public void MoveRelative(int x, int y)
{
double praAcc = 1000000;
double praDec = 1000000;
int praVm = 1000;
int pulseX = x;
int pulseY = y;
if (IsInitialed == false)
{
return;
}
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//if (_card0.IsLoadXmlFile)
{
Task task = new Task(() =>
{
APS168.APS_relative_move(_selectAxisX, pulseX, praVm);
APS168.APS_relative_move(_selectAxisY, pulseY, praVm);
//等待Motion Down完成
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(_selectAxisX) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(_selectAxisY) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(100);
}
//MessageBox.Show("运动完成！");
});
task.Start();
}
}
public override bool Open()
{
int boardIdInBits = 0;
// Card(Board) initial,mode bit0(0:By system assigned, 1:By dip switch)
int ret = APS168.APS_initial(ref boardIdInBits, m_cardIdMode);
if (ret >= 0)
{
APS168.APS_get_first_axisId(m_cardId, ref m_startAxisIndex, ref m_totalAxisCount);
int CardName = 0;
APS168.APS_get_card_name(m_cardId, ref CardName);
if (CardName != (Int32)APS_Define.DEVICE_NAME_PCI_825458 && CardName != (Int32)APS_Define.DEVICE_NAME_AMP_20408C)
{
throw new Exception("运动控制是型号不是204C或208C！");
}
}
else
{
throw new Exception("运动控制卡初始化失败，请检查驱动是否装好或者MotionCreatePro已经开启！");
}
m_isInitialed = true;
return(true);
}
public int GetAllOutput(int startindex, int offset)
{
if (!m_isInitialed)
{
throw new Exception("请先初始化");
}
int data = 0;
for (int i = 0; i < offset; i++)
{
int index = startindex + i;
int group = index / 32;
int channel = index % 32;
int _data = 0;
int rtn = APS168.APS_read_d_channel_output(m_cardId, group, channel, ref _data);
if (rtn != 0)
{
throw new Exception("GetMultiOutput 失败");
}
data = (data << 1) | _data;
}
return(data);
}
public void MoveAbs(int x, int y)
{
//_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
double praAcc = 1000000;
double praDec = 1000000;
int praVm = 1000;
int pulseX = x;
int pulseY = y;
if (IsInitialed == false)
{
return;
}
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//if (_card0.IsLoadXmlFile)
{
Task task = new Task(() =>
{
APS168.APS_absolute_move(_selectAxisX, pulseX, praVm);
APS168.APS_absolute_move(_selectAxisY, pulseY, praVm);
//等待Motion Down完成
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(_selectAxisX) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(_selectAxisY) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(100);
}
});
task.Start();
}
}
public void GetLineValues(int pxStart, int pyStart, int pxEnd, int pyEnd, ref List <LineData> data)
{
LineData tempDate = new LineData();
int[] Axis_ID = new int[2] {
_selectAxisX, _selectAxisY
};
double[] PositionStart = new double[2] {
pxStart, pyStart
};
double[] PositionEnd = new double[2] {
pxEnd, pyEnd
};
Class_8338.Interpolation_2D_line_move(Axis_ID, PositionStart, false);
//add start
tempDate.X = pxStart;
tempDate.Y = pyStart;
tempDate.Z = ReadSickValue();
data.Add(tempDate);
Class_8338.Interpolation_2D_line_moveNowait(Axis_ID, PositionEnd, false);
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(Axis_ID[0]) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(Axis_ID[1]) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(300);
tempDate.Z = ReadSickValue();
GetPostionAbs(ref tempDate.X, ref tempDate.Y);
data.Add(tempDate);
}
//add end
tempDate.X = pxEnd;
tempDate.Y = pyEnd;
tempDate.Z = ReadSickValue();
data.Add(tempDate);
}
/// <summary>
/// 检查回零是否完成
/// </summary>
/// <param name="axisNo"></param>
/// <returns></returns>
public int CheckHomeDone(int axisNo, double timeoutLimit)
{
var status = 0;
var strtime = new Stopwatch();
strtime.Start();
do
{
//检查运动是否完成
status = APS168.APS_motion_status(axisNo);
if (((status >> (int)APS_Define.MTS_ASTP) & 1) == 1)
{
return(-1);
}
status = (status >> (int)APS_Define.MTS_HMV) & 1;
if (status == 0)
{
break;
}
//检查是否超时
strtime.Stop();
if (strtime.ElapsedMilliseconds / 1000.0 > timeoutLimit)
{
APS168.APS_emg_stop(axisNo);
return(-2);
}
strtime.Start();
//延时
Thread.Sleep(20);
} while (true);
return(0);
}
public int SetDO(int index, bool isON)
{
Int32 do_group = 0;
Int32 do_data = 0;
if (index < 0 || index >= DOCount)
{
throw new Exception(string.Format("SetDO(index = {0}, isON) index is out of range:0~{1}", index, DOCount - 1));
}
lock (asynLocker)
{
do_data = (isON ? 1 : 0);
if (!IsOpen)
{
return((int)ErrorDef.NotOpen);
}
if (APS168.APS_write_d_channel_output(BoardID, do_group, index + 8, do_data) != 0)
{
return((int)ErrorDef.InvokeFailed);
}
}
return((int)ErrorDef.Success);
}
private void WaitInterrutp(int taskId, int interruptId)
{
// 显示对话框表示等待触发线程执行了
MessageBox.Show("TaskId=" + taskId + " interruptId= " + interruptId);
while (_waitIntFlag[taskId])
{
if (APS168.APS_wait_single_int(interruptId, 0x0000ff) == 0) //Wait interrupt
{
_interruptCount[taskId]++;
APS168.APS_reset_int(interruptId);
BeginInvoke((MethodInvoker) delegate
{
txtIntCount0.Text = _interruptCount[0].ToString();
txtIntCount1.Text = _interruptCount[1].ToString();
txtIntCount2.Text = _interruptCount[2].ToString();
txtIntCount3.Text = _interruptCount[3].ToString();
txtIntCount4.Text = _interruptCount[4].ToString();
txtIntCount5.Text = _interruptCount[5].ToString();
});
}
}
}
private void button7_Click(object sender, EventArgs e)
{
//重置触发计数
APS168.APS_reset_trigger_count(_card0.CardId, 0);
APS168.APS_reset_trigger_count(_card0.CardId, 1);
//关闭触发
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_LCMP0_SRC, 0);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("10000", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_PWD, 250000); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_LOGIC, 1);
APS168.APS_set_trigger_linear(_card0.CardId, 0, 0, 1000, 50);
}
public bool InitialFixture(int cardId, int mode)
{
CardId = cardId;
int boardIdInBits = 0;
// Card(Board) initial,mode bit0(0:By system assigned, 1:By dip switch)
int ret = APS168.APS_initial(ref boardIdInBits, mode);
if (ret >= 0)
{
APS168.APS_get_first_axisId(cardId, ref StartAxisId, ref TotalAxis);
APS168.APS_get_card_name(cardId, ref CardName);
if (CardName != (Int32)APS_Define.DEVICE_NAME_PCI_825458 && CardName != (Int32)APS_Define.DEVICE_NAME_AMP_20408C)
{
//MessageBox.Show("运动控制是型号不是204C或208C！");
return(false);
}
}
else
{
//MessageBox.Show("运动控制卡初始化失败，请检查驱动是否装好或者MotionCreatePro已经开启！");
return(false);
}
//判断配置文件是否存在
if (File.Exists(txtXmlFilename))
{
if (LoadParamFromFile(txtXmlFilename) == false)
{
return(false);
}
}
IsInitialed = true;
return(true);
}
public void ServoOn(bool onOff)
{
bool status;
if (IsInitialed == false)
{
return;
}
int motionIoStatusX = APS168.APS_motion_io_status(_selectAxisX);
//if (motionIoStatusX == 0)
{
status = (motionIoStatusX & (1 << 7)) != 0;
APS168.APS_set_servo_on(_selectAxisX, Convert.ToInt32(!status));
}
Thread.Sleep(100);
int motionIoStatusY = APS168.APS_motion_io_status(_selectAxisY);
//if (motionIoStatusY == 0)
{
status = (motionIoStatusY & (1 << 7)) != 0;
APS168.APS_set_servo_on(_selectAxisY, Convert.ToInt32(!status));
}
}
private void buttonArc3_Click(object sender, EventArgs e)
{
var boardId = Convert.ToInt32(txtCardId.Text);
//重置触发计数
APS168.APS_reset_trigger_count(boardId, 0);
APS168.APS_reset_trigger_count(boardId, 1);
var ptbId = 0; //Point table id 0
var dimension = 3; //2D point table
var ret = 0;
var Axis_ID_Array = new[] { 0, 1, 2 };
var Status = new PTSTS();
var Line = new PTLINE();
//Check servo on or not
//for (i = 0; i < dimension; i++)
//{
// ret = APS168.APS_set_servo_on(Axis_ID_Array, 1);
//}
//Thread.Sleep(500); // Wait stable.
//Enable point table
ret = APS168.APS_pt_disable(boardId, ptbId);
/////////////////////////ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
//Configuration
ret = APS168.APS_pt_set_absolute(boardId, ptbId); //Set to absolute mode
ret = APS168.APS_pt_set_trans_buffered(boardId, ptbId); //Set to buffer mode
ret = APS168.APS_pt_set_acc(boardId, ptbId, 5000000); //Set acc
ret = APS168.APS_pt_set_dec(boardId, ptbId, 5000000); //Set dec
ret = APS168.APS_get_pt_status(boardId, ptbId, ref Status);
if ((Status.BitSts & 0x02) == 0) //Buffer is not Full
{
Line.Dim = 3;
double vepoint = 100000;
double Vquick = 1500000;
double Vslow = 300000;
{
var pwdell = new PTDWL();
pwdell.DwTime = 2000;
//Line.Pos = new double[] { -206000, -20000, 0, 0, 0, 0 };
//ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//1st line
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, Vquick);
Line.Pos = new double[] { -218000, -22000, 50, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //1段起始点
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, Vslow * 0.6);
Line.Pos = new double[] { -56000, -22000, 50, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //high
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { 114000, -22000, 50, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //low
if (checkBoxOnly1.Checked)
{
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_start(boardId, ptbId);
return;
}
//圆弧线段1
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -25000, 17000, 6250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { 35000, 17000, 6250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
////2nd line
////bypass
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Delete by Tony
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -126000, 14000, 12450, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //2段起始点
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //Set ve to 5000
Line.Pos = new double[] { 34000, 14000, 12450, 0, 0, 0 }; //触发2
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//圆弧线段2
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -125000, 18000, 18750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -65000, 18000, 18750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//3 line slow
//bypass
//slow
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -205000, -22000, 25000, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //第3段起始点
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -95000, -22000, 25000, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//quick
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //ret = APS168.APS_pt_set_ve(boardId, ptbId, vepointlow); //Set ve to 5000
//ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);//ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
//ret = APS168.APS_pt_set_ve(boardId, ptbId, Vslow * 2); //ret = APS168.APS_pt_set_ve(boardId, ptbId, vepointlow); //Set ve to 5000
Line.Pos = new double[] { 120000, -22000, 25000, 0, 0, 0 }; //触发3
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//圆弧线段3
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow); //ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -20000, 20500, 31250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow); //ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { 35000, 20500, 31250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
////4 line
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //Set ve to 5000
Line.Pos = new double[] { -130000, 20000, 37600, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //Set ve to 5000
Line.Pos = new double[] { 35000, 20000, 37600, 0, 0, 0 }; //触发4
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//圆弧线段4
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -125000, 23000, 43750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -90000, 23000, 43750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
}
//Push 1st point to buffer
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
}
ret = APS168.APS_pt_start(boardId, ptbId);
}
private void button7_Click(object sender, EventArgs e)
{
var boardId = Convert.ToInt32(txtCardId.Text);
int motionStatusCstp = 0, motionStatusAstp = 16;
APS168.APS_absolute_move(0, -220000, 50000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
Thread.Sleep(500);
APS168.APS_absolute_move(1, 30000, 10000);
while ((APS168.APS_motion_status(1) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(1) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
APS168.APS_absolute_move(2, 0, 10000);
while ((APS168.APS_motion_status(2) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(2) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
APS168.APS_absolute_move(1, -15000, 10000);
//关闭触发
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//Bi-direction(No direction)
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_DIR, 1);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("0100", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_PWD, 1500); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_LOGIC, 0);
//add points to 1th
//int[] xPoint = new int[] { 100000, 90000, 80000 };
var xPoint = new int[330];
var csvFile = new CsvReader("x1.csv");
var xTable = csvFile.ReadIntoDataTable(new[] { typeof(int) });
for (var i = 0; i < 330; i++)
{
xPoint[i] = Convert.ToInt32(xTable.Rows[i][0]); //表格行的数据
}
APS168.APS_set_trigger_table(boardId, 0, xPoint, 330);
}
private void btnLineTrigTest_Click(object sender, EventArgs e)
{
int motionStatusCstp = 0, motionStatusAstp = 16;
var boardId = Convert.ToInt32(txtCardId.Text);
var praAcc = Convert.ToDouble(txtPraAcc.Text);
var praDec = Convert.ToDouble(txtPraDec.Text);
APS168.APS_set_axis_param_f(0, (int)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(0, (int)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//回起始点
APS168.APS_absolute_move(0, -220000, 100000);
APS168.APS_absolute_move(1, -15000, 100000);
APS168.APS_absolute_move(2, 0, 10000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
}
APS168.APS_absolute_move(0, -62000, 50000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
}
//关闭触发
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//Bi-direction(No direction)
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_DIR, 1);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("11000", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_PWD, 2000); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_LOGIC, 0);
//重置触发计数
APS168.APS_reset_trigger_count(boardId, 0);
APS168.APS_reset_trigger_count(boardId, 1);
APS168.APS_set_trigger_linear(boardId, 0, -61000, 900, 11);
APS168.APS_relative_move(0, 20000, 5000);
//Int32 ptbId = 0; //Point table id 0
//Int32 dimension = 3; //2D point table
//Int32 i = 0;
//Int32 ret = 0;
//int[] Axis_ID_Array = new int[] { 0, 1, 2 };
//PTSTS Status = new PTSTS();
//PTLINE Line = new PTLINE();
////Enable point table
//ret = APS168.APS_pt_disable(boardId, ptbId);
///////////////////////////ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
//ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
////Configuration
//ret = APS168.APS_pt_set_absolute(boardId, ptbId); //Set to absolute mode
//ret = APS168.APS_pt_set_trans_buffered(boardId, ptbId); //Set to buffer mode
//ret = APS168.APS_pt_set_acc(boardId, ptbId, 5000000); //Set acc
//ret = APS168.APS_pt_set_dec(boardId, ptbId, 5000000); //Set dec
//ret = APS168.APS_get_pt_status(boardId, ptbId, ref Status);
//if ((Status.BitSts & 0x02) == 0) //Buffer is not Full
//{
// Line.Dim = 3;
// double Vslow = 300000;
// {
// PTDWL pwdell = new PTDWL();
// pwdell.DwTime = 2000;
// //1st line
// ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);
// ret = APS168.APS_pt_set_ve(boardId, ptbId, Vslow);
// Line.Pos = new double[] { -218000, -22000, 50, 0, 0, 0 };
// ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);//1段起始点
// APS168.APS_set_trigger_linear(boardId, 0, -72000, 900, 11);
// double praAcc = Convert.ToDouble(txtPraAcc.Text);
// double praDec = Convert.ToDouble(txtPraDec.Text);
// APS168.APS_set_axis_param_f(1, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
// APS168.APS_set_axis_param_f(1, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
// APS168.APS_relative_move(0, 20000, 100000);
// }
//}
}
public void GetPostionAbs(ref double x, ref double y)
{
APS168.APS_get_position_f(_selectAxisX, ref x);
APS168.APS_get_position_f(_selectAxisY, ref y);
}
/// <summary>
/// 减速停止指定机构轴脉冲输出
/// </summary>
/// <param name="axisNo"></param>
public int DecelStop(int axisNo)
{
var reult = APS168.APS_stop_move(axisNo);
return(reult);
}
public override int SetMotionPos(int cardId, int axisId, int pos)
{
return(APS168.APS_set_position(axisId, pos));
}
public override int MoveAbs(int cardId, int axisId, int pos, int vel)
{
return(APS168.APS_absolute_move(axisId, pos, vel));
}
public override int MoveRel(int cardId, int axisId, int distance, int vel)
{
return(APS168.APS_relative_move(axisId, distance, vel));
}
/// <summary>
/// 回零
/// </summary>
/// <param name="axisNo"></param>
public void BackHome(int axisNo)
{
APS168.APS_home_move(axisNo);
}
private void tmrUpdateUI_Tick(object sender, EventArgs e)
{
if (_primADLink._isInitialed)
{
_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
double d = 0;
_primADLink.GetAxisPositionF(_selectAxis, ref d);
//APS168.APS_get_position_f(_selectAxis, ref d);
txtFeedbackPos.Text = d.ToString("f0");
txtFeedbackPosition.Text = d.ToString("f0");
switch (tabControl1.SelectedTab.Name)
{
case "tPageAxisMove":
int index;
bool status;
int motionIoStatus, motionStatus;
//刷新MotionIoStatus
//motionIoStatus = APS168.APS_motion_io_status(_selectAxis);
motionIoStatus = _primADLink.GetAxisMotionIOStatus(_selectAxis);
foreach (var label in grpMotionIo.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (motionIoStatus & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
//刷新MotionStatus
//motionStatus = APS168.APS_motion_status(_selectAxis);
motionStatus = _primADLink.GetAxisMotionStatus(_selectAxis);
foreach (var label in grpMotion.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (motionStatus & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
//刷新Feedback信息
double value = 0;
_primADLink.GetAxisCommandF(_selectAxis, ref value);
//APS168.APS_get_command_f(_selectAxis, ref value);
txtCommandPosition.Text = value.ToString("f0");
//APS168.APS_get_position_f(_selectAxis, ref value);
//txtFeedbackPos.Text = value.ToString("f0");
//txtFeedbackPosition.Text = value.ToString("f0");
_primADLink.GetAxisPositionF(_selectAxis, ref value);
//APS168.APS_get_target_position_f(_selectAxis, ref value);
txtTargetPosition.Text = value.ToString("f0");
_primADLink.GetAxisErrPositionF(_selectAxis, ref value);
//APS168.APS_get_error_position_f(_selectAxis, ref value);
txtErrorPosition.Text = value.ToString("f0");
_primADLink.GetAxisCommandVelocityF(_selectAxis, ref value);
//APS168.APS_get_command_velocity_f(_selectAxis, ref value);
txtCommandVelocity.Text = value.ToString("f0");
_primADLink.GetAxisFeedbackVelocityF(_selectAxis, ref value);
//APS168.APS_get_feedback_velocity_f(_selectAxis, ref value);
txtFeedbackVelocity.Text = value.ToString("f0");
//刷新ServoOn, motionIoStatus第7位
status = (motionIoStatus & (1 << 7)) != 0;
lblServoOn.BackColor = status ? Color.LawnGreen : Color.DimGray;
//刷新JOG正 和 JOG负
var jogPostive = (motionStatus & (1 << 15)) != 0 && (motionStatus & (1 << 4)) != 0;
var jogNegative = (motionStatus & (1 << 15)) != 0 && (motionStatus & (1 << 4)) == 0;
lblJogPostive.BackColor = jogPostive ? Color.LawnGreen : Color.DimGray;
lblJogNegative.BackColor = jogNegative ? Color.LawnGreen : Color.DimGray;
break;
case "tPageIO":
var diValue = 0;
//APS168.APS_read_d_input(_card0.CardId, 0, ref diValue);
_primADLink.ReadMultiDInputFromAPI(_config.DevIndex, 0, ref diValue);
foreach (var label in grpDi.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (diValue & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
var doValue = 0;
//APS168.APS_read_d_output(_card0.CardId, 0, ref doValue);
_primADLink.ReadMultiDOutputFromAPI(_config.DevIndex, 0, ref doValue);
foreach (var label in grpDo.Controls.OfType <Label>())
{
if (label.BorderStyle == BorderStyle.FixedSingle)
{
index = Convert.ToInt32(label.Tag);
status = (doValue & (1 << index)) != 0;
label.BackColor = status ? Color.LawnGreen : Color.DimGray;
}
}
break;
case "tPageCmpTrig":
{
var count = 0;
APS168.APS_get_trigger_count(Convert.ToInt32(txtCardId.Text), 0, ref count);
lbTrigCntCH0.Text = count.ToString();
APS168.APS_get_trigger_count(Convert.ToInt32(txtCardId.Text), 1, ref count);
lbTrigCntCH1.Text = count.ToString();
}
break;
case "tPageContinueMove":
{
if (_ptEnabled)
{
txtTotalPoint.Text = _bufTotalPoint.ToString();
txtBufFreeSpace.Text = _bufFreeSpace.ToString();
txtbufUsageSpace.Text = _bufUsageSpace.ToString();
txtRunningCnt.Text = _bufRunningCnt.ToString();
}
}
break;
}
}
}
public override int GetCommandPos(int cardId, int axisId, ref int pos)
{
return(APS168.APS_get_command(axisId, ref pos));
}
/// <summary>
/// 清除限位配置
/// </summary>
/// <param name="axisNo"></param>
public void ClearSoftConfig(int axisNo)
{
APS168.APS_set_axis_param(axisNo, (int)APS_Define.PRA_SPEL_EN, 0);
APS168.APS_set_axis_param(axisNo, (int)APS_Define.PRA_SMEL_EN, 0);
}
public int MoveOrigin(int axisNo)
{
var ret = APS168.APS_home_move(axisNo);
return(ret);
}
public override int GetMotionPos(int cardId, int axisId, ref int pos)
{
return(APS168.APS_get_position(axisId, ref pos));
}
public override void GetAxisStatue(uint axisindex, ref int value)
{
value = APS168.APS_motion_status((int)axisindex);
}
public override void JogStop(uint axisindex)
{
APS168.APS_jog_start((int)axisindex, 0);
}
public override int SetHome(int cardId, int axisId)
{
return(APS168.APS_home_move(axisId));
}
public override void Close()
{
APS168.APS_close();
}
public override int Stop(int cardId, int axisId)
{
return(APS168.APS_stop_move(axisId));
}