private void waitCurrentRunFinish()
{
Thread.Sleep(2);
//读取输入信息
ReadInput();
//int es = GetDi(Define.DiEmergencyStop);
//if (es == 1)
//{
// EmgStop();
// CancleCommPause();
// source.Cancel();
// source.Token.ThrowIfCancellationRequested();
//}
lock (cardActLock)
{
short rtn;
ushort axisSts;
rtn = GT400.GT_GetSts(out axisSts);
runningError("当前轴状态状态查询", rtn);
bool showTmp = true;
//判断是否在运动中
while (0 != (axisSts & 0x400))
{
rtn = GT400.GT_GetSts(out axisSts);
runningError("当前轴状态状态查询", rtn);
if (showTmp)
{
showTmp = false;
}
Thread.Sleep(10);
}
}
}
public void ImdStop()
{
lock (cardActLock)
{
GT400.GT_SmthStp();
}
}
public override void SetDo(int ch, int data)
{
int idx = ch / 16;
short rtn = 0;
runningError("控制卡复位", rtn);
if (idx == 0)
{
lock (cardActLock)
{
ushort result;
if (data == 1)
{
result = 0; //因为高低电平是相反的，所以输出相反。
}
else
{
result = 1;
}
rtn = GT400.GT_ExOptBit((ushort)ch, result);
}
runningError("单点位输出", rtn);
}
base.SetDo(ch, data);
}
public override void CloseCom()
{
base.CloseCom();
try
{
if (getCardInfoThread != null)
{
if (!getCardInfoThread.Join(1000))
{
getCardInfoThread.Abort();
}
getCardInfoThread = null;
}
lock (cardActLock)
{
short rtn = GT400.GT_Close();
Error("GT_Close", rtn);
}
isLink = false;
}
catch
{
// ignored
}
}
public void EmgStop()
{
lock (cardActLock)
{
GT400.GT_AbptStp();
//GT400.GT_EStpMtn();
}
}
/// <summary>
/// 等待所有轴运行完成
/// </summary>
public void WaitAllRunFinish()
{
short rtn;
lock (cardActLock)
{
rtn = GT400.GT_Axis(1);
waitCurrentRunFinish();
}
Thread.Sleep(10);
lock (cardActLock)
{
rtn = GT400.GT_Axis(2);
waitCurrentRunFinish();
}
}
/// <summary>
/// 读取输入信息
/// </summary>
private void ReadInput()
{
ushort ioInput;
short rtn;
lock (cardActLock)
{
rtn = GT400.GT_ExInpt(out ioInput);
}
runningError("io输入读取", rtn);
//固高数据为低电平为1,实际要取反
ioInput = (ushort)~ioInput;
mutexShMem.WaitOne();
// 共有存储在存储器
int ofst = DMI_OFST + 0 * Marshal.SizeOf(typeof(short));
//将读取到的PLC数据写入到相应的内存区域
Marshal.WriteInt16(mapAddrPtr, ofst, (short)ioInput);
// 解除
mutexShMem.ReleaseMutex();
}
public bool InitCard()
{
try
{
short rtn;
lock (cardActLock)
{
//连接控制器
rtn = GT400.GT_Open();
Error("打开控制卡", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_Reset();
runningError("控制卡复位", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
ushort sense = 0xffff;
rtn = GT400.GT_LmtSns(sense); //设置限位开关触发电平
runningError("设置限位开关电平", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
}
for (int i = 0; i < axisNum; i++)
{
lock (cardActLock)
{
//设置轴参数
rtn = GT400.GT_Axis((ushort)(i + 1)); //切换到测试轴
runningError("设置当前轴", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("GT_ClrSts", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_StepDir(); //脉冲方式为‘脉冲+方向’，必须与驱动器的设置一致
runningError("GT_StepDir", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
//闭环模式下必须设置PID
rtn = GT400.GT_AxisOn(); //伺服使能，如果驱动器没有上伺服，请检查：1、测试轴是否是axis 1，2、端子板及驱动器是否上电
runningError("GT_AxisOn", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_PrflS();
//rtn = GT400.GT_PrflT(); //T曲线
runningError("当前轴设定为S曲线", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
}
}
isLink = true;
return(true);
}
catch (Exception ex)
{
Util.Notify("控制卡打开失败 错误原因" + ex.Message);
//Notify("控制卡打开失败 错误原因" + ex.Message);
CloseCom();
isLink = false;
return(false);
}
}
/// <summary>
/// 指定轴回原点
/// </summary>
/// <param name="axisIndex"></param>
public void Homing(int axisIndex, int pos, double acc, double speed)
{
short rtn;
ushort axisSts;
int prfPos;
if (isLink == false)
{
Util.Notify("控制卡未连接");
return;
}
lock (cardActLock)
{
Util.Notify(axisIndex + "开始回原点");
rtn = GT400.GT_Axis((ushort)axisIndex); //该命令一般不用检测是否正确执行
rtn = GT400.GT_GetSts(out axisSts);
runningError("当前轴状态状态查询", rtn);
if (0 != (axisSts & 0x400))
{
Util.Notify("轴动作中");
return;
}
rtn = GT400.GT_ClrSts(); //清除当前轴异常状态
runningError("当前轴状态异常状态清除", rtn);
if (0 != rtn)
{
return;
}
//在当前位置基础上，以S曲线向前运动指定个脉冲
rtn = GT400.GT_SetMAcc(acc);
//rtn = GT400.GT_SetAcc(acc);
runningError("当前轴加速度设置", rtn);
rtn = GT400.GT_SetVel(speed);
runningError("当前轴目标速度设置", rtn);
rtn = GT400.GT_SetPos(pos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_SetJerk(0.087);
runningError("当前轴加加速度设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
Thread.Sleep(10);
waitCurrentRunFinish();
rtn = GT400.GT_GetPrfPos(out prfPos);
runningError("当前轴位置读取", rtn);
//通过判断 pos正负来确定返回位置
if (pos >= 0)
{
prfPos -= 100;
}
else
{
prfPos += 100;
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
rtn = GT400.GT_SetPos(prfPos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
//MyNotify.Notify("轴小段后退中");
waitCurrentRunFinish();
//MyNotify.Notify("轴小段后退完成");
Thread.Sleep(10);
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
rtn = GT400.GT_SetVel(speedHomeY / 10.0);
runningError("当前轴目标速度设置", rtn);
rtn = GT400.GT_SetPos(pos); //继续执行回原点：靠-200000这个值自动判断是不是回原点。
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
waitCurrentRunFinish();
rtn = GT400.GT_ZeroPos();
runningError("轴位置状态清零", rtn);
Util.Notify(axisIndex + "轴原点回归完成");
}
}
/// <summary>
/// 指定轴运动到指定位置
/// </summary>
/// <param name="axisIndex">轴编号</param>
/// <param name="pos">位移量</param>
/// <param name="isAbsolute">绝对运动</param>
public void AxisPosMove(int axisIndex, int pos, bool isAbsolute)
{
ushort testAxis = (ushort)axisIndex;
if (homeFinish == false)
{
Util.Notify("控制卡未回原点");
return;
}
lock (cardActLock)
{
short rtn;
int prfPos = 0;
rtn = GT400.GT_Axis(testAxis);
ushort axisSts;
rtn = GT400.GT_GetSts(out axisSts);//如果测试轴正在运动则退出
runningError("当前轴状态状态查询", rtn);
if (0 != (axisSts & 0x400))
{
Util.Notify("轴动作中");
//return;
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
if (0 != rtn)
{
return;
}
if (isAbsolute)
{
prfPos = pos;
}
else
{
rtn = GT400.GT_GetPrfPos(out prfPos);
runningError("当前轴位置读取", rtn);
prfPos += pos;
}
//Thread.Sleep(2);
//Thread.Sleep(2);
rtn = GT400.GT_SetMAcc(accRun);
//rtn = GT400.GT_SetAcc(accRun);
runningError("当前轴加速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_SetVel(speedRun);
runningError("当前轴目标速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_SetPos(prfPos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_SetJerk(0.087);
runningError("当前轴加加速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_Update(); //参数更新后，就可以开始运行了。
runningError("当前轴参数更新", rtn);
}
}
protected override void ProcDataDeal()
{
while (isLink)
{
// 状态读取
try
{
commWaitResetEvent.WaitOne();
#region INT读取
short rtn;
int ofst;
ReadInput();
#endregion
Thread.Sleep(3);
#region OUT写入
//// 锁定,从共享存储器获取要写入plc的数据
//mutexShMem.WaitOne();
//short data = new short();
//ofst = DMO_OFST;
//data = Marshal.ReadInt16(mapAddrPtr, ofst);
//// 解除
//mutexShMem.ReleaseMutex();
////状态取反后输出
//ushort ioOutput = (ushort)(~data);
//lock (cardActLock)
//{
// GT400.GT_ExOpt(ioOutput);
//}
#endregion
commWaitResetEvent.WaitOne();
#region 轴状态获取
ushort[] status = new ushort[axisNum];
int[] pos = new int[axisNum];
for (int i = 0; i < axisNum; i++)
{
lock (cardActLock)
{
rtn = GT400.GT_Axis((ushort)(i + 1));
runningError("当前轴设置", rtn);
rtn = GT400.GT_GetSts(out status[i]);
runningError("当前轴状态读取", rtn);
rtn = GT400.GT_GetPos(out pos[i]);
runningError("当前轴位置信息读取", rtn);
}
Thread.Sleep(3);
}
int count = 0;
for (int i = 0; i < axisNum; i++)
{
mutexShMem.WaitOne();
// 共有存储在存储器
ofst = DMI_OFST + (1 + i) * Marshal.SizeOf(typeof(short));
//将读取到的PLC数据写入到相应的内存区域
Marshal.WriteInt16(mapAddrPtr, ofst, (short)status[i]);
//位置信息
ofst = DMI_OFST + (DMO_A_START + count) * Marshal.SizeOf(typeof(int));
count++;
Marshal.WriteInt32(mapAddrPtr, ofst, pos[i]);
ofst = DMI_OFST + (DMO_A_START + count) * Marshal.SizeOf(typeof(int));
count++;
// 解除
mutexShMem.ReleaseMutex();
}
#endregion
Thread.Sleep(3);
commWaitResetEvent.WaitOne();
////Measurement.MeasurementManager measureManger = Measurement.MeasurementManager.Instance;
////int left = GetDi(Define.DiLeftButton);
////int es = GetDi(Define.DiEmergencyStop);
//if (left == 1 && leftButtonBefore == 0 &&
// measureManger.InMeasurement == false&&
// es==0)
//{
// try
// {
// source = new CancellationTokenSource();
// Task.Run(() =>
// {
// measureManger.RunMeasurementLeft();
// }, source.Token);
// }
// catch (AggregateException)//捕获紧急停止按钮
// {
// //MessageBox.Show("停止按钮被按下", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
// }
//}
//leftButtonBefore = left;
//int right = GetDi(Define.DiRightButton);
//if (right == 1 &&
// rightButtonBefore == 0 &&
// measureManger.InMeasurement == false&&
// es==0)
//{
// try
// {
// source = new CancellationTokenSource();
// Task.Run(() =>
// {
// measureManger.RunMeasurementRight();
// }, source.Token);
// }
// catch (AggregateException)//捕获紧急停止按钮
// {
// //MessageBox.Show("停止按钮被按下", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
// }
//}
//rightButtonBefore = right;
//if (es==1&&esButtonBefore==0)
//{
// measureManger.InMeasurement = false;
// //MessageBox.Show("停止按钮被按下", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
//}
//esButtonBefore = es;
}
catch (Exception)
{
}
Thread.Sleep(3);
}
CloseCom();
}
