)point.dblPonitSpeed * ddir, point.dblAccTime));//连续运动
}
/// <summary>
/// 设置单轴停止 减速停止
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <returns></returns>
public short _SR_AxisStop(short card, short axis)
{
short shrResult;
shrResult = (short)Dmc1000.d1000_immediate_stop(axis + card * tag_AxisCount);
if (shrResult != shrGtsSuccess)
{
CommandResult("d1000_immediate_stop", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 设置单点 输出信号
/// </summary>
/// <param name="card"></param>
/// <param name="ioBit">0开始， 0-15</param>
/// <param name="value"></param>
/// <returns></returns>
public short _SR_SetOutputBit(short card, short ioBit, short value)
{
short shrResult = 0;
shrResult = (short)Dmc1000.d1000_out_bit(ioBit + card * 32, (int)value);
if (shrResult != 0)
{
CommandResult("d1000_write_outbit", shrResult);
return(shrResult);
}
return(shrResult);
}
/// <summary>
/// 获取单点 输入信号
/// </summary>
/// <param name="card"></param>
/// <param name="ioBit">0开始， 0-15</param>
/// <param name="bStatus"></param>
/// <returns></returns>
public short _SR_GetInputBit(short card, short ioBit, out bool bStatus)
{
int IOBool = Dmc1000.d1000_in_bit(ioBit + card * 32);
bStatus = false;
if (IOBool == 1)
{
bStatus = true;
}
return(0);
}
/// <summary>
/// 卡初始化
/// </summary>
/// <param name="card"></param>
/// <param name="axisCount"></param>
/// <param name="configFileName"></param>
/// <returns></returns>
public short _SR_InitCard()
{
short returnValue = 0;
if (tag_isInit == 0)
{
returnValue = (short)Dmc1000.d1000_board_init(); //获取卡数量
tag_CardCount = returnValue;
tag_isInit = 1;
if (returnValue <= 0 || returnValue > 8)
{
string str = "DMC100B控制卡初始化失败!";
if (returnValue == 0)
{
str = str + "\r\n没有安装雷赛卡";
}
if (returnValue == -1)
{
str = str + "没有安装端口驱动程序！";
}
if (returnValue == -2)
{
str = str + "PCI桥故障！";
}
MessageBoxLog.Show(str);
return(-1);
}
short i = 0; short j = 0;
while (i < returnValue)
{
while (j < 4)
{
_SR_AxisStop(i, j);
_SR_SetEncPos(i, j, 0);
j++;
}
i++;
}
}
return(returnValue);
}
/// <summary>
/// 获取单卡 负极限输入状态
/// </summary>
/// <param name="card"></param>
/// <param name="pValue"></param>
/// <returns></returns>
public short _SR_GetLimitNInput(short card, short axisNum, out bool pValue)
{
int status = Dmc1000.d1000_get_axis_status(card * tag_AxisCount + axisNum);
int bit = (int)Math.Pow(2, 0);
if ((status & bit) == bit)
{
pValue = true;
}
else
{
pValue = false;
}
return(0);
}
/// <summary>
/// 设置单轴停止 减速停止
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <returns></returns>
public short _SR_AxisStop(short card, short axis)
{
short shrResult;
if (tag_CardCount < 1 || card >= tag_CardCount)
{
return(-1);
}
shrResult = (short)Dmc1000.d1000_immediate_stop(axis + card * tag_AxisCount);
if (shrResult != shrGtsSuccess)
{
CommandResult("adt8960m_dec_stop", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 获取单点 输入信号
/// </summary>
/// <param name="card"></param>
/// <param name="ioBit">0开始， 0-15</param>
/// <param name="bStatus"></param>
/// <returns></returns>
public short _SR_GetInputBit(short card, short ioBit, out bool bStatus)
{
bStatus = false;
if (tag_CardCount < 1 || card >= tag_CardCount)
{
return(-1);
}
int IOBool = Dmc1000.d1000_in_bit(ioBit + card * 32);
if (IOBool == 1)
{
bStatus = true;
}
return(0);
}
/// <summary>
/// 获取轴状态信息
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="axisStatus">获取的轴状态</param>
/// <returns>返回0与非0 0代表轴停止， 非0轴在运动中</returns>
public short _SR_GetAxisStatus(short card, short axis, out int axisStatus)
{
short shrResult = 0;
short staus = (short)Dmc1000.d1000_check_done(axis + card * tag_AxisCount);
if (staus == 0)
{
axisStatus = 1;
}
else
{
axisStatus = 0;
}
return(shrResult);
}
/// <summary>
/// 单轴连续运动
/// </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_continue_move(AxisConfig axisC, PointModule point, int dir)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
int ddir = 1;
if (dir == 1)
{
ddir = -1;
}
int speed = (int)point.dblPonitSpeed * ddir;
int dblPonitStartSpeed = (int)point.dblPonitStartSpeed * ddir;
short ret = (short)Dmc1000.d1000_start_sv_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum, (int)dblPonitStartSpeed,
(int)speed, point.dblAccTime);
return(ret); //连续运动
}
/// <summary>
/// 获取单卡 原点输入状态
/// </summary>
/// <param name="card"></param>
/// <param name="pValue">原点状态值，按位取</param>
/// <returns></returns>
public short _SR_GetOriginInput(short card, short axisNum, out bool pValue)
{
pValue = false;
if (tag_CardCount < 1 || card >= tag_CardCount)
{
return(-1);
}
int status = Dmc1000.d1000_get_axis_status(card * tag_AxisCount + axisNum);
int bit = (int)Math.Pow(2, 2);
if ((status & bit) == bit)
{
pValue = true;
}
else
{
pValue = false;
}
return(0);
}
public short _SR_SetEncPos(short card, short axis, double pos)
{
short ret = (short)Dmc1000.d1000_set_command_pos(card * tag_AxisCount + axis, (int)pos);
return(ret);
}
public short _SR_GetEncPos(short card, short axis, ref double pos)
{
pos = (double)Dmc1000.d1000_get_command_pos(card * tag_AxisCount + axis);
return(0);
}
/// <summary>
/// 直线查补运动
/// </summary>
/// <param name="card"></param>
/// <param name="postion">目标点位</param>
/// <param name="crd">坐标系</param>
/// <param name="posi_mode">运动模式，0:相对坐标模式，1:绝对坐标模式</param>
/// <returns></returns>
public short _SR_LineMulticoorMove(AxisConfig[] axisC, PointModule[] point, short crd, short posi_mode)
{
short i = 0;
if (axisC.Length == 0)
{
return(0);
}
while (i < axisC.Length - 1)
{
if (axisC[i].CardNum != axisC[i + 1].CardNum)
{
return(-1);
}
i++;
}
i = 0;
short[] axis = new short[axisC.Length];
int[] pos = new int[axisC.Length];
double Min_Vel = 0;
double Max_Vel = 0;
double Tacc = 0;
double Tdec = 0;
double Stop_Vel = 0;
while (i < point.Length)
{
Min_Vel = Min_Vel + point[i].dblPonitStartSpeed;
Max_Vel = Max_Vel + point[i].dblPonitSpeed;
Stop_Vel = Stop_Vel + point[i].dblPonitSpeed;
Tacc = Tacc + point[i].dblAccTime;
Tdec = Tdec + point[i].dblDecTime;
axis[i] = (short)(axisC[i].CardNum * tag_AxisCount + axisC[i].AxisNum);
pos[i] = (int)(point[i].dblPonitValue * axisC[i].Eucf);
i++;
}
Min_Vel = Min_Vel / i;
Max_Vel = Max_Vel / i;
Stop_Vel = Stop_Vel / i;
Tacc = Tacc / i;
Tdec = Tdec / i;
if (posi_mode == 0)
{
return((short)Dmc1000.d1000_start_t_line(i,
ref axis[0],
ref pos[0],
(int)Min_Vel,
(int)Max_Vel,
Tacc));
}
else
{
return((short)Dmc1000.d1000_start_ta_line(i,
ref axis[0],
ref pos[0],
(int)Min_Vel,
(int)Max_Vel,
Tacc));
}
// return Dmc1000.d1000_start_ta_line(tag_cardids[(int)axisC[0].CardNum], (ushort)crd, (ushort)axisC.Length, axis, pos, (ushort)posi_mode);
}
