public int GetPosition(AxisCard axisinfo)
{
int PositionPls = 0;
int Res = CPci9014.p9014_get_pos(axisinfo.Num, 0, ref PositionPls);
return(PositionPls);
}
public bool InitialAxisConfig(AxisCard axisinfo, ProFileType profiletype)
{
bool FuncResult = false;
int Res;
Res = CPci9014.p9014_set_alarm(axisinfo.Num, 0, 1);
if (Res != 0)
{
ShowLog("设置对应 DI 为 ALARM 输入端失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_set_pls_outmode(axisinfo.Num, 0);
if (Res != 0)
{
ShowLog("设置 OUT, DIR 引脚输出脉冲方式失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_set_pls_iptmode(axisinfo.Num, 0);
if (Res != 0)
{
ShowLog("设置 OUT, DIR 引脚输出脉冲方式失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_set_el_level(axisinfo.Num, 0);
if (Res != 0)
{
ShowLog("设定限位信号有效电平失败！", WriteLogType.Error);
return(FuncResult);
}
Res = CPci9014.p9014_home_config(axisinfo.Num, 0, 0, 0);
if (Res != 0)
{
ShowLog("配置原点开关有效电平、编码器 index 信号有效电平、回零模式失败！", WriteLogType.Error);
return(FuncResult);
}
if (profiletype == ProFileType.T_Profile)
{
Res = CPci9014.p9014_set_t_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed);
if (Res != 0)
{
ShowLog("运动 T 曲线参数设定失败！", WriteLogType.Error);
return(FuncResult);
}
}
else
{
Res = CPci9014.p9014_set_s_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed, 1);
if (Res != 0)
{
ShowLog("运动 S 曲线参数设定失败！", WriteLogType.Error);
return(FuncResult);
}
}
FuncResult = true;
return(FuncResult);
}
public int AxisStop(AxisCard axisinfo, AxisStopType StopType)
{
int Res = CPci9014.p9014_stop(axisinfo.Num, (int)StopType);
if (Res != 0)
{
//ShowLog("轴卡停止运动失败！",Color.Red,font);
}
return(Res);
}
public uint CheckIOStatus(AxisCard axisinfo)
{
uint IOStatus = 0;
int Res = CPci9014.p9014_get_io_status(axisinfo.Num, ref IOStatus);
if (Res != 0)
{
return(2);
}
return(IOStatus);
}
public int CheckAxisStatus(AxisCard axisinfo)
{
uint AxisStatus = 999;
int Res = CPci9014.p9014_get_motion_status(axisinfo.Num, ref AxisStatus);
if (Res != 0)
{
return(2);
}
return((int)AxisStatus);
}
public int GetPosition(AxisCard axisinfo)
{
int PositionPls = 0;
int Res = CPci9014.p9014_get_pos(axisinfo.Num, 0, ref PositionPls);
if (Res != 0)
{
//ShowLog("获取当前位置失败！",Color.Red,font);
return(-1);
}
return(PositionPls);
}
public uint CheckIOStatus(AxisCard axisinfo)
{
uint IOStatus = 0;
int Res = CPci9014.p9014_get_io_status(axisinfo.Num, ref IOStatus);
if (Res != 0)
{
//ShowLog("获取与驱动轴相关 I/O（如限位信号、原点信号）的状态失败！",Color.Red,font);
return(2);
}
return(IOStatus);
}
public int CheckAxisStatus(AxisCard axisinfo)
{
uint AxisStatus = 999;
int Res = CPci9014.p9014_get_motion_status(axisinfo.Num, ref AxisStatus);
if (Res != 0)
{
//ShowLog("查询指定轴的状态失败！",Color.Red,font);
return(2);//表示Check Axis状态失败
}
return((int)AxisStatus);
}
private void AxisInfoCombox_SelectedIndexChanged(object sender, EventArgs e)
{
string SelectAxis = this.AxisInfoCombox.SelectedItem.ToString();
foreach (AxisCard selecAixs in context.ControlCard.AxisCard)
{
if (selecAixs.Name == SelectAxis)
{
this.SelectAxis = selecAixs;
break;
}
}
}
public int HomeMove(AxisCard axisinfo, int BackCondition = 0)
{
int time = 0;
CPci9014.p9014_set_t_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed / 2, axisinfo.AccSpeed, axisinfo.DecSpeed);
int Res = CPci9014.p9014_home_move(axisinfo.Num, BackCondition);
if (Res != 0)
{
return(Res);
}
while (time <= 100)
{
time++;
if (CheckAxisStatus(axisinfo) == 0)
{
break;
}
}
return(Res);
}
public int HomeMove(AxisCard axisinfo, int BackCondition = 0)
{
int time = 0;
CPci9014.p9014_set_t_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed / 2, axisinfo.AccSpeed, axisinfo.DecSpeed);
int Res = CPci9014.p9014_home_move(axisinfo.Num, BackCondition);
if (Res != 0)
{
ShowLog("回原运动失败！", WriteLogType.Error);
}
while (time <= 100)
{
time++;
if (CheckAxisStatus(axisinfo) == 0)
{
break;
}
}
ShowLog($"{axisinfo.Name}-手动回原成功！！", WriteLogType.Action);
return(Res);
}
public int PMove(AxisCard axisinfo, int MovePulse, ProFileType MoveStyle)
{
int Res = 0;
int BefPosition = this.GetPosition(axisinfo);
if (MoveStyle == ProFileType.T_Profile)
{
Res = CPci9014.p9014_set_t_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed);
}
else
{
Res = CPci9014.p9014_set_s_profile(axisinfo.Num, axisinfo.MinSpeed, axisinfo.MaxSpeed, axisinfo.AccSpeed, axisinfo.DecSpeed, 1);
}
Res = CPci9014.p9014_pmove(axisinfo.Num, MovePulse, axisinfo.MoveStyle, 2);
if (Res != 0)
{
ShowLog($"{axisinfo.Name} 运动到脉冲距离:{MovePulse} 失败！", WriteLogType.Error);
return(2);
}
while (true)
{
if (this.CheckAxisStatus(axisinfo) == 0)
{
break;
}
Thread.Sleep(500);
}
int AfPosition = this.GetPosition(axisinfo);
if (Math.Abs(AfPosition - BefPosition) - Math.Abs(MovePulse) > 1000)
{
ShowLog($"{axisinfo.Name}-实际运动脉冲数与目标运动脉冲数误差过大！！", WriteLogType.Error);
}
ShowLog($"{axisinfo.Name}-运动到脉冲距离:{MovePulse} 成功！", WriteLogType.Action);
return(Res);
}
public int AxisStop(AxisCard axisinfo, AxisStopType StopType)
{
return(CPci9014.p9014_stop(axisinfo.Num, (int)StopType));
}
public bool AxisReset(AxisCard axiscard)
{
try
{
int Res = 999;
int WaitTimes = 0;
//Thread.Sleep(2000);
PrinterLog($"{axiscard.Name}轴开始回原点....", WriteLogType.Action);
//Different Control Card.The HomeMode will Change PCI9014 :1/Forward,0/Opposite DMC2C80:1/Forward 2/Opposite;
int LocalPosition = ControlcardObj.GetPosition(axiscard);
if (Math.Abs(LocalPosition) <= axiscard.HomeBackDis)
{
if (axiscard.HomeModel == 1)
{
axiscard.HomeModel *= -1;
}
Res = ControlcardObj.PMove(axiscard, axiscard.HomeBackDis, ProFileType.T_Profile);
//PCI9014:0/Free 1/working DMC2C80:0/working 1/Free;
while (ControlcardObj.CheckAxisStatus(axiscard) == 1)
{
WaitTimes++;
if (WaitTimes == 300)
{
PrinterLog($"{axiscard.Name} 运动到 [{axiscard.HomeBackDis}]超时！", WriteLogType.Error);
return(false);
}
Thread.Sleep(100);
}
LocalPosition = ControlcardObj.GetPosition(axiscard);
if (LocalPosition != axiscard.HomeBackDis)
{
PrinterLog($"{axiscard.Name} 未运动到指定位置:{axiscard.HomeBackDis}！", WriteLogType.Error);
return(false);
}
}
WaitTimes = 0;
Res = ControlcardObj.HomeMove(axiscard);
while (ControlcardObj.CheckAxisStatus(axiscard) == 1)
{
WaitTimes++;
if (WaitTimes == 300)
{
PrinterLog($"{axiscard.Name} 回原运动超时！", WriteLogType.Error);
return(false);
}
Thread.Sleep(100);
}
LocalPosition = ControlcardObj.GetPosition(axiscard);
if (LocalPosition != 0 || Res != 0)
{
PrinterLog($"{axiscard.Name}回原运动后未到达原点位置，轴卡现在所在位置脉冲：{LocalPosition}", WriteLogType.Error);
return(false);
}
return(true);
}
catch (Exception ex)
{
PrinterLog(ex.Message, WriteLogType.Error);
throw new Exception(ex.Message);
}
}
