protected override bool ActionGenuine(out string errorInfo)
{
string[] axisIDList = GetInitParamValue("轴ID列表") as string[];
double[] dPosList = GetMethodInputValue("目标位置列表") as double[];
bool IsAbsMove = (bool)GetMethodInputValue("绝对位置模式");
if (axisIDList == null || dPosList == null)
{
errorInfo = "轴ID列表长度或者目标位置列表长度为空";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int[] iaxisIDList = new int[axisIDList.Length];
if (axisIDList.Length <= 0)
{
errorInfo = "轴ID列表长度<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (dPosList.Length <= 0)
{
errorInfo = "目标位置列表<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (axisIDList.Length != dPosList.Length)
{
errorInfo = "轴ID列表长度为" + axisIDList.ToString() + "与目标列表长度" + dPosList.Length.ToString() + "不一致。";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
IJFInitializable devbuff = null;
JFDevCellInfo ci = null;
List <JFDevCellInfo> cibuffList = new List <JFDevCellInfo>();
for (int m = 0; m < axisIDList.Length; m++)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisIDList[m]))
{
errorInfo = "参数项:\"轴ID\" = " + axisIDList[m] + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisIDList[m], out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
iaxisIDList[m] = ci.ChannelIndex;
if (devbuff != null)
{
if (devbuff != dev)
{
errorInfo = "轴ID列表中的所有轴并不来源于同一个设备";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
}
devbuff = dev;
if (cibuffList.Contains(ci))
{
errorInfo = "轴ID列表中存在重复的轴名称";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
cibuffList.Add(ci);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (IsAbsMove)
{
err = md.AbsLine(iaxisIDList, dPosList);
}
else
{
err = md.RelLine(iaxisIDList, dPosList);
}
if (err != 0)
{
errorInfo = (IsAbsMove ? "绝对" : "相对") + "直线插补运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
