private void dgv_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
EM_RES ret;
if (e.RowIndex < 0 || e.RowIndex > list_ax.Count)
{
return;
}
if (list_ax.ElementAt(e.RowIndex).disc != dgv.Rows[e.RowIndex].Cells[0].Value.ToString())
{
MessageBox.Show("轴列表异常，请重新启动软件!");
return;
}
AXIS ax = list_ax.ElementAt(e.RowIndex);
//负向
if (e.ColumnIndex == 14)
{
ret = ax.JOG_Step(ref VAR.gsys_set.bquit, AXIS.AX_DIR.N);
if (ret != EM_RES.OK)
{
MessageBox.Show(ax.disc + "负向移动异常!");
}
}
//正向
else if (e.ColumnIndex == 15)
{
ret = ax.JOG_Step(ref VAR.gsys_set.bquit, AXIS.AX_DIR.P);
if (ret != EM_RES.OK)
{
MessageBox.Show(ax.disc + "正向移动异常!");
}
}
//定位
else if (e.ColumnIndex == 13)
{
bool bquit = false;
double pos = double.MaxValue;
try
{
if (dgv.Rows[e.RowIndex].Cells[12].Value == null || dgv.Rows[e.RowIndex].Cells[12].Value.ToString().Length == 0)
{
return;
}
pos = Convert.ToDouble(dgv.Rows[e.RowIndex].Cells[12].Value);
}
catch
{
MessageBox.Show(ax.disc + "获取定位坐标异常，请确保定位栏坐标输入正常!");
return;
}
ret = ax.SetToManualHighSpd();
if (ret != EM_RES.OK)
{
MessageBox.Show(ax.disc + "速度设置异常!");
}
ret = ax.MoveTo(ref bquit, pos, 10000, true);
if (ret != EM_RES.OK)
{
MessageBox.Show(ax.disc + "定位异常!");
}
}
else if (e.ColumnIndex == 16)
{
if (DialogResult.Yes != MessageBox.Show("是否执行回零操作!", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning))
{
return;
}
VAR.gsys_set.bquit = false;
ax.HomeTask(20000);
while (true)
{
if (ax.HomeTaskisEnd)
{
break;
}
Thread.Sleep(10);
Application.DoEvents();
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.DBG, string.Format("{0} end...", ax.disc));
if (ax.HomeTaskRet != EM_RES.OK)
{
ax.Stop();
MessageBox.Show(ax.disc + "回零异常!");
}
else
{
MessageBox.Show(ax.disc + "回零成功!");
}
}
//使能
else if (e.ColumnIndex == 11)
{
if (ax.SVRON && DialogResult.Yes == MessageBox.Show("是否松开电机?\r\n松开后需要归零操作!", "警告", MessageBoxButtons.YesNo, MessageBoxIcon.Warning))
{
ax.SVRON = false;
VAR.gsys_set.status = EM_SYS_STA.UNKOWN;
}
else
{
ax.SVRON = true;
}
}
}
public static EM_RES Move(ref bool bquit, ref AXIS ax_x, double xpos, ref AXIS ax_y, double ypos, ref AXIS ax_z, double zpos, ref AXIS ax_r, double rpos, int time_out_ms = 10000, bool bdoevent = false)
{
EM_RES ret = EM_RES.OK;
//start move
if (ax_x != null)
{
ret = ax_x.MoveTo(ref bquit, xpos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_y != null)
{
ret = ax_y.MoveTo(ref bquit, ypos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_z != null)
{
ret = ax_z.MoveTo(ref bquit, zpos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_r != null)
{
ret = ax_r.MoveTo(ref bquit, rpos);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
//wait
if (ax_x != null)
{
ret = ax_x.WaitForMoveDone(ref bquit, xpos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_y != null)
{
ret = ax_y.WaitForMoveDone(ref bquit, ypos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_z != null)
{
ret = ax_z.WaitForMoveDone(ref bquit, zpos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
if (ax_r != null)
{
ret = ax_r.WaitForMoveDone(ref bquit, rpos, time_out_ms, bdoevent);
if (ret != EM_RES.OK)
{
goto MOVE_END;
}
}
return(EM_RES.OK);
MOVE_END:
if (ax_x != null)
{
ax_x.Stop();
}
if (ax_y != null)
{
ax_y.Stop();
}
if (ax_z != null)
{
ax_z.Stop();
}
if (ax_r != null)
{
ax_r.Stop();
}
return(ret);
}
