/// <summary>运动控制卡初始化 </summary>
internal void Open()
{
AxisCount = HTM.GetAxisNum();
if (AxisCount > 0)
{
axisHomeDones = new bool[AxisCount];
detectHomeDones = new Thread[AxisCount];
_motionParams = new JFMotionParam[AxisCount];
for (int i = 0; i < AxisCount; i++)
{
HTM.AXIS_INFO ai;
HTM.GetAxisInfo(i, out ai);
HTM.MOTION_PARA mp = HTM.GetMotionPara(i);//HTM.GetMovePara(i, out mp);
//if (ret != 0)
//{
// AxisCount = 0;
// _motionParams = null;
// throw new Exception(string.Format("MC_Htm.Init Failed :HTM.GetMovePara(axis = {0}) return errorCode = {1}", i, ret));
//}
_motionParams[i] = new JFMotionParam();
_motionParams[i].vs = mp.vStart;
_motionParams[i].vm = mp.vMax;
_motionParams[i].ve = mp.vEnd;
_motionParams[i].acc = mp.acc;
_motionParams[i].dec = mp.dec;
_motionParams[i].curve = mp.sFactor;
_motionParams[i].jerk = 0;
axisHomeDones[i] = false;
detectHomeDones[i] = new Thread(new ParameterizedThreadStart(FuncDetectHomeDone));
}
}
IsOpen = true;
}
public int SetHomeParam(int axis, JFHomeParam hp)
{
_CheckAxisEnable(axis, "SetHomeParam");
HTM.AXIS_INFO axInfo;
int opt = HTM.GetAxisInfo(axis, out axInfo);
if (opt != 0)
{
throw new Exception("SetHomeParam() Failed By: HTM.GetAxisInfo() return errorCode = " + opt);
}
axInfo.homeMode = (sbyte)hp.mode;
axInfo.homeDir = (byte)(hp.dir ? 1 : 0);
axInfo.homeEZA = (byte)(hp.eza ? 1 : 0);
axInfo.homeAcc = hp.acc;
axInfo.homeVm = hp.vm;
axInfo.homeVo = hp.vo;
axInfo.homeShift = hp.shift;
opt = HTM.SetAxisInfo(axis, ref axInfo);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
/// <summary>单轴回零参数</summary>
public int GetHomeParam(int axis, out JFHomeParam pm)
{
_CheckAxisEnable(axis, "GetHomeParam");
HTM.AXIS_INFO axInfo;
int errCode = HTM.GetAxisInfo(axis, out axInfo);
if (errCode != 0)
{
pm = new JFHomeParam();
return((int)ErrorDef.InvokeFailed);
}
pm = new JFHomeParam()
{
mode = axInfo.homeMode,
dir = axInfo.homeDir != 0,
eza = axInfo.homeEZA != 0,
acc = axInfo.homeAcc,
vm = axInfo.homeVm,
vo = axInfo.homeVo,
va = axInfo.homeVo,
shift = axInfo.homeShift,
offset = 0
};
return((int)ErrorDef.Success);
}
public int SetSNLimit(int axis, bool enable, double pos)
{
_CheckAxisEnable(axis, "SetSNLimit");
HTM.AXIS_INFO axi;
int nRet = HTM.GetAxisInfo(axis, out axi);
if (nRet != 0)
{
throw new Exception("MDD_Htm.SetSNLimit failed: HTM.GetAxisInfo return errorCode = " + nRet);
}
if (enable)
{
axi.enableSEL = (byte)(axi.enableSEL | 0x01);
axi.sMELPos = pos;
}
else
{
axi.enableSEL = (byte)(axi.enableSEL & 0x02);
}
int opt = HTM.SetAxisInfo(axis, ref axi);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
public int SetPulseFactor(int axis, double plsFactor)
{
_CheckAxisEnable(axis, "SetPulseFactor");
HTM.AXIS_INFO ai;
int opt = HTM.GetAxisInfo(axis, out ai);
if (0 != opt)
{
throw new Exception("MDD_Htm.SetPulseFactor failed: HTM.GetAxisInfo return errorCode = " + opt);
}
ai.pulseFactor = plsFactor;
opt = HTM.SetAxisInfo(axis, ref ai);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
public int GetSNLimit(int axis, out bool enable, out double pos)
{
_CheckAxisEnable(axis, "GetSNLimit");
enable = false;
pos = 0;
HTM.AXIS_INFO axi;
int nRet = HTM.GetAxisInfo(axis, out axi);
if (nRet != 0)
{
return((int)ErrorDef.InvokeFailed);
}
if ((axi.enableSEL & 0x01) != 0)
{
enable = true;
}
else
{
enable = false;
}
pos = axi.sMELPos;
return((int)ErrorDef.Success);
}