/// <summary> /// 判断当前位置是否是所在按区域的时候,对应IO是否安全,安全返回TRUE,否则FLASE /// </summary> /// <returns></returns> public static bool IOIsSafe(PointAggregate pa) { if (pa == null || pa.tag_AxisSafeManage == null || pa.tag_AxisSafeManage.tag_InIoList == null || pa.tag_AxisSafeManage.tag_InIoList.Count == 0) { return(true); } foreach (OutIOParameterPoint io in pa.tag_AxisSafeManage.tag_InIoList) { bool var = false; // io.tag_IniO1.tag_name if (io != null && io.tag_IniO2 != null && NewCtrlCardV0.GetInputIoBitStatus(io.tag_IniO2.tag_name, io.tag_IniO2.tag_IOName, out var) == 0) { if (var == io.tag_IniO2.tag_var) { } else { LogOutControl.OutLog("IO:<" + io.tag_IniO2.tag_IOName + " >有安全隐患,可能撞机,请注意", 0); return(false); } } } return(true); }
public MainUI(FrameUI frameUI, Work work) { ////////////////////////////////////////////////////////////////////////// NewCtrlCardV0.tag_initResult = NewCtrlCardV0.initCard(work.tag_CardHave); if (NewCtrlCardV0.tag_initResult == 0) { NewCtrlCardIO.StartListenSignal(work.tag_CardHave); } work.AllAxismodeInit(); ////////////////////////////////////////////////////////////////////////// InitializeComponent(); tag_Work = work; this.frameUI = frameUI; if (frameUI != null) { this.Size = new Size(frameUI.Size.Width, frameUI.Size.Height - 50); } webControl_NG.RefreshURL("http://www.mirsyu.xyz/HTML/NG.html"); panel_NG.Controls.Add(webControl_NG); webControl_NG.Location = new Point(0, 0); webControl_NG.Size = webControl_NG.Parent.Size; webControl_Charts.RefreshURL("http://www.mirsyu.xyz/HTML/Charts.html"); panel_Charts.Controls.Add(webControl_Charts); webControl_Charts.Location = new Point(0, 0); webControl_Charts.Size = webControl_Charts.Parent.Size; groupBox_RunInfo.Controls.Add(logOutControl); logOutControl.Location = new Point(5, 20); logOutControl.Size = new Size(groupBox_RunInfo.Size.Width - 10, groupBox_RunInfo.Size.Height - 25); }
/// <summary> /// 轴,iO安全检查 /// </summary> /// <returns></returns> public bool IoSafeCheck(StationModule sm) { try { int count = _Config.axisArray.Count; int i = 0; int CountIo = _Config.arrWorkStation.Count; if (sm == null) { return(true); } while (i < count) { AxisConfig ac = _Config.axisArray[i]; if (ac.AxisNum >= 0 && NewCtrlCardV0.SR_GetAxisStatus(ac) == 1) { if (!AxisSafeManage.IoAxisIsSafe(sm, ac, 0, 0)) { if (Global.WorkVar.tag_isFangDaiJieChu) { return(true); } return(false); } } i++; } return(true); } catch { return(true); } }
/// <summary> /// 判断当前轴运动是否是在PA 的安全 配置列表里面(pa.tag_AxisSafeManage.tag_AxisSafeList) 在返回TRUE /// </summary> /// <param name="_ac"></param> /// <param name="pa"></param> /// <returns></returns> public static bool isIOAxisHavePoint(AxisConfig _ac, PointAggregate pa, double pos) { int i = 0; if (pa == null || pa.tag_AxisSafeManage == null || pa.tag_AxisSafeManage.tag_AxisSafeList == null) { return(false); } while (i < pa.tag_AxisSafeManage.tag_AxisSafeList.Count) { AxisSafe currac = pa.tag_AxisSafeManage.tag_AxisSafeList[i]; if ((int)_ac.tag_MotionCardManufacturer * 1000 + _ac.CardNum * 100 + _ac.AxisNum == currac.tag_AxisId) { double poen_ac = 0.0; NewCtrlCardV0.SR_GetPrfPos((int)_ac.tag_MotionCardManufacturer, _ac.CardNum, _ac.AxisNum, ref poen_ac); // if (i == 0) { poen_ac = poen_ac / _ac.Eucf; if (poen_ac <= currac.tag_max && poen_ac >= currac.tag_min) { return(true); } else { return(false); } } } i++; } return(false); }
private void MenuPause_Click(object sender, EventArgs e) { if (Global.WorkVar.tag_SuspendState == 1) { if (Global.WorkVar.tag_ResetState != 1) { IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红"); IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄"); IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿"); NewCtrlCardV0.SetOutputIoBit(redlight, 0); NewCtrlCardV0.SetOutputIoBit(yellowlight, 0); NewCtrlCardV0.SetOutputIoBit(greenlight, 1); } tag_Work.Continue(null); } else { if (Global.WorkVar.tag_ResetState != 1) { IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红"); IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄"); IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿"); NewCtrlCardV0.SetOutputIoBit(redlight, 0); NewCtrlCardV0.SetOutputIoBit(yellowlight, 1); NewCtrlCardV0.SetOutputIoBit(greenlight, 0); } tag_Work.Suspend(null); } }
public void LightandBuzzer(string lightColor, bool bBuzzer = false) { IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红"); IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄"); IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿"); IOParameter buzzer = StationManage.FindOutputIo("主控系统", "蜂鸣器"); NewCtrlCardV0.SetOutputIoBit(redlight, 0); NewCtrlCardV0.SetOutputIoBit(yellowlight, 0); NewCtrlCardV0.SetOutputIoBit(greenlight, 0); if (bBuzzer) { NewCtrlCardV0.SetOutputIoBit(buzzer, 1); } if (lightColor == "红灯") { NewCtrlCardV0.SetOutputIoBit(redlight, 1); } else if (lightColor == "黄灯") { NewCtrlCardV0.SetOutputIoBit(yellowlight, 1); } else if (lightColor == "绿灯") { NewCtrlCardV0.SetOutputIoBit(greenlight, 1); } }
/// <summary> /// 执行复位步骤 /// </summary> public void GoHomeRun(object o) { tag_work_state = 1; tag_GohomeResult = NewCtrlCardV0.GoHome(tag_stationName, tag_AxisName); if (tag_GohomeResult == 0) { tag_work_state = 2; } else { tag_work_state = -1; } }
private void MenuEmg_Click(object sender, EventArgs e) { IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红"); IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄"); IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿"); NewCtrlCardV0.SetOutputIoBit(redlight, 1); NewCtrlCardV0.SetOutputIoBit(yellowlight, 0); NewCtrlCardV0.SetOutputIoBit(greenlight, 0); Global.WorkVar.tag_ButtonStopState = 1; tag_Work.Stop(); }
/// <summary> /// 急停所有轴 /// </summary> /// <returns></returns> public static short StopAllAxis() { foreach (StationModule sm in _Config.arrWorkStation) { foreach (AxisConfig af in sm.arrAxis) { if (NewCtrlCardV0.SR_AxisStop((int)af.tag_MotionCardManufacturer, af.CardNum, af.AxisNum) == 0) { } else { return(-1); } } } return(0); }
private void FrameUI_Load(object sender, EventArgs e) { ////////////////////////////////////////////////////////////////////////// mainUI = new MainUI(this, tag_Work); mainUI.TopLevel = false; mainUI.Parent = this.PanelForm; debugUI = new DebugUI(this, tag_Work); debugUI.TopLevel = false; debugUI.Parent = this.PanelForm; alarmUI = new AlarmUI(); alarmUI.TopLevel = false; alarmUI.Parent = this.PanelForm; formAdaptive.RecordOldSizeScale(this.PanelForm); timer_Main.Start(); label_Version.Text = "版本号:" + System.Reflection.Assembly.GetExecutingAssembly().GetName().Version.ToString(); portShowControl.tag_Work = tag_Work; portShowControl.Location = new Point(label_User.Location.X + label_User.Size.Width - 20, label_User.Location.Y - 8); portShowControl.Size = new Size((label_Version.Location.X - portShowControl.Location.X - 10) / 5, panel_MainInfo.Size.Height - 5); panel_MainInfo.Controls.Add(portShowControl); modeSelectControl.tag_Work = tag_Work; modeSelectControl.Location = new Point(portShowControl.Location.X + portShowControl.Size.Width - 40, portShowControl.Location.Y); modeSelectControl.Size = new Size((label_Version.Location.X - modeSelectControl.Location.X - 10) / 4, panel_MainInfo.Size.Height - 5); panel_MainInfo.Controls.Add(modeSelectControl); ShowSubWindow(Global.CConst.FRM_MAIN); ////////////////////////////////////////////////////////////////////////// if (Global.WorkVar.tag_StopState == 1) { IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红"); IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄"); IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿"); NewCtrlCardV0.SetOutputIoBit(redlight, 1); NewCtrlCardV0.SetOutputIoBit(yellowlight, 0); NewCtrlCardV0.SetOutputIoBit(greenlight, 0); } IOParameter servoOnSwith = StationManage.FindOutputIo("总复位", "使能"); if (servoOnSwith != null) { NewCtrlCardV0.SetOutputIoBit(servoOnSwith, 1); } }
/// <summary> /// 初始化轴的模式设置,初始化运用了那些卡 /// </summary> /// <returns></returns> public short AllAxismodeInit() { int i = 0; while (i < _Config.axisArray.Count) { AxisConfig ax = _Config.axisArray[i]; tag_CardHave[(int)ax.tag_MotionCardManufacturer] = 1; NewCtrlCardV0.set_limit_mode(ax); NewCtrlCardV0.set_pulse_mode(ax); // NewCtrlCardV0.set_io_mode(ax); i++; } return(0); }
private void FrameUI_FormClosing(object sender, FormClosingEventArgs e) { if (MessageBoxLog.Show("确定要退出程序吗?", "确认", MessageBoxButtons.OKCancel, MessageBoxIcon.Question) == DialogResult.OK) { IOParameter redlight = StationManage.FindOutputIo("主控系统", "三色灯_红"); IOParameter yellowlight = StationManage.FindOutputIo("主控系统", "三色灯_黄"); IOParameter greenlight = StationManage.FindOutputIo("主控系统", "三色灯_绿"); NewCtrlCardV0.SetOutputIoBit(redlight, 0); NewCtrlCardV0.SetOutputIoBit(yellowlight, 0); NewCtrlCardV0.SetOutputIoBit(greenlight, 0); Global.WorkVar.tag_ButtonStopState = 1; tag_Work.Stop(); NewCtrlCardV0.CloseCard(tag_Work.tag_CardHave); } else { e.Cancel = true; } }
public void IOoutputStatus_Load(IOParameter arrOutputIo_) { arrOutputIo = arrOutputIo_; if (arrOutputIo != null) { short var = NewCtrlCardV0.GetOutputIoBit(arrOutputIo, 0); OutputBT.BackColor = ((var > 0 && arrOutputIo.Logic == 1) || (var < 1 && arrOutputIo.Logic == 0)) ? Color.Gainsboro : Color.LawnGreen; label1.Text = arrOutputIo.StrIoName; //从ArrAxis拿轴名称 OutputBT.Text = ((var > 0 && arrOutputIo.Logic == 1) || (var < 1 && arrOutputIo.Logic == 0)) ? "ON" : "OFF"; label1.Text = arrOutputIo.StrIoName; //从ArrAxis拿轴名称 btstatus = ((var > 0 && arrOutputIo.Logic == 1) || (var < 1 && arrOutputIo.Logic == 0)) ? true : false; label1.Text = arrOutputIo.StrIoName; } }
/// <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; returnValue = (short)adt8960m.adt8960_initial(); if (returnValue <= 0) { string str = "8960控制卡初始化失败!"; if (returnValue == 0) { str = str + "\r\n没有安装ADT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); } IOParameter diancifaLeft = StationManage.FindOutputIo("左工位", "左载具电磁阀"); IOParameter diancifaRight = StationManage.FindOutputIo("右工位", "右载具电磁阀"); NewCtrlCardV0.SetOutputIoBit(diancifaLeft, 1); NewCtrlCardV0.SetOutputIoBit(diancifaRight, 1); //int aaa = _SR_set_io_mode(0, 0, 0); //if (aaa != 0) //{ // return -1; //} return(returnValue); }
public static bool IsRestExit() { bool axio = false; bool stopIoS = false; NewCtrlCardV0.GetInputIoBitStatus("", "急停", out stopIoS); //NewCtrlCardV0.GetInputIoBitStatus("", "Z1报警", out axio); if (axio || !stopIoS) { LogOutControl.OutLog("轴报警", 0); return(true); } if (Global.WorkVar.tag_SuspendState == 1 || Global.WorkVar.tag_ButtonStopState == 1) { Global.WorkVar.tag_StopState = 1; Global.WorkVar.tag_SuspendState = 0; return(true); } return(false); }
//往下移动停止 private void Jog_minusBT_MouseUp(object sender, MouseEventArgs e) { Global.WorkVar.tag_isFangDaiJieChu = false; if (arrAxis == null) { return; } if (StationManage.Distancemode == "长距" || StationManage.Distancemode == "短距") { return; } else { resutl = NewCtrlCardV0.SR_AxisEmgStop((int)arrAxis.tag_MotionCardManufacturer, arrAxis.CardNum, arrAxis.AxisNum); if (resutl != 0) { MessageBoxLog.Show("轴停止异常"); } } }
/// <summary> /// 判断当前位置是否是本点的安全区 安全返回TRUE /// </summary> /// <returns></returns> public bool PointIsSafe(PointAggregate point) { foreach (StationModule sm in StationManage._Config.arrWorkStation) { foreach (AxisConfig ac in sm.arrAxis) { AxisSafe asf = GetAxisSafe((short)ac.tag_MotionCardManufacturer, ac.CardNum, ac.AxisNum); if (asf != null) { double poen_ac = 0; NewCtrlCardV0.SR_GetPrfPos((int)ac.tag_MotionCardManufacturer, ac.CardNum, ac.AxisNum, ref poen_ac); poen_ac = poen_ac / ac.Eucf; if (!asf.IsSafe(poen_ac)) //if (!asf.IsSafe(ac.dblEncPos)) { return(false); } } } } return(true); }
/// <summary> /// 轴,iO安全检查 /// </summary> /// <returns></returns> public bool AxisSafeCheck() { int count = _Config.axisArray.Count; int i = 0; while (i < count) { AxisConfig ac = _Config.axisArray[i]; if (ac.AxisNum >= 0 && ac.CardNum >= 0 && NewCtrlCardV0.SR_GetAxisStatus(ac) == 1) { if (!AxisSafeManage.AxisIsSafe(_Config.tag_safeStationModule, ac, 0, 0)) { if (Global.WorkVar.tag_isFangDaiJieChu) { return(true); } return(false); } } i++; } return(true); }
//输出按钮 private void OutputBT_Click(object sender, EventArgs e) { if (arrOutputIo == null) { return; } if (arrOutputIo.tagPointAggregate != null && arrOutputIo.tagPointAggregate.tag_AxisSafeManage != null && !arrOutputIo.tagPointAggregate.tag_AxisSafeManage.PointIsSafe(arrOutputIo.tagPointAggregate)) { MessageBoxLog.Show("失败"); return; } if (btstatus == false) { result = NewCtrlCardV0.SetOutputIoBit(arrOutputIo, 1); if (result != 0) { MessageBoxLog.Show("置位IO失败"); return; } OutputBT.Text = "ON"; OutputBT.BackColor = Color.LawnGreen; btstatus = true; } else { result = NewCtrlCardV0.SetOutputIoBit(arrOutputIo, 0); if (result != 0) { MessageBoxLog.Show("复位IO失败"); return; } OutputBT.Text = "OFF"; OutputBT.BackColor = Color.Gainsboro; btstatus = false; } }
public void CheckIoThread(object o) { while (true) { bool suspendIo = false; bool stopIoS = false; bool RestIoS = false; bool AxisAlarm = false; bool AxisLimitAlarm = false; bool SafetyDoorIoS = false; //安全门 bool RasterIoS_L = false; //左安全光栅 bool RasterIoS_R = false; //右安全光栅 if (NewCtrlCardV0.tag_isInit == 0) { Thread.Sleep(100); continue; } IOParameter SuspendIo = StationManage.FindInputIo("暂停"); IOParameter StopIo = StationManage.FindInputIo("急停"); IOParameter RestIo = StationManage.FindInputIo("复位"); IOParameter Raster_L = StationManage.FindInputIo("左安全光栅"); IOParameter Raster_R = StationManage.FindInputIo("右安全光栅"); IOParameter SafetyDoor = StationManage.FindInputIo("安全门"); //AxisAlarm = IsAxisAlarm(); AxisLimitAlarm = IsAxisLimitAlarm(); if (SuspendIo == null) { LogOutControl.OutLog("请配置<暂停IO>", 0); Thread.Sleep(100); continue; } if (StopIo == null) { LogOutControl.OutLog("请配置<急停IO>", 0); Thread.Sleep(100); continue; } if (RestIo == null) { LogOutControl.OutLog("请配置<复位IO>", 0); Thread.Sleep(100); continue; } if (Raster_L == null) { LogOutControl.OutLog("请配置<左安全光栅IO>", 0); Thread.Sleep(100); continue; } if (Raster_R == null) { LogOutControl.OutLog("请配置<右安全光栅IO>", 0); Thread.Sleep(100); continue; } if (SafetyDoor == null) { LogOutControl.OutLog("请配置<安全门IO>", 0); Thread.Sleep(100); continue; } NewCtrlCardV0.GetInputIoBitStatus("", "暂停", out suspendIo); NewCtrlCardV0.GetInputIoBitStatus("", "复位", out RestIoS); NewCtrlCardV0.GetInputIoBitStatus("", "急停", out stopIoS); NewCtrlCardV0.GetInputIoBitStatus("", "安全门", out SafetyDoorIoS); NewCtrlCardV0.GetInputIoBitStatus("", "左安全光栅", out RasterIoS_L); NewCtrlCardV0.GetInputIoBitStatus("", "右安全光栅", out RasterIoS_R); //if (!stopIoS || Global.WorkVar.tag_StopState == 2 || !IsafeIOOk() || !IoAllSafeCheck() || !AxisSafeCheck() || AxisAlarm || (AxisLimitAlarm && Global.WorkVar.tag_ResetState != 1)) if (!stopIoS || Global.WorkVar.tag_StopState == 2 || !IsafeIOOk() || !IoAllSafeCheck() || !AxisSafeCheck() || AxisAlarm) { IsafeIOInit(); Stop(); Thread.Sleep(100); continue; } else if (((!SafetyDoorIoS && !_Config.tag_PrivateSave.tag_safeGateOffOn) || suspendIo) && Global.WorkVar.tag_SuspendState == 0 && (Global.WorkVar.bWork_L || Global.WorkVar.bWork_R)) { Suspend(null); Thread.Sleep(500); } else if (RestIoS) { Global.WorkVar.tag_StopState = 0; if (Global.WorkVar.tag_ResetState != 1 && Global.WorkVar.tag_workState == 0) { Rest(); } else { } continue; } else if (suspendIo && Global.WorkVar.tag_SuspendState == 1) { Continue(null); Thread.Sleep(500); continue; } else if (Global.WorkVar.bcanRunFalg == true && Global.WorkVar.tag_ResetState == 2 && Global.WorkVar.tag_workState == 0) { Global.WorkVar.bcanRunFalg = false; if (start()) { Global.WorkVar.bcanRunFalg = true; } continue; } if (!RasterIoS_L && !_Config.tag_PrivateSave.tag_safeLightOffOn && Global.WorkVar.bWork_L && !Global.WorkVar.bSuspendState_L) { Suspend_L(null); } else if (RasterIoS_L && Global.WorkVar.bSuspendState_L) { Continue_L(null); } if (!RasterIoS_R && !_Config.tag_PrivateSave.tag_safeLightOffOn && Global.WorkVar.bWork_R && !Global.WorkVar.bSuspendState_R) { Suspend_R(null); } else if (RasterIoS_R && Global.WorkVar.bSuspendState_R) { Continue_R(null); } Thread.Sleep(100); } }
//往下移动 private void Jog_minusBT_MouseDown(object sender, MouseEventArgs e) { if (!Work.IsMove(1)) { return; } setspeed(); if (arrAxis == null) { MessageBoxLog.Show(""); return; } double pos = 0; if (arrAxis.SoftLimitEnablel == 0) { pos = arrAxis.SoftLimitMaxValue; } else { pos = -1000; } if (StationManage.Distancemode == "短距") { nowpset = StationManage.Shortdistanceset; /* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint - nowpset) * arrAxis.Eucf)) * { * return; * }*/ PointModule _pointModule = new PointModule(); _pointModule.dblAcc = arrAxis.Acc; _pointModule.blnPointEnable = true; //表示点位是否启用 _pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变 _pointModule.dblPonitValue = nowpoint - nowpset; //点位数据 _pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度 _pointModule.dblAcc = arrAxis.Acc; //加速度 _pointModule.dblDec = arrAxis.Dec; //减速度 _pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间 _pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间 _pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度 _pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度 resutl = NewCtrlCardV0.SR_AbsoluteMove(arrAxis, _pointModule); if (resutl != 0) { MessageBoxLog.Show("轴运动异常"); } } else { if (StationManage.Distancemode == "长距") { nowpset = StationManage.Longdistanceset; /* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint - nowpset) * arrAxis.Eucf)) * { * return; * }*/ PointModule _pointModule = new PointModule(); _pointModule.dblAcc = arrAxis.Acc; _pointModule.blnPointEnable = true; //表示点位是否启用 _pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变 _pointModule.dblPonitValue = nowpoint - nowpset; //点位数据 _pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度 _pointModule.dblAcc = arrAxis.Acc; //加速度 _pointModule.dblDec = arrAxis.Dec; //减速度 _pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间 _pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间 _pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度 _pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度 resutl = NewCtrlCardV0.SR_AbsoluteMove(arrAxis, _pointModule); if (resutl != 0) { MessageBoxLog.Show("轴运动异常"); } } else { /* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint + nowpset) * arrAxis.Eucf)) * { * return; * }*/ PointModule _pointModule = new PointModule(); _pointModule.dblAcc = arrAxis.Acc; _pointModule.blnPointEnable = true; //表示点位是否启用 _pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变 _pointModule.dblPonitValue = nowpoint - 6000; //点位数据 _pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度 _pointModule.dblAcc = arrAxis.Acc; //加速度 _pointModule.dblDec = arrAxis.Dec; //减速度 _pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间 _pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间 _pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度 _pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度 resutl = NewCtrlCardV0.SR_continue_move(arrAxis, _pointModule, 1); if (resutl != 0) { MessageBoxLog.Show("轴运动异常"); } } } }