/// <summary>
/// 获取S形速度曲线运动模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int Get_S_ProFile(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_s_profile(axisInfo.AxisNumber, ref axisInfo.mS_Para);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的S形曲线运动和S段比[{1}]", axisInfo.AxisName, axisInfo.S_Para), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
public UserVCRAxisWorkPosConfig(AxisInfo axisInfoX, AxisInfo axisInfoZ, int workNumber)
{
InitializeComponent();
this.axisInfoX = axisInfoX;
this.axisInfoZ = axisInfoZ;
this.WorkNumber = workNumber;
}
/// <summary>
/// 同步停止所有轴
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int SimultaneousStop(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_simultaneous_stop(axisInfo.AxisNumber);
Log.GetInstance().ActionWrite(string.Format("[{0}]轴同步停止", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取T形速度曲线运动模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int Get_T_ProFile(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_profile(axisInfo.AxisNumber, ref axisInfo.mMinVel, ref axisInfo.mMaxVel, ref axisInfo.mAcc, ref axisInfo.mDec);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的起始速度[{1}]、运行速度[{2}]、加速度[{3}]、减速度[{4}]", axisInfo.AxisName, axisInfo.MinVel, axisInfo.MaxVel, axisInfo.Acc, axisInfo.Dec), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取指定轴的脉冲输出模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误码</returns>
public override int GetPulseOutmode(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_pulse_outmode(axisInfo.AxisNumber, ref axisInfo.mOutmode);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的脉冲输出模式[{1}]", axisInfo.AxisNumber, axisInfo.Outmode), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取指定轴编码器的计数方式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int GetCounterConfig(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_counter_config(axisInfo.AxisNumber, ref axisInfo.mMode);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的编码器计算方式[{1}]", axisInfo.AxisName, axisInfo.Mode), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 设置指定轴的指令脉冲位置
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int SetPosition(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_set_position(axisInfo.AxisNumber, axisInfo.CurrentPosition);
Log.GetInstance().ActionWrite(string.Format("设置[{0}]轴的指令脉冲位置为[{1}]", axisInfo.AxisName, axisInfo.CurrentPosition), ((ErrorMsg)0).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 定长运动
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int Pmove(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_pmove(axisInfo.AxisNumber, axisInfo.Dist, axisInfo.PosiMode);
Log.GetInstance().ActionWrite(string.Format("[{0}]轴定长运动距离[{1}]", axisInfo.AxisName, axisInfo.Dist), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 设置ORG信号的有效电平
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int SetConfigHomePinLogic(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_config_HOME_PIN_logic(axisInfo.AxisNumber, axisInfo.OrgLogic, 1);
Log.GetInstance().ActionWrite(string.Format("设置[{0}]轴ORG信号的有效电平", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取软件限位
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int GetConfigSoftlimit(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_config_softlimit(axisInfo.AxisNumber, ref axisInfo.mON_OFF, ref axisInfo.mSourceSel, ref axisInfo.mSLAction, ref axisInfo.mNLimit, ref axisInfo.mPLimit);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴软件限位", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
public UserAxisWorkPosConfig(AxisInfo axisInfo, int workNumber)
{
InitializeComponent();
this.axisInfo = axisInfo;
this.AxisName = axisInfo.AxisName;
this.WorkNumber = workNumber;
}
/// <summary>
/// 设置指定轴的EZ信号的有效电平及其作用
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int SetConfigEzPin(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_config_EZ_PIN(axisInfo.AxisNumber, axisInfo.EzLogic, axisInfo.EzMode);
Log.GetInstance().ActionWrite(string.Format("设置[{0}]轴的EZ信号的有效电平及其方式", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取回原点模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int GetConfigHomeMode(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_config_home_mode(axisInfo.AxisNumber, ref axisInfo.mHomeDir, ref axisInfo.mVel, ref axisInfo.mHomeMode, ref axisInfo.mEZCount);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴回原点模式", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 指定轴减速停止
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误码</returns>
public int DecelStop(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_decel_stop(axisInfo.AxisNumber, axisInfo.Dec);
Log.GetInstance().ActionWrite(string.Format("[{0}]轴减速停止", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 定长运动
/// </summary>
/// <param name="axisinfo">轴实体</param>
/// <param name="moveType">运动方向</param>
public void Pmove(AxisInfo axisInfo, string moveType)
{
//气缸上
var fRtn = MoveExecute.SetBaffle(true);
if (!fRtn)
{
return;
}
switch (moveType)
{
case "正":
{
//设置移动距离
axisInfo.Dist = Convert.ToInt32(Convert.ToInt32(txtDistance.Text) * axisInfo.Step / axisInfo.Lead);
if (Global.ControlCard.GetPosition(axisInfo, true) + axisInfo.Dist > axisInfo.Step)
{
Log.GetInstance().WarningWrite(string.Format("[{0}]轴移动距离超出了物理正极限，自动移动到极限位置"));
this.txtDistance.Text = (axisInfo.Lead / (axisInfo.Step / (axisInfo.Step - Global.ControlCard.GetPosition(axisInfo, true)))).ToString("f0");
axisInfo.Dist = Convert.ToInt32(Convert.ToInt32(txtDistance.Text) * axisInfo.Step / axisInfo.Lead);
}
break;
}
case "负":
{
//设置移动距离
axisInfo.Dist = Convert.ToInt32(Convert.ToInt32(txtDistance.Text) * axisInfo.Step / axisInfo.Lead * -1);
if (Global.ControlCard.GetPosition(axisInfo, true) - axisInfo.Dist < 0)
{
Log.GetInstance().WarningWrite(string.Format("[{0}]轴移动距离超出了物理负极限，自动移动到极限位置"));
txtDistance.Text = (axisInfo.Lead / (axisInfo.Step / Global.ControlCard.GetPosition(axisInfo, true))).ToString("f0");
axisInfo.Dist = Convert.ToInt32(Convert.ToInt32(txtDistance.Text) * axisInfo.Step / axisInfo.Lead * -1);
}
break;
}
default:
{
return;
}
}
axisInfo.PosiMode = 0;
MoveExecute.Pmove(axisInfo, true);
//获取当前位置
this.txtCurrentPosition.Text = (axisInfo.Lead / (axisInfo.Step / Global.ControlCard.GetPosition(axisInfo, true))).ToString("f0");
}
/// <summary>
/// 在线改变指定轴的当前运动速度。该函数只适用于单轴运动中的变速
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int ChangeSpeed(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_change_speed(axisInfo.AxisNumber, axisInfo.CurrVel);
Log.GetInstance().ActionWrite(string.Format("修改[{0}]轴的当前运动速度为[{1}]", axisInfo.AxisName
, axisInfo.CurrVel), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 回原点运动
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int HomeMove(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_home_move(axisInfo.AxisNumber);
axisInfo.IsHome = iRtn == 0 ? true : false;
Log.GetInstance().ActionWrite(string.Format("[{0}]轴回原点运动", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 检测指定轴的运动状态
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns> 0运行，1停止</returns>
public override int CheckDone(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_check_done(axisInfo.AxisNumber);
axisInfo.IsMove = iRtn == 0 ? true : false;
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴运动状态{1}", axisInfo.AxisName, iRtn == 0 ? "正在运动" : "停止运动"), ((ErrorMsg)0).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取指定轴的当前速度
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>指定轴的速度脉冲数</returns>
public override double ReadCurrentSpeed(AxisInfo axisInfo, bool isShowLog)
{
double dRtn = Dmc2C80.d2c80_read_current_speed(axisInfo.AxisNumber);
axisInfo.CurrVel = dRtn;
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的当前速度[{1}] ", axisInfo.AxisNumber, dRtn), ((ErrorMsg)0).ToString(), isShowLog);
return(dRtn);
}
private void Timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
this.timerReset.Stop();
var f = MoveExecute.AllAxisReset();
AxisInfo axisInfo = Global.ListAxis.Where(info => info.AxisName == "转盘").FirstOrDefault();
if (axisInfo != null)
{
this.currentWorkPos = axisInfo.WorkPos1;
}
}
/// <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);
}
/// <summary>
/// 停止轴运动
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="axisStopType"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int AxisStop(AxisInfo axisInfo, AxisStopType axisStopType, bool isShowLog)
{
int iRtn = 0;
if (axisStopType == AxisStopType.DecelStop)
{
iRtn = this.DecelStop(axisInfo, isShowLog);
}
else if (axisStopType == AxisStopType.SimultaneousStop)
{
iRtn = this.SimultaneousStop(axisInfo, isShowLog);
}
else if (axisStopType == AxisStopType.ImdStop)
{
iRtn = this.ImdStop(axisInfo, isShowLog);
}
else if (axisStopType == AxisStopType.EmgStop)
{
iRtn = this.EmgStop(isShowLog);
}
return(iRtn);
}
/// <summary>
/// 获取指定轴的指令脉冲位置
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>指定运动轴的命令脉冲数</returns>
public virtual int GetPosition(AxisInfo axisInfo, bool isShowLog)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 获取回原点模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public virtual int GetConfigHomeMode(AxisInfo axisInfo, bool isShowLog)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 检测指定轴的运动状态
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>0运行，1停止</returns>
public virtual int CheckDone(AxisInfo axisInfo, bool isShowLog)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 加载项目配置信息
/// </summary>
/// <returns></returns>
public static bool LoadSettings(string productName)
{
try
{
if (!System.IO.File.Exists(Global.ProductSettingPath))
{
Log.GetInstance().ErrorWrite(string.Format("项目：'{0}'没有配置文件,路径：'{1}'", productName, Global.ProductSettingPath));
return(false);
}
//初始化时，添加轴信息
if (Global.ListAxis.Count == 0)
{
AxisInfo axisInfo = null;
foreach (var kvp in Global.DictAxis)
{
axisInfo = new AxisInfo();
axisInfo.AxisName = kvp.Value;
axisInfo.AxisNumber = (ushort)Convert.ToInt32(kvp.Key);
axisInfo.Step = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "Step", Global.ProductSettingPath));
axisInfo.Lead = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "Lead", Global.ProductSettingPath));
axisInfo.MinVel = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "Speed", Global.ProductSettingPath));
axisInfo.MaxLimit = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "MaxLimitmm", Global.ProductSettingPath));
axisInfo.WorkPos1 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos1", Global.ProductSettingPath));
axisInfo.WorkPos2 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos2", Global.ProductSettingPath));
axisInfo.WorkPos3 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos3", Global.ProductSettingPath));
axisInfo.WorkPos4 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos4", Global.ProductSettingPath));
axisInfo.MaxVel = axisInfo.MinVel * 10;
axisInfo.Dec = 10000;
axisInfo.Acc = 10000;
axisInfo.Vel = axisInfo.MaxVel;
axisInfo.Outmode = 0;
axisInfo.OrgLogic = 0;
axisInfo.EzLogic = 0;
axisInfo.EzMode = 1;
axisInfo.HomeDir = 1;
axisInfo.Vel = 0;
axisInfo.HomeMode = 1;
axisInfo.EZCount = 1;
axisInfo.PosiMode = 0;
Global.ListAxis.Add(axisInfo);
}
}
//切换项目时，修改轴信息
else
{
foreach (var axisInfo in Global.ListAxis)
{
axisInfo.Step = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "Step", Global.ProductSettingPath));
axisInfo.Lead = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "Lead", Global.ProductSettingPath));
axisInfo.MinVel = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "Speed", Global.ProductSettingPath));
axisInfo.MaxLimit = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "MaxLimitmm", Global.ProductSettingPath));
axisInfo.WorkPos1 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos1", Global.ProductSettingPath));
axisInfo.WorkPos2 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos2", Global.ProductSettingPath));
axisInfo.WorkPos3 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos3", Global.ProductSettingPath));
axisInfo.WorkPos4 = Convert.ToInt32(IniFile.IniReadValue(axisInfo.AxisName, "WorkPos4", Global.ProductSettingPath));
axisInfo.MaxVel = axisInfo.MinVel * 10;
axisInfo.Dec = 10000;
axisInfo.Acc = 10000;
axisInfo.Vel = axisInfo.MaxVel;
axisInfo.Outmode = 0;
axisInfo.OrgLogic = 0;
axisInfo.EzLogic = 0;
axisInfo.EzMode = 1;
axisInfo.HomeDir = 1;
axisInfo.Vel = 0;
axisInfo.HomeMode = 1;
axisInfo.EZCount = 1;
axisInfo.PosiMode = 0;
}
}
return(true);
}
catch (Exception ex)
{
Log.WriterExceptionLog(ex.ToString());
return(false);
}
}
/// <summary>
/// 轴定长运动
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog"></param>
/// <returns></returns>
public static bool Pmove(AxisInfo axisInfo, bool isShowLog)
{
try
{
if (isShowLog)
{
Log.GetInstance().NormalWrite(string.Format("[{0}]轴开始定长运动......", axisInfo.AxisName));
}
axisInfo.Outmode = 0;
//设置脉冲输出模式
int iRtn = Global.ControlCard.SetPulseOutmode(axisInfo, isShowLog);
if (iRtn != 0)
{
return(false);
}
//设置运动模式
iRtn = Global.ControlCard.SetProFile(axisInfo, ProFileType.T, isShowLog);
if (iRtn != 0)
{
return(false);
}
//定长运动
iRtn = Global.ControlCard.Pmove(axisInfo, isShowLog);
if (iRtn != 0)
{
return(false);
}
int waitTime = 0;
//检查是否移动到位
while (true)
{
if (waitTime == Global.CardWaitTime)
{
//报警提示
Global.ControlCard.WriteOutbit(28, 1);
//亮红灯
Global.ControlCard.WriteOutbit((ushort)Global.GetIOPortNoByName("红灯"), 1);
Log.GetInstance().WarningWrite(string.Format("[{0}]轴定长运动超时", axisInfo.AxisName));
Log.GetInstance().WarningWrite(string.Format("[{0}]轴强制停止运动，需复位后重新开始检测", axisInfo.AxisName));
//停止轴运动
Global.ControlCard.AxisStop(axisInfo, AxisStopType.ImdStop, isShowLog);
return(false);
}
if (axisInfo.AxisName == "转盘")
{
//轴停止并且收到运动到位指令
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(24) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "VCR-X")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(25) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "VCR-Z")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(26) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "检测相机#1")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(27) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "检测相机#2")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(28) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "检测相机#3")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(29) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "复检相机#1")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(30) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "复检相机#2")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(31) == 1)
{
return(true);
}
}
else if (axisInfo.AxisName == "复检相机#3")
{
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1 && Global.IoCard.ReadInBit(32) == 1)
{
return(true);
}
}
waitTime++;
Thread.Sleep(1000);
}
}
catch (Exception ex)
{
Log.WriterExceptionLog(ex.ToString());
return(false);
}
finally
{
if (isShowLog)
{
Log.GetInstance().NormalWrite(string.Format("[{0}]轴定长运动结束", axisInfo.AxisName));
}
}
}
/// <summary>
/// 轴回原点
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog"></param>
/// <returns></returns>
public static bool HomeMove(AxisInfo axisInfo, bool isShowLog)
{
bool f = false;
try
{
if (isShowLog)
{
Log.GetInstance().NormalWrite(string.Format("[{0}]轴开始回原点运动......", axisInfo.AxisName));
}
axisInfo.Outmode = 0;
axisInfo.OrgLogic = 0;
axisInfo.EzLogic = 0;
axisInfo.EzMode = 1;
axisInfo.HomeDir = 1;
axisInfo.Vel = axisInfo.MaxVel;
axisInfo.HomeMode = 3;
axisInfo.EZCount = 1;
//设置脉冲输出模式
int iRtn = Global.ControlCard.SetPulseOutmode(axisInfo, isShowLog);
if (iRtn != 0)
{
return(false);
}
//设置ORG信号的有效电平
iRtn = Global.ControlCard.SetConfigHomePinLogic(axisInfo, isShowLog);
if (iRtn != 0)
{
return(false);
}
//设置指定轴的EZ信号的有效电平及其作用
iRtn = Global.ControlCard.SetConfigEzPin(axisInfo, isShowLog);
if (iRtn != 0)
{
return(false);
}
//设置回原点模式
iRtn = Global.ControlCard.SetConfigHomeMode(axisInfo, isShowLog);
if (iRtn != 0)
{
return(false);
}
//设置运动模式
iRtn = Global.ControlCard.SetProFile(axisInfo, ProFileType.T, isShowLog);
if (iRtn != 0)
{
return(false);
}
//回原点
iRtn = Global.ControlCard.HomeMove(axisInfo, isShowLog);
if (iRtn != 0)
{
return(false);
}
int waitTime = 0;
//等待轴停止运动
while (true)
{
if (waitTime == Global.CardWaitTime)
{
//报警提示
Global.ControlCard.WriteOutbit(28, 1);
//亮红灯
Global.ControlCard.WriteOutbit((ushort)Global.GetIOPortNoByName("红灯"), 1);
Log.GetInstance().WarningWrite(string.Format("[{0}]轴回原点运动超时", axisInfo.AxisName));
Log.GetInstance().WarningWrite(string.Format("[{0}]轴强制停止运动，需复位后重新开始检测", axisInfo.AxisName));
//停止轴运动
Global.ControlCard.AxisStop(axisInfo, AxisStopType.ImdStop, isShowLog);
return(false);
}
if (Global.ControlCard.CheckDone(axisInfo, isShowLog) == 1)
{
f = true;
return(true);
}
waitTime++;
Thread.Sleep(1000);
}
}
catch (Exception ex)
{
Log.WriterExceptionLog(ex.ToString());
return(false);
}
finally
{
if (isShowLog)
{
if (f)
{
Log.GetInstance().NormalWrite(string.Format("[{0}]轴回原点成功，请移动到工作位置1", axisInfo.AxisName));
}
else
{
Log.GetInstance().ErrorWrite(string.Format("[{0}]轴回原点失败，请重启设备", axisInfo.AxisName));
}
Log.GetInstance().NormalWrite(string.Format("[{0}]轴回原点运动结束", axisInfo.AxisName));
}
}
}
/// <summary>
/// 停止轴运动
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="axisStopType"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public virtual int AxisStop(AxisInfo axisInfo, AxisStopType axisStopType, bool isShowLog)
{
throw new System.NotImplementedException();
}
/// <summary>
/// 设置指定轴的EZ信号的有效电平及其作用
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public virtual int SetConfigEzPin(AxisInfo axisInfo, bool isShowLog)
{
throw new System.NotImplementedException();
}
