/// <summary>
/// 寻找原点 多次来回寻找,如果向负方向找到返回0，向正方向找到放回1
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short MutHomeFindHomeSinge(AxisConfig axisC1, int count)
{
int stepPos = (int)axisC1.intFirstFindOriginDis;
if (HomeFindHomeSinge(axisC1, stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
if (WorkBase.IsRestExit())
{
return(-1);
}
if (HomeFindHomeSinge(axisC1, 0 - 2 * stepPos) == 0)
{
if (stepPos < 0)
{
return(0);
}
else
{
return(1);
}
}
return(-1);
}
private short StationRunThreadStep(object o)
{
WorkBase wb = (WorkBase)o;
wb.tag_Manual.tag_StepName = 0;
return(pointMotion.StationRun(wb.tag_stationName, wb.tag_Manual));
}
public void EventHandler(object sender, EventArgs e)
{
TextBox tb = (TextBox)sender;
WorkBase wb = (WorkBase)tb.Tag;
wb.tag_sn = tb.Text;
}
/// <summary>
/// 工位名
/// </summary>
/// <param name="name"></param>
/// <param name="_manual"></param>
/// <param name="reset"></param>
/// <param name="start"></param>
/// <param name="stop"></param>
public StationTrialRunControl(object o)
{
tag_object = o;
tag_workBase = (WorkBase)o;
tag_titleName = tag_workBase.tag_stationName;;
tag_manual = tag_workBase.tag_Manual;
InitializeComponent();
}
/// <summary>
/// 寻找原点,一次寻找pos1 ,
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindHomeSinge(AxisConfig axisC, int pos1)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = pos1;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //采集原点信号
if (!axisC.tag_homeIoHighLow) //如果信号位高电平
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum)); //停止轴
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-2);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-3);
}
}
}
/// <summary>
/// IO是否安全
/// </summary>
/// <returns></returns>
public bool IsafeIOInit()
{
foreach (object o in tag_workObject)
{
Type t = o.GetType();
WorkBase workBase = (WorkBase)o;
workBase.tag_Manual.tag_ExePointAggregate = null;
Global.WorkVar.tag_ExePointAggregate = null;
}
return(true);
}
/// <summary>
///启动列表
/// </summary>
public void startList()
{
foreach (object o in tag_workObject)
{
Type t = o.GetType();
System.Reflection.MethodInfo[] methods = t.GetMethods();
System.Reflection.PropertyInfo[] PropertyInfo = t.GetProperties();
System.Reflection.MemberInfo[] MemberInfos = t.GetMembers();
WorkBase workBase = (WorkBase)o;
for (int i = 0; i < methods.Length; i++)
{
if (methods[i].Name == "StartThread")
{
if (workBase.tag_isRestStation == 0)
{
workBase.tag_IsWork = 0;
workBase.tag_Manual.tag_StepName = 0;
methods[i].Invoke(o, null);
}
}
}
}
//Rc rc = Rc.Ok;
//rc = (Rc)NativeMethods.LJV7IF_Initialize();
//if (rc != Rc.Ok)
//{
// LogOutControl.OutLog("测量仪初始化失败", 0);
//}
try
{
_ethernetConfig.abyIpAddress = new byte[] {
Convert.ToByte("192"),
Convert.ToByte("168"),
Convert.ToByte("1"),
Convert.ToByte("111")
};
_ethernetConfig.wPortNo = Convert.ToUInt16("10000");
}
catch (Exception ex)
{
LogOutControl.OutLog(ex.Message, 0);
return;
}
//rc = (Rc)NativeMethods.LJV7IF_EthernetOpen(0, ref _ethernetConfig);
//if (rc != Rc.Ok)
//{
// LogOutControl.OutLog("与测量仪连接失败", 0);
//}
}
/// <summary>
/// 复位是否陈宫0:不成功 1 成功
/// </summary>
public int restIsSuccess()
{
foreach (object o in tag_Work.tag_workObject)
{
WorkBase workBase = (WorkBase)o;
if (tag_IsWork != 0)
{
return(0);
}
}
return(1);
}
/// <summary>
/// 复位是否完成 0:未完成 1 完成
/// </summary>
public int restIsComplete()
{
foreach (object o in tag_Work.tag_workObject)
{
WorkBase workBase = (WorkBase)o;
if (workBase.tag_isRestStation == 1)
{
if (workBase.tag_IsWork == 1)
{
return(0);
}
}
}
return(1);
}
/// <summary>
/// 停止所有线程
/// </summary>
/// <returns></returns>
public bool threadStop()
{
foreach (object o in tag_workObject)
{
Type t = o.GetType();
System.Reflection.MethodInfo[] methods = t.GetMethods();
System.Reflection.PropertyInfo[] PropertyInfo = t.GetProperties();
System.Reflection.MemberInfo[] MemberInfos = t.GetMembers();
WorkBase workBase = (WorkBase)o;
if (workBase.tag_workThread != null && workBase.tag_workThread.IsAlive)
{
workBase.tag_workThread.Abort();
}
}
return(true);
}
public bool IsWork()
{
foreach (object o in tag_workObject)
{
Type t = o.GetType();
System.Reflection.MethodInfo[] methods = t.GetMethods();
System.Reflection.PropertyInfo[] PropertyInfo = t.GetProperties();
System.Reflection.MemberInfo[] MemberInfos = t.GetMembers();
WorkBase workBase = (WorkBase)o;
if (workBase.tag_IsWork == 1)
{
LogOutControl.OutLog(workBase.tag_stationName + "：工位正在工作", 0);
return(true);
}
}
return(false);
}
/// <summary>
///启动列表
/// </summary>
public void startWorkInit(int isrest, int j)
{
foreach (object o in tag_Work.tag_workObject)
{
Type t = o.GetType();
System.Reflection.MethodInfo[] methods = t.GetMethods();
System.Reflection.PropertyInfo[] PropertyInfo = t.GetProperties();
System.Reflection.MemberInfo[] MemberInfos = t.GetMembers();
WorkBase workBase = (WorkBase)o;
for (int i = 0; i < methods.Length; i++)
{
if (workBase.tag_isRestStation == isrest)
{
workBase.tag_IsWork = j;
}
}
}
}
/// <summary>
/// 继续函数
/// </summary>
/// <param name="o"></param>
/// <returns></returns>
public object GetStation(string stationname)
{
foreach (object o in tag_workObject)
{
Type t = o.GetType();
System.Reflection.MethodInfo[] methods = t.GetMethods();
System.Reflection.PropertyInfo[] PropertyInfo = t.GetProperties();
System.Reflection.MemberInfo[] MemberInfos = t.GetMembers();
WorkBase workBase = (WorkBase)o;
for (int i = 0; i < methods.Length; i++)
{
if (workBase.tag_stationName == stationname)
{
return(workBase);
}
}
}
return(null);
}
/// <summary>
/// 运行第二段距离
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeMoveTwoDis(AxisConfig axisC)
{
short shrResult = 0;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = axisC.intSecondFindOriginDis;
if (axisC.HomeDir == 0)
{
point.dblPonitValue = 0 - point.dblPonitValue;
}
shrResult = SR_RelativeMove(axisC, point); //单轴的相对运动
if (shrResult != 0)
{
return(-1);
}
if (point.dblPonitValue == 0)
{
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
}
public void ModeSelectControl_Load(object sender, EventArgs e)
{
if (tag_Work == null)
{
return;
}
int x = checkBox_SnEm.Location.X + checkBox_SnEm.Size.Width + 5;
int y = (this.Size.Height - checkBox_PDCA.Size.Height) / 2;
checkBox_PDCA.Location = new Point(checkBox_PDCA.Location.X, y);
checkBox_SnEm.Location = new Point(checkBox_SnEm.Location.X, y);
int i = 0;
foreach (object o in tag_Work.tag_workObject)
{
WorkBase wb = (WorkBase)o;
if (wb.tag_isRestStation == 0)
{
TextBox tb = new TextBox();
Label lab = new Label();
lab.Name = wb.tag_stationName + "SN";
lab.Text = wb.tag_stationName + "SN";
y = (this.Size.Height - tb.Size.Height) / 2 + 5;
lab.Location = new Point(x, y);
x = x + 60;
tb.Tag = wb;
tb.TextChanged += EventHandler;
y = (this.Size.Height - tb.Size.Height) / 2;
tb.Location = new Point(x, y);
tb.Name = wb.tag_stationName;
tb.Text = "" /*"SN123456789" + tag_snIndex*/;
tag_snIndex++;
x = x + 100;
tag_listObj.Add(tb);
this.Controls.Add(tb);
this.Controls.Add(lab);
}
}
timer1.Start();
}
private void timer1_Tick(object sender, EventArgs e)
{
if (checkBox_PDCA.Checked)
{
foreach (TextBox tb in tag_listObj)
{
WorkBase wb = (WorkBase)tb.Tag;
if (wb.tag_sn == null || wb.tag_sn == "")
{
//tb.Text = wb.tag_PDCA.GetSn();
}
}
}
else
{
foreach (TextBox tb in tag_listObj)
{
WorkBase wb = (WorkBase)tb.Tag;
tb.Text = wb.tag_sn;
}
}
}
public short SR_GoHome(AxisConfig _acf)
{
if (HomeFindLimit(_acf) == 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
Thread.Sleep(1000);
if (HomeMoveTwoDis(_acf) == 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
return(HomeFindHomeIO(_acf));
}
}
return(-5);
}
/// <summary>
///启动列表
/// </summary>
public void startList()
{
foreach (object o in tag_Work.tag_workObject)
{
Type t = o.GetType();
System.Reflection.MethodInfo[] methods = t.GetMethods();
System.Reflection.PropertyInfo[] PropertyInfo = t.GetProperties();
System.Reflection.MemberInfo[] MemberInfos = t.GetMembers();
WorkBase workBase = (WorkBase)o;
for (int i = 0; i < methods.Length; i++)
{
if (methods[i].Name == "StartThread")
{
if (workBase.tag_isRestStation == 1)
{
workBase.tag_IsWork = 1;
workBase.tag_Manual.tag_StepName = 0;
methods[i].Invoke(o, null);
}
}
}
}
}
//
/// <summary>
/// 单原点回原，如果第一次找不到原点即失败，第一段距离位寻找距离，第二段距离为反退距离。，第三段距离为反退距离+感应器的长度
/// </summary>
/// <param name="_acf"></param>
/// <returns></returns>
public short SR_GoOneHome(AxisConfig _acf)
{
short ret = MutHomeFindHomeSinge(_acf, 16);
if (ret >= 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
Thread.Sleep(1000);
if (HomeMoveTwoDis(_acf) == 0)
{
if (WorkBase.IsRestExit())
{
return(-1);
}
Thread.Sleep(1000);
return(HomeFindOneHomeIO(_acf));
}
}
return(-5);
}
/// <summary>
/// 安全光栅是否OK
/// </summary>
/// <returns></returns>
public bool IsafeLightOk()
{
//return true;
if (_Config.tag_PrivateSave.tag_safeLightOffOn)
{
return(true);
}
if (_Config.tag_PrivateSave.tag_safeGateOffOn)
{
return(true);
}
foreach (object o in tag_workObject)
{
Type t = o.GetType();
WorkBase workBase = (WorkBase)o;
if (workBase.tag_safe != null && !workBase.tag_safe(workBase))
{
LogOutControl.OutLog(workBase.tag_stationName + "触发安全光栅或门限触发，急停", 0);
return(false);
}
}
return(true);
}
private void StationModelPanelControl_Load(object sender, EventArgs e)
{
int offsetH = 0;
StationTrialRunControl _stepTrialRun = null;
if (tag_Work == null)
{
return;
}
foreach (object o in tag_Work.tag_workObject)
{
WorkBase wb = (WorkBase)o;
if (o == null)
{
return;
}
_stepTrialRun = new StationTrialRunControl(o);
this.Controls.Add(_stepTrialRun);
_stepTrialRun.Location = new Point(0, offsetH);
offsetH = _stepTrialRun.Size.Height + offsetH;
}
}
public short HomeFindOneHomeIO(AxisConfig axisC)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.HomeSpeed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = axisC.intThreeFindOriginDis;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
return(-1);
}
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
if (axisC.tag_homeIoHighLow)
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
else
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
Thread.Sleep(1000);
int countzeor = 30;
while (countzeor >= 0)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
int status = 0;
short r = SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out status);
if (r != 0)
{
return(-1);
}
if (status == 0)
{
break;
}
}
while (countzeor >= 0)
{
double pos = 0;
double Enc = 0;
Thread.Sleep(1000);
SR_GetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), ref pos);
SR_GetEncPos(axisC.CardNum, (short)(axisC.AxisNum), ref Enc);
SR_SetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), 0);
SR_SetEncPos(axisC.CardNum, (short)(axisC.AxisNum), 0);
SR_GetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), ref pos);
SR_GetEncPos(axisC.CardNum, (short)(axisC.AxisNum), ref Enc);
if (pos < 5 && pos > -5 && Enc < 5 && Enc > -5)
{
return(0);
}
countzeor--;
Thread.Sleep(10);
}
if (countzeor >= 0)
{
return(0);
}
return(-1);
}
/// <summary>
///
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindLimit(AxisConfig axisC)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
if (axisC.HomeDir == 1) //回零方向，默认为0
{
point.dblPonitValue = 0 - axisC.intFirstFindOriginDis; //第一次找原点距离
}
else
{
point.dblPonitValue = axisC.intFirstFindOriginDis;
}
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //获取正限输入状态
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //获取负限输入状态
}
if (axisC.tag_IoLimtPNHighEnable == 0) //正负限位高电平有效
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
shrResult = SR_RelativeMove(axisC, point); //单轴的相对运动
if (shrResult != 0)
{
CommandResult("_SR_AbsoluteMove", shrResult);
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
return(3);
}
}
}
