public bool InitialAxisConfig(AxisCard axisinfo, ProFileType profiletype)
{
bool FuncResult = false;
int Res;
Res = CPci9014.p9014_set_alarm(axisinfo.Num, 0, 1);
if (Res != 0)
{
ShowLog("设置对应 DI 为 ALARM 输入端失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_set_pls_outmode(axisinfo.Num, 0);
if (Res != 0)
{
ShowLog("设置 OUT, DIR 引脚输出脉冲方式失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_set_pls_iptmode(axisinfo.Num, 0);
if (Res != 0)
{
ShowLog("设置 OUT, DIR 引脚输出脉冲方式失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_set_el_level(axisinfo.Num, 0);
if (Res != 0)
{
ShowLog("设定限位信号有效电平失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_home_config(axisinfo.Num, 0, 0, 0);
if (Res != 0)
{
ShowLog("配置原点开关有效电平、编码器 index 信号有效电平、回零模式失败！", WriteLogType.Error);
return(FuncResult);
}
if (profiletype == ProFileType.T_Profile)
{
Res = CPci9014.p9014_set_t_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed);
if (Res != 0)
{
ShowLog("运动 T 曲线参数设定失败！", WriteLogType.Error);
return(FuncResult);
}
}
else
{
Res = CPci9014.p9014_set_s_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed, 1);
if (Res != 0)
{
ShowLog("运动 S 曲线参数设定失败！", WriteLogType.Error);
return(FuncResult);
}
}
FuncResult = true;
return(FuncResult);
}
/// <summary>
/// 获取速度曲线运动模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="proFileType"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int GetProFile(AxisInfo axisInfo, ProFileType proFileType, bool isShowLog)
{
int iRtn = 0;
if (proFileType == ProFileType.T)
{
iRtn = this.Get_T_ProFile(axisInfo, isShowLog);
}
else if (proFileType == ProFileType.S)
{
iRtn = this.Get_S_ProFile(axisInfo, isShowLog);
}
return(iRtn);
}
public int PMove(AxisCard axisinfo, int MovePulse, ProFileType MoveStyle)
{
int Res = 0;
int BefPosition = this.GetPosition(axisinfo);
if (MoveStyle == ProFileType.T_Profile)
{
Res = CPci9014.p9014_set_t_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed);
}
else
{
Res = CPci9014.p9014_set_s_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed, 1);
}
Res = CPci9014.p9014_pmove(axisinfo.Num, MovePulse, axisinfo.MoveStyle, 2);
if (Res != 0)
{
ShowLog($"{axisinfo.Name} 运动到脉冲距离:{MovePulse} 失败！", WriteLogType.Error);
return(2);
}
while (true)
{
if (this.CheckAxisStatus(axisinfo) == 0)
{
break;
}
Thread.Sleep(500);
}
int AfPosition = this.GetPosition(axisinfo);
if (Math.Abs(AfPosition - BefPosition) - Math.Abs(MovePulse) > 1000)
{
ShowLog($"{axisinfo.Name}-实际运动脉冲数与目标运动脉冲数误差过大！！", WriteLogType.Error);
}
ShowLog($"{axisinfo.Name}-运动到脉冲距离:{MovePulse} 成功！", WriteLogType.Action);
return(Res);
}
/// <summary>
/// 获取速度曲线运动模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="proFileType"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public virtual int GetProFile(AxisInfo axisInfo, ProFileType proFileType, bool isShowLog)
{
throw new System.NotImplementedException();
}
