/// <summary>
/// 查找并初始化系统里面所有的 PCI-9014
/// </summary>
/// <returns></returns>
public override int Init()
{
int rc;
int boarkCount = 0;
int[] card_id = new int[16];
//初始化运动轴；
rc = CPci9014.p9014_initial(ref boarkCount, card_id);
if (rc != 0)
{
Log.GetInstance().ErrorWrite("Initialize PCI-9014 fail");
return(1);
}
//PCI9014的数目；
//boarkCount = 1;
if (boarkCount < 1)
{
Log.GetInstance().ErrorWrite("Find No PCI-9014 device");
return(1);
}
//获取运动轴的参数
if (!GetParameter())
{
return(1);
}
else
{
Log.GetInstance().NormalWrite("获取运动轴参数成功！！");
}
foreach (var Axis in Global.LstAxis)
{
//设置运动参数
//Alarm 0:低有效 1: 高有效
rc &= CPci9014.p9014_set_alarm(Axis.No, 0, 1);
//0:PULSE/DIR 1: CW/CCW
rc &= CPci9014.p9014_set_pls_outmode(Axis.No, 0);
//0:PULSE/DIR 1:4X AB
rc &= CPci9014.p9014_set_pls_iptmode(Axis.No, 0);
//EL Level 0:低有效 1: 高有效
rc &= CPci9014.p9014_set_el_level(Axis.No, 0);
//mode(0:ORG Only 1:ORG+EZ)
//ORG Level(0:低有效 1: 高有效)
//EZ Level(0:低有效 1: 高有效)
rc &= CPci9014.p9014_home_config(Axis.No, 0, 0, 0);
//设置T Profile 下的速度，加速度等参数
rc &= CPci9014.p9014_set_t_profile(Axis.No, Axis.startSpeed, Axis.maxSpeed, Axis.AccTime, Axis.DecTime);
}
//关闭所有输出
SetAllOutBit(false);
return(rc);
}
/// <summary>
/// 单轴回原点；
/// </summary>
/// <param name="axisinfo"></param>
/// <param name="BitNum"></param>
/// <returns></returns>
public override int SingleAxisHomeBack(PCI9014AxisInfo axisinfo, uint BitNum)
{
int waittime = 0;
int res = 0;
int FindORLCondition = 0;
res = CPci9014.p9014_set_t_profile(axisinfo.No, axisinfo.HomeBackSpeed, axisinfo.HomeBackSpeed, axisinfo.AccTime, axisinfo.DecTime);
res = CPci9014.p9014_home_move(axisinfo.No, FindORLCondition);//设置为反向查找；
if (res != 0)
{
Log.GetInstance().ErrorWrite("回原点失败！！");
return(res);
}
while (true)
{
if (waittime == 50)
{
Log.GetInstance().ErrorWrite(string.Format("{0}回原点超时！！", axisinfo.AxisName));
Global.AxisControlCard.Stop(axisinfo);
return(res);
}
waittime++;
res = (int)Global.AxisControlCard.GetInBit(0, BitNum);
if (res == 2)
{
continue;
}
else if (res == 1 && axisinfo.AxisName == "检测相机")
{
Log.GetInstance().ErrorWrite(string.Format("{0}-运动轴报警！！！", axisinfo.AxisName));
Global.AxisControlCard.Stop(axisinfo);
return(res);
}
else if (res == 0 && axisinfo.AxisName == "遮光幕布")
{
Log.GetInstance().ErrorWrite(string.Format("{0}-运动轴报警！！！", axisinfo.AxisName));
Global.AxisControlCard.Stop(axisinfo);
return(res);
}
res = (int)IsMotionDone(axisinfo);
if (res == 2)
{
Log.GetInstance().ErrorWrite("获取运动状态失败！！");
break;
}
else if (res == 0)
{
Log.GetInstance().NormalWrite(string.Format("{0}轴的运动状态已停止！！", axisinfo.AxisName));
break;
}
Thread.Sleep(1000);
}
return(res);
}
/// <summary>
/// 单轴回负极线位置；
/// </summary>
/// <param name="axisinfo"></param>
/// <returns></returns>
public override int SingleAxisBackWorkPos(PCI9014AxisInfo axisinfo)
{
int res = 0;
if (IsORG(axisinfo) != 1)
{
res = CPci9014.p9014_set_t_profile(axisinfo.No, axisinfo.HomeBackSpeed, axisinfo.HomeBackSpeed, axisinfo.AccTime, axisinfo.DecTime);
res = CPci9014.p9014_home_move(axisinfo.No, 0);//设置为反向查找；
while (true)
{
if (IsMotionDone(axisinfo) == 0)
{
break;
}
Thread.Sleep(100);
}
if (res != 0)
{
Log.GetInstance().ErrorWrite("测试完成后回原点失败！！");
return(res);
}
res = IsORG(axisinfo);
if (res != 1)
{
Log.GetInstance().ErrorWrite("测试完成回后原点失败！！");
return(res);
}
}
axisinfo.cmdPos = axisinfo.WorkPosition1;
res = CPci9014.p9014_set_t_profile(axisinfo.No, axisinfo.startSpeed, axisinfo.maxSpeed, axisinfo.AccTime, axisinfo.DecTime);
res = CPci9014.p9014_pmove(axisinfo.No, axisinfo.cmdPos, 0, 2);
//检查运动是否完成，且检查运动轴是否报警；
while (true)
{
if (IsMotionDone(axisinfo) == 0)
{
break;
}
Thread.Sleep(50);
}
if (Global.AxisControlCard.GetCurrentPos(axisinfo) == 0)
{
if (System.Math.Abs(axisinfo.curPos - axisinfo.cmdPos) > 1000)
{
Log.GetInstance().ErrorWrite("与目标位置相差大于1000个脉冲！！");
res = 2;
}
}
return(res);
}
private void button1_Click(object sender, EventArgs e)
{
double start_vel, max_vel, acc, dec;
int dist;
int rc = 0;
start_vel = Convert.ToDouble(textBox1.Text);
max_vel = Convert.ToDouble(textBox2.Text);
acc = Convert.ToDouble(textBox3.Text);
dec = Convert.ToDouble(textBox4.Text);
dist = Convert.ToInt32(textBox5.Text);
CPci9014.p9014_set_t_profile(m_axis, start_vel, max_vel, acc, dec);
switch (m_type)
{
case 0:
{
CPci9014.p9014_pmove(m_axis, dist, 0, 2);
break;
}
case 1:
{
CPci9014.p9014_vmove(m_axis, 1, 2);
break;
}
case 2:
{
CPci9014.p9014_vmove(m_axis, 0, 2);
break;
}
}
if (rc != 0)
{
MessageBox.Show("Stop Axis fail,return code:" + Convert.ToString(rc));
}
}
/// <summary>
/// 距离间的运动；
/// </summary>
/// <param name="axinfo"></param>
/// <param name="VStart"></param>
/// <param name="VMax"></param>
/// <param name="MovePosition"></param>
/// <param name="MovedDistance"></param>
/// <returns></returns>
public override ErrorInfo SectionMotion(PCI9014AxisInfo axinfo, int VStart, int VMax, int MovePosition, int MovedDistance)
{
int requesttimes = 0;
while (CPci9014.p9014_set_t_profile(axinfo.No, VStart, VMax, axinfo.AccTime, axinfo.DecTime) != 0)
{
Thread.Sleep(10);
}
while (CPci9014.p9014_pmove(axinfo.No, MovePosition, 0, 2) != 0)
{
Thread.Sleep(10);
}
//Thread.Sleep(10);
while (true)
{
if (IsMotionDone(axinfo) == 0)
{
break;
}
Thread.Sleep(50);
}
while (GetCurrentPos(axinfo) != 0)
{
Thread.Sleep(10);
requesttimes++;
if (requesttimes == 100)
{
Log.GetInstance().ErrorWrite("获取当前位置失败！");
return(ErrorInfo.ErrorCmdExcuteFail);
}
}
if (System.Math.Abs((double)axinfo.curPos - (double)MovedDistance) > 1000) //实际位置和期望位置误差太大，超过了1000
{
Log.GetInstance().ErrorWrite("运动完成了，但实际位置和期望位置误差大于1000脉冲！");
return(ErrorInfo.ErrorNotMoveToCorrectPos);
}
return(ErrorInfo.ErrorSucceed);
}
public override int HomeMoveConfig(PCI9014AxisInfo axinfo)
{
CPci9014.p9014_set_t_profile(axinfo.No, 5000, 20000, 1000, 1000);//固定一个回原速度
return(CPci9014.p9014_home_config(axinfo.No, 0, 1, 1));
}
public override int SettProfile(SingleDemura.PCI9014AxisInfo axinfo)
{
return(CPci9014.p9014_set_t_profile(axinfo.No, axinfo.startSpeed, axinfo.maxSpeed, axinfo.AccTime, axinfo.DecTime));
}
/// <summary>
/// 回原运动
/// </summary>
/// <param name="axbase"></param>
/// <returns></returns>
public override int HomeAllAxis(PCI9014AxisInfo SetAxis)
{
Log.GetInstance().WarningWrite("正在回原点，请等待......");
//当处于原点时，需要往正向移动一定距离，然后再进行复位动作，保证每次复位位置一致
int res = 0;
res = IsORG(SetAxis);
if (res == 1)
{
Log.GetInstance().WarningWrite(string.Format("{0}--已经在原点位置无需回原运动！", SetAxis.AxisName));
goto WorkPos;
}
else if (res == 2)
{
return((int)(ErrorInfo.ErrorCmdExcuteFail));
}
CPci9014.p9014_set_t_profile(SetAxis.No, SetAxis.startSpeed, SetAxis.maxSpeed, SetAxis.AccTime, SetAxis.DecTime);
CPci9014.p9014_pmove(SetAxis.No, SetAxis.StartBackHomeDis, 0, 2);
while (true)
{
if (IsMotionDone(SetAxis) == 0)
{
break;
}
Thread.Sleep(50);
}
//固定回原速度，起止速度相同；
CPci9014.p9014_set_t_profile(SetAxis.No, SetAxis.HomeBackSpeed, SetAxis.HomeBackSpeed, SetAxis.AccTime, SetAxis.DecTime);
CPci9014.p9014_home_move(SetAxis.No, 0);
while (true)
{
if (IsMotionDone(SetAxis) == 0)
{
break;
}
Thread.Sleep(50);
}
Thread.Sleep(100);
res = IsORG(SetAxis);
if (res == 1)
{
Log.GetInstance().WarningWrite("回原点成功！！");
}
else
{
Log.GetInstance().ErrorWrite("回原点失败！！");
return((int)ErrorInfo.ErrorCmdExcuteFail);
}
Log.GetInstance().WarningWrite(string.Format("{0}--准备运动到工作位置！", SetAxis.AxisName));
res = Global.AxisControlCard.GetCurrentPos(SetAxis);
if (res != 0)
{
Log.GetInstance().ErrorWrite("获取当前位置失败！！");
return((int)ErrorInfo.ErrorCmdExcuteFail);
}
WorkPos : SetAxis.cmdPos = SetAxis.WorkPosition1 - SetAxis.curPos;
res = Global.AxisControlCard.PRelativeMove(SetAxis);
if (res != (int)ErrorInfo.ErrorSucceed)
{
Log.GetInstance().ErrorWrite(string.Format("{0}运动失败！！", SetAxis.AxisName));
return((int)ErrorInfo.ErrorCmdExcuteFail);
}
return((int)ErrorInfo.ErrorSucceed);
}
