public override int GetMotionIoSts(int cardId, int axisId, ref int sts)
{
int _sts, _rSts;
_sts = APS168.APS_motion_io_status(axisId);
_rSts = 0;
if (XConvert.BitEnable(_sts, XAPS_Define.MIO_ALM))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MIO_ALM);
}
if (XConvert.BitEnable(_sts, XAPS_Define.MIO_EMG))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MIO_MEL);
}
if (XConvert.BitEnable(_sts, XAPS_Define.MIO_ORG))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MIO_ORG);
}
if (XConvert.BitEnable(_sts, XAPS_Define.MIO_PEL))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MIO_PEL);
}
if (XConvert.BitEnable(_sts, XAPS_Define.MIO_SVON))
{
XConvert.SetBits(ref _rSts, XAPS_Define.MIO_SVON);
}
sts = _rSts;
return(0);
}
/// <summary>
/// 是否停止移动
/// </summary>
/// <returns></returns>
public bool IsDown(int axisNo, bool hasExtEncode = false)
{
var status = APS168.APS_motion_status(axisNo);
//判断是否停止
if (((status >> (int)APS_Define.MTS_NSTP) & 1) == 0)
{
return(false);
}
//判断是否正常停止
if (((status >> (int)APS_Define.MTS_ASTP) & 1) == 1)
{
var reason = GetStopReason(axisNo);
return(false);
}
//判断INP鑫海
if (hasExtEncode)
{
var inp = APS168.APS_motion_io_status(axisNo);
if (((inp >> (int)APS_Define.MIO_INP) & 1) == 0)
{
return(false);
}
}
return(true);
}
private int GetMotionIoStatus(int axisNo)
{
var ret = APS168.APS_motion_io_status(axisNo);
if (ret < 0)
{
ThrowIfResultError(ret);
}
return(ret);
}
private int GetMotionIoStatus(int axisNo)
{
var ret = APS168.APS_motion_io_status(axisNo);
//if (ret < 0)
//{
// var innerMsg = "";
// innerMsg = GetErrorCodeDesc((APS_Define)ret);
// if (innerMsg != "No Error")
// MessageBox.Show(string.Format("APS_motion_io_status Error:{0}", innerMsg));
// //ThrowIfResultError(ret);
//}
return(ret);
}
private void lblServoOn_Click(object sender, EventArgs e)
{
if (!_card0.IsLoadXmlFile)
{
MessageBox.Show("请先加载配置文件！");
return;
}
_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
var motionIoStatus = APS168.APS_motion_io_status(_selectAxis);
var status = (motionIoStatus & (1 << 7)) != 0;
APS168.APS_set_servo_on(_selectAxis, Convert.ToInt32(!status));
}
/// <summary>
/// 检测指定轴的运动状态
/// </summary>
/// <param name="axisNo"></param>
/// <param name="hasExtEncode">是否有编码器接入(步进电机无外部编码器)</param>
/// <remarks>判断INP鑫海</remarks>
public int CheckDone(int axisNo, double timeoutLimit, bool hasExtEncode = false)
{
var status = 0;
var inp = 1;
var strtime = new Stopwatch();
strtime.Start();
do
{
//判断是否正常停止
status = APS168.APS_motion_status(axisNo);
if (((status >> (int)APS_Define.MTS_ASTP) & 1) == 1)
{
return(-1);
}
status = (status >> (int)APS_Define.MTS_NSTP) & 1;
//判断INP鑫海
if (hasExtEncode)
{
inp = APS168.APS_motion_io_status(axisNo);
inp = (inp >> (int)APS_Define.MIO_INP) & 1;
}
//break条件是否满足
if ((status == 1) && (inp == 1))
{
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 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));
}
}
public override void GetAxisIoData(uint axisindex, ref int value)
{
value = APS168.APS_motion_io_status((int)axisindex);
}
/// <summary>
/// To the home position.
/// </summary>
/// <returns>System.Int32.</returns>
public override int ToHome()
{
int err = -1;
err = APS168.APS_set_axis_param(mCardPara.AxisID, (Int32)APS_Define.PRA_HOME_MODE, 0); //Set home mode
if (err != (Int32)APS_Define.ERR_NoError)
{
return(err);
}
err = APS168.APS_set_axis_param(mCardPara.AxisID, (Int32)APS_Define.PRA_HOME_DIR, 0); //Set home direction
if (err != (Int32)APS_Define.ERR_NoError)
{
return(err);
}
err = APS168.APS_set_axis_param(mCardPara.AxisID, (Int32)APS_Define.PRA_HOME_CURVE, 0); // Set acceleration pattern (T-curve)
if (err != (Int32)APS_Define.ERR_NoError)
{
return(err);
}
err = APS168.APS_set_axis_param(mCardPara.AxisID, (Int32)APS_Define.PRA_HOME_ACC, 2000000); //Set homing acceleration rate
if (err != (Int32)APS_Define.ERR_NoError)
{
return(err);
}
err = APS168.APS_set_axis_param(mCardPara.AxisID, (Int32)APS_Define.PRA_HOME_VM, 200000); //Set homing maximum velocity.
if (err != (Int32)APS_Define.ERR_NoError)
{
return(err);
}
err = APS168.APS_set_axis_param(mCardPara.AxisID, (Int32)APS_Define.PRA_HOME_VO, 200000); //Set homing leave home velocity
if (err != (Int32)APS_Define.ERR_NoError)
{
return(err);
}
/*
* err = APS168.APS_set_axis_param(axisID, (Int32)APS_Define.PRA_HOME_EZA, 0); // Set EZ signal alignment (yes or no)
* if (err != (Int32)APS_Define.ERR_NoError) return err;
* err = APS168.APS_set_axis_param(axisID, (Int32)APS_Define.PRA_HOME_SHIFT, 0); // Set home position shfit distance.
* if (err != (Int32)APS_Define.ERR_NoError) return err;
* err = APS168.APS_set_axis_param(axisID, (Int32)APS_Define.PRA_HOME_POS, 0); // Set final home position.
* if (err != (Int32)APS_Define.ERR_NoError) return err;
*/
/*
* err = APS168.APS_set_axis_param_f(axisID, (Int32)APS_Define.PRA_HOME_CURVE, 0.5); //Set s-factor to 0.5
* if (err != (Int32)APS_Define.ERR_NoError) return err;
* err = APS168.APS_set_axis_param_f(axisID, (Int32)APS_Define.PRA_HOME_ACC, 10000.0); //Set homing acceleration rate
* if (err != (Int32)APS_Define.ERR_NoError) return err;
* err = APS168.APS_set_axis_param_f(axisID, (Int32)APS_Define.PRA_HOME_VM, 100000.0); //Set homing maximum velocity.
* if (err != (Int32)APS_Define.ERR_NoError) return err;
* err = APS168.APS_set_axis_param_f(axisID, (Int32)APS_Define.PRA_HOME_VO, 20000.0); //Set homing leave home velocity
* if (err != (Int32)APS_Define.ERR_NoError) return err;
*/
err = APS168.APS_home_move(mCardPara.AxisID);
if (err != (Int32)APS_Define.ERR_NoError)
{
return(err);
}
Int32 check = -1;
do
{
check = APS168.APS_motion_io_status(mCardPara.AxisID);
}while(check != 0x88);
return(err);
}
/// <summary>
/// Gets the status.
/// </summary>
/// <returns>System.Int32.</returns>
public override int GetStatus()
{
return(APS168.APS_motion_io_status(mCardPara.AxisID));
}
private void tmrUpdateUi_Tick(object sender, EventArgs e)
{
if (_card0.IsLoadXmlFile)
{
_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
double d = 0;
APS168.APS_get_position_f(_selectAxis, ref d);
txtFeedbackPos.Text = d.ToString("f0");
txtFeedbackPosition.Text = d.ToString("f0");
switch (tabControl1.SelectedTab.Name)
{
case "tabMotion":
int index;
bool status;
int motionIoStatus, motionStatus;
//刷新MotionIoStatus
motionIoStatus = APS168.APS_motion_io_status(_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);
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;
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");
APS168.APS_get_target_position_f(_selectAxis, ref value);
txtTargetPosition.Text = value.ToString("f0");
APS168.APS_get_error_position_f(_selectAxis, ref value);
txtErrorPosition.Text = value.ToString("f0");
APS168.APS_get_command_velocity_f(_selectAxis, ref value);
txtCommandVelocity.Text = value.ToString("f0");
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 "tabIo":
var diValue = 0;
APS168.APS_read_d_input(_card0.CardId, 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);
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 "tabTrigger":
{
var count = 0;
APS168.APS_get_trigger_count(0, 0, ref count);
txtTriggerCount0.Text = count.ToString();
APS168.APS_get_trigger_count(0, 1, ref count);
txtTriggerCount1.Text = count.ToString();
}
break;
case "tabPtline":
{
if (_ptEnabled)
{
txtTotalPoint.Text = _bufTotalPoint.ToString();
txtBufFreeSpace.Text = _bufFreeSpace.ToString();
txtbufUsageSpace.Text = _bufUsageSpace.ToString();
txtRunningCnt.Text = _bufRunningCnt.ToString();
}
}
break;
}
}
}