/// <summary>
/// 点位相对运动
/// </summary>
/// <param name="axinfo"></param>
/// <returns></returns>
public override int PRelativeMove(PCI9014AxisInfo axinfo)
{
int requesttimes = 0;
ErrorInfo MoveRes;
Log.GetInstance().WarningWrite("正在向目标位置运动，请等待......");
while (GetCurrentPos(axinfo) != 0)
{
requesttimes++;
if (requesttimes == 10)
{
Log.GetInstance().ErrorWrite("获取当前位置失败！");
return((int)(ErrorInfo.ErrorCmdExcuteFail));
}
}
int DistanceAdd = axinfo.curPos + axinfo.cmdPos;
MoveRes = SectionMotion(axinfo, axinfo.startSpeed, axinfo.maxSpeed, axinfo.cmdPos, DistanceAdd);
if (MoveRes != ErrorInfo.ErrorSucceed)
{
return((int)MoveRes);
}
Log.GetInstance().NormalWrite(string.Format("{0}--已到达目标位置", axinfo.AxisName));
return((int)(ErrorInfo.ErrorSucceed));
}
/// <summary>
/// 从项目设置文档中获取轴的加速度，位置等信息；
/// </summary>
/// <returns></returns>
public static bool GetParameter()
{
try
{
PCI9014AxisInfo AxisInfo;
if (Global.LstAxis.Count == 0)
{
foreach (var item in Global.DictAxis)
{
AxisInfo = new PCI9014AxisInfo();
AxisInfo.AxisName = item.Value;
GetParameterFunc(AxisInfo);
Global.LstAxis.Add(AxisInfo);
}
}
else
{
foreach (var axis in Global.LstAxis)
{
GetParameterFunc(axis);
}
}
return(true);
}
catch (Exception ex)
{
Log.GetInstance().ExceptionWrite(ex);
throw new Exception(ex.Message);
}
}
/// <summary>
/// 单轴回原点；
/// </summary>
/// <param name="axisinfo"></param>
/// <param name="BitNum"></param>
/// <returns></returns>
public override int SingleAxisHomeBack(PCI9014AxisInfo axisinfo, uint BitNum)
{
int waittime = 0;
int res = 0;
int FindORLCondition = 0;
res = CPci9014.p9014_set_t_profile(axisinfo.No, axisinfo.HomeBackSpeed, axisinfo.HomeBackSpeed, axisinfo.AccTime, axisinfo.DecTime);
res = CPci9014.p9014_home_move(axisinfo.No, FindORLCondition);//设置为反向查找；
if (res != 0)
{
Log.GetInstance().ErrorWrite("回原点失败！！");
return(res);
}
while (true)
{
if (waittime == 50)
{
Log.GetInstance().ErrorWrite(string.Format("{0}回原点超时！！", axisinfo.AxisName));
Global.AxisControlCard.Stop(axisinfo);
return(res);
}
waittime++;
res = (int)Global.AxisControlCard.GetInBit(0, BitNum);
if (res == 2)
{
continue;
}
else if (res == 1 && axisinfo.AxisName == "检测相机")
{
Log.GetInstance().ErrorWrite(string.Format("{0}-运动轴报警！！！", axisinfo.AxisName));
Global.AxisControlCard.Stop(axisinfo);
return(res);
}
else if (res == 0 && axisinfo.AxisName == "遮光幕布")
{
Log.GetInstance().ErrorWrite(string.Format("{0}-运动轴报警！！！", axisinfo.AxisName));
Global.AxisControlCard.Stop(axisinfo);
return(res);
}
res = (int)IsMotionDone(axisinfo);
if (res == 2)
{
Log.GetInstance().ErrorWrite("获取运动状态失败！！");
break;
}
else if (res == 0)
{
Log.GetInstance().NormalWrite(string.Format("{0}轴的运动状态已停止！！", axisinfo.AxisName));
break;
}
Thread.Sleep(1000);
}
return(res);
}
/// <summary>
/// 单轴回负极线位置；
/// </summary>
/// <param name="axisinfo"></param>
/// <returns></returns>
public override int SingleAxisBackWorkPos(PCI9014AxisInfo axisinfo)
{
int res = 0;
if (IsORG(axisinfo) != 1)
{
res = CPci9014.p9014_set_t_profile(axisinfo.No, axisinfo.HomeBackSpeed, axisinfo.HomeBackSpeed, axisinfo.AccTime, axisinfo.DecTime);
res = CPci9014.p9014_home_move(axisinfo.No, 0);//设置为反向查找；
while (true)
{
if (IsMotionDone(axisinfo) == 0)
{
break;
}
Thread.Sleep(100);
}
if (res != 0)
{
Log.GetInstance().ErrorWrite("测试完成后回原点失败！！");
return(res);
}
res = IsORG(axisinfo);
if (res != 1)
{
Log.GetInstance().ErrorWrite("测试完成回后原点失败！！");
return(res);
}
}
axisinfo.cmdPos = axisinfo.WorkPosition1;
res = CPci9014.p9014_set_t_profile(axisinfo.No, axisinfo.startSpeed, axisinfo.maxSpeed, axisinfo.AccTime, axisinfo.DecTime);
res = CPci9014.p9014_pmove(axisinfo.No, axisinfo.cmdPos, 0, 2);
//检查运动是否完成，且检查运动轴是否报警；
while (true)
{
if (IsMotionDone(axisinfo) == 0)
{
break;
}
Thread.Sleep(50);
}
if (Global.AxisControlCard.GetCurrentPos(axisinfo) == 0)
{
if (System.Math.Abs(axisinfo.curPos - axisinfo.cmdPos) > 1000)
{
Log.GetInstance().ErrorWrite("与目标位置相差大于1000个脉冲！！");
res = 2;
}
}
return(res);
}
/// <summary>
/// 查询指定轴的状态， 是正在运动，或者运动停止，处于空闲状态。
/// </summary>
/// <returns></returns>
public override uint IsMotionDone(PCI9014AxisInfo axisinfo)
{
int nRes = 0;
nRes = CPci9014.p9014_get_motion_status(axisinfo.No, ref axisinfo.isBusy);
if (nRes != 0)
{
return(2);
}
else
{
return(axisinfo.isBusy);
}
}
/// <summary>
/// 减少重复代码；为GetParameter()而成立；同时也为了切换项目是方便调用；
/// </summary>
/// <param name="Axisinfo"></param>
/// <param name="AxisName"></param>
public static void GetParameterFunc(PCI9014AxisInfo Axisinfo)
{
Axisinfo.No = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "No", Global.ProductSettingPath));
Axisinfo.Step = double.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "Step", Global.ProductSettingPath));
Axisinfo.Lead = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "Lead", Global.ProductSettingPath));
Axisinfo.startSpeed = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "Speed", Global.ProductSettingPath));
Axisinfo.maxSpeed = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "MaxSpeed", Global.ProductSettingPath));
Axisinfo.WorkPosition1 = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "WorkPos1", Global.ProductSettingPath));
Axisinfo.WorkPosition2 = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "WorkPos2", Global.ProductSettingPath));
Axisinfo.StartBackHomeDis = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "StartMoveDis", Global.ProductSettingPath));
Axisinfo.HomeBackSpeed = int.Parse(IniFile.IniReadValue(Axisinfo.AxisName, "HomeBackSpeed", Global.ProductSettingPath));
Axisinfo.StepPerMM = Convert.ToInt32(Axisinfo.Step / Axisinfo.Lead);
Axisinfo.AccTime = Axisinfo.DecTime = Axisinfo.maxSpeed * 10;
if (Axisinfo.DecTime >= 260000000)
{
Axisinfo.AccTime = Axisinfo.DecTime = 260000000;
}
}
public override int IsPEL(PCI9014AxisInfo axisinfo)
{
int res = 0;
res = CPci9014.p9014_get_io_status(axisinfo.No, ref axisinfo.IOstate);
if (res != 0)
{
return(2);
}
if ((axisinfo.IOstate & (0x01)) != 0)
{
return(1);
}
else
{
return(0);
}
}
/// <summary>
/// 距离间的运动；
/// </summary>
/// <param name="axinfo"></param>
/// <param name="VStart"></param>
/// <param name="VMax"></param>
/// <param name="MovePosition"></param>
/// <param name="MovedDistance"></param>
/// <returns></returns>
public override ErrorInfo SectionMotion(PCI9014AxisInfo axinfo, int VStart, int VMax, int MovePosition, int MovedDistance)
{
int requesttimes = 0;
while (CPci9014.p9014_set_t_profile(axinfo.No, VStart, VMax, axinfo.AccTime, axinfo.DecTime) != 0)
{
Thread.Sleep(10);
}
while (CPci9014.p9014_pmove(axinfo.No, MovePosition, 0, 2) != 0)
{
Thread.Sleep(10);
}
//Thread.Sleep(10);
while (true)
{
if (IsMotionDone(axinfo) == 0)
{
break;
}
Thread.Sleep(50);
}
while (GetCurrentPos(axinfo) != 0)
{
Thread.Sleep(10);
requesttimes++;
if (requesttimes == 100)
{
Log.GetInstance().ErrorWrite("获取当前位置失败！");
return(ErrorInfo.ErrorCmdExcuteFail);
}
}
if (System.Math.Abs((double)axinfo.curPos - (double)MovedDistance) > 1000) //实际位置和期望位置误差太大，超过了1000
{
Log.GetInstance().ErrorWrite("运动完成了，但实际位置和期望位置误差大于1000脉冲！");
return(ErrorInfo.ErrorNotMoveToCorrectPos);
}
return(ErrorInfo.ErrorSucceed);
}
public override void GetIOState(PCI9014AxisInfo axinfo)
{
int cmd_pos = 0, enc_pos = 0;
uint motion_status = 0, io_status = 0;
double cur_vel = 0.0;
CPci9014.p9014_get_motion_status(axinfo.No, ref motion_status);
CPci9014.p9014_get_io_status(axinfo.No, ref io_status);
CPci9014.p9014_get_current_speed(axinfo.No, ref cur_vel);
CPci9014.p9014_get_pos(axinfo.No, 0, ref cmd_pos);
//CPci9014.p9014_get_pos(axinfo.No, 1, ref enc_pos);
axinfo.isBusy = motion_status == 1 ? (uint)1 : (uint)0;
axinfo.fLimit = (io_status % 2) == 1 ? true : false;
axinfo.rLimit = ((io_status >> 1) % 2) == 1 ? true : false;
axinfo.oRG = ((io_status >> 2) % 2) == 1 ? true : false;
//axinfo.Ez = ((io_status >> 3) % 2) == 1 ? true : false;
axinfo.eMG = ((io_status >> 4) % 2) == 1 ? true : false;
axinfo.dir = (int)io_status % 2 >> 5;
axinfo.curSpeed = cur_vel;
axinfo.curPos = cmd_pos;
//axinfo.EncoderPos = enc_pos;
}
virtual public void GetIOState(PCI9014AxisInfo axinfo)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 所有轴回原点
/// </summary>
virtual public int HomeAllAxis(PCI9014AxisInfo SetAxis)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 点位相对运动
/// </summary>
virtual public int PRelativeMove(PCI9014AxisInfo Axis)
{
throw new System.NotImplementedException();
}
virtual public ErrorInfo SectionMotion(PCI9014AxisInfo axinfo, int VStart, int VMax, int MovePosition, int MovedDistance)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 原点查找动作(回原)
/// </summary>
/// <param name="axInfo"></param>
/// <param name="dir">1正向0负向运动</param>
/// <returns></returns>
virtual public int HomeMove(PCI9014AxisInfo axInfo, int dir)
{
throw new System.NotImplementedException();
}
virtual public uint IsMotionDone(PCI9014AxisInfo axisinfo)
{
throw new System.NotImplementedException();
}
virtual public int SingleAxisHomeBack(PCI9014AxisInfo axisinfo, uint BitNum)
{
throw new System.NotImplementedException();
}
public override int SetPlsOutmode(PCI9014AxisInfo axinfo, int plsOutMode)
{
return(CPci9014.p9014_set_pls_outmode(axinfo.No, plsOutMode));;
}
/// <summary>
/// 设定限位信号有效电平，可以为高电平有效，也可以为低电平有效，默认为低电平有效
/// </summary>
/// <param name="axinfo"></param>
/// <param name="flg"></param>
/// <returns></returns>
public override int SetLimitLevel(PCI9014AxisInfo axinfo, int flg)
{
int re = CPci9014.p9014_set_el_level(axinfo.No, flg);
return(re);
}
public override int HomeMoveConfig(PCI9014AxisInfo axinfo)
{
CPci9014.p9014_set_t_profile(axinfo.No, 5000, 20000, 1000, 1000);//固定一个回原速度
return(CPci9014.p9014_home_config(axinfo.No, 0, 1, 1));
}
public override int SetPlsInputmode(PCI9014AxisInfo axinfo)
{
return(base.SetPlsInputmode(axinfo));
}
/// <summary>
/// 回原参数设置
/// </summary>
virtual public int HomeMoveConfig(PCI9014AxisInfo axinfo)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 设置极限电平有效状态
/// </summary>
/// <param name="axinfo"></param>
/// <param name="flg"></param>
/// <returns></returns>
virtual public int SetLimitLevel(PCI9014AxisInfo axinfo, int flg)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 回原运动
/// </summary>
/// <param name="axbase"></param>
/// <returns></returns>
public override int HomeAllAxis(PCI9014AxisInfo SetAxis)
{
Log.GetInstance().WarningWrite("正在回原点，请等待......");
//当处于原点时，需要往正向移动一定距离，然后再进行复位动作，保证每次复位位置一致
int res = 0;
res = IsORG(SetAxis);
if (res == 1)
{
Log.GetInstance().WarningWrite(string.Format("{0}--已经在原点位置无需回原运动！", SetAxis.AxisName));
goto WorkPos;
}
else if (res == 2)
{
return((int)(ErrorInfo.ErrorCmdExcuteFail));
}
CPci9014.p9014_set_t_profile(SetAxis.No, SetAxis.startSpeed, SetAxis.maxSpeed, SetAxis.AccTime, SetAxis.DecTime);
CPci9014.p9014_pmove(SetAxis.No, SetAxis.StartBackHomeDis, 0, 2);
while (true)
{
if (IsMotionDone(SetAxis) == 0)
{
break;
}
Thread.Sleep(50);
}
//固定回原速度，起止速度相同；
CPci9014.p9014_set_t_profile(SetAxis.No, SetAxis.HomeBackSpeed, SetAxis.HomeBackSpeed, SetAxis.AccTime, SetAxis.DecTime);
CPci9014.p9014_home_move(SetAxis.No, 0);
while (true)
{
if (IsMotionDone(SetAxis) == 0)
{
break;
}
Thread.Sleep(50);
}
Thread.Sleep(100);
res = IsORG(SetAxis);
if (res == 1)
{
Log.GetInstance().WarningWrite("回原点成功！！");
}
else
{
Log.GetInstance().ErrorWrite("回原点失败！！");
return((int)ErrorInfo.ErrorCmdExcuteFail);
}
Log.GetInstance().WarningWrite(string.Format("{0}--准备运动到工作位置！", SetAxis.AxisName));
res = Global.AxisControlCard.GetCurrentPos(SetAxis);
if (res != 0)
{
Log.GetInstance().ErrorWrite("获取当前位置失败！！");
return((int)ErrorInfo.ErrorCmdExcuteFail);
}
WorkPos : SetAxis.cmdPos = SetAxis.WorkPosition1 - SetAxis.curPos;
res = Global.AxisControlCard.PRelativeMove(SetAxis);
if (res != (int)ErrorInfo.ErrorSucceed)
{
Log.GetInstance().ErrorWrite(string.Format("{0}运动失败！！", SetAxis.AxisName));
return((int)ErrorInfo.ErrorCmdExcuteFail);
}
return((int)ErrorInfo.ErrorSucceed);
}
virtual public int SingleAxisBackWorkPos(PCI9014AxisInfo axisinfo)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 是否是原点状态；
/// </summary>
/// <param name="axisinfo"></param>
/// <returns></returns>
virtual public int IsORG(PCI9014AxisInfo axisinfo)
{
throw new System.NotImplementedException();
}
