/// <summary>
/// 克隆工序信息并指定其工序号
/// </summary>
/// <returns></returns>
public Process Clone(int processNo)
{
Process process = new Process(this.ProcessType, this.ProcessShape, this.isOutside, processNo, this.StartPoint);
process.SideType = this.SideType;
process.IntoPoint = this.IntoPoint.Clone();
process.Height = this.Height;
process.Diameter = this.Diameter;
process.RecDirection = this.RecDirection;
return process;
}
/// <summary>
/// 铣矩形动作
/// </summary>
/// <param name="process"></param>
/// <param name="strVel"></param>
/// <param name="maxVel"></param>
/// <param name="tAcc"></param>
/// <param name="tDec"></param>
private static void recDrill(Process process, int strVel, int maxVel, double tAcc, double tDec)
{
//根据铣矩形的环绕方向进行加工
int directCOE = process.RecDirection == Direction.ClockWise ? -1 : 1;
short rc = 0;
//移动轴的节点
ushort[] _nodeMove = new ushort[2];
//线性移动距离的脉冲数
int[] _moveLinePulse = new int[2] { 0, (int)((process.Height - Spindle.BladeDiameter) * Tool.ZPulsePerMill) };
switch (process.SideType) {
case SideType.Front:
_nodeMove[0] = 1;
_nodeMove[1] = 3;
_moveLinePulse[0] = directCOE * (int)((process.Width - Spindle.BladeDiameter) * Tool.XPulsePerMill);
break;
case SideType.Left:
_nodeMove[0] = 2;
_nodeMove[1] = 3;
_moveLinePulse[0] = -directCOE * (int)((process.Width - Spindle.BladeDiameter) * Tool.YPulsePerMill);
break;
case SideType.Back:
_nodeMove[0] = 1;
_nodeMove[1] = 3;
_moveLinePulse[0] = -directCOE * (int)((process.Width - Spindle.BladeDiameter) * Tool.XPulsePerMill);
break;
case SideType.Right:
_nodeMove[0] = 2;
_nodeMove[1] = 3;
_moveLinePulse[0] = directCOE * (int)((process.Width - Spindle.BladeDiameter) * Tool.YPulsePerMill);
break;
}
//钻入一定深度
waitPause();
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
process.IntoPoint.XPulse, process.IntoPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.DrillingIn), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.DrillIn);
//向下移动一段距离，注意，这里的速度需要限制为z轴的最大速度
waitPause();
rc = DMC.CS_DMC_01_start_sr_move_xy(ControlCard.CardNo, ref _nodeMove[0], ref Parameter.slotGroup[0],
0, -_moveLinePulse[1], strVel, getMaxSpeed(new Point(), new Point(0, 0, _moveLinePulse[1], 0), maxVel, CoeTable.DrillingRec), tAcc, tDec);
waitForDone(_nodeMove, currentProcessNo, WaitMode.Always, DebugAction.MillRec);
//横着移动一段距离
waitPause();
rc = DMC.CS_DMC_01_start_sr_move_xy(ControlCard.CardNo, ref _nodeMove[0], ref Parameter.slotGroup[0],
_moveLinePulse[0], 0, strVel, getMaxSpeed(maxVel, CoeTable.DrillingRec), tAcc, tDec);
waitForDone(_nodeMove, currentProcessNo, WaitMode.Always, DebugAction.MillRec);
//向上移动一段距离
waitPause();
rc = DMC.CS_DMC_01_start_sr_move_xy(ControlCard.CardNo, ref _nodeMove[0], ref Parameter.slotGroup[0],
0, _moveLinePulse[1], strVel, getMaxSpeed(new Point(), new Point(0, 0, _moveLinePulse[1], 0), maxVel, CoeTable.DrillingRec), tAcc, tDec);
waitForDone(_nodeMove, currentProcessNo, WaitMode.Always, DebugAction.MillRec);
//横着移动一段距离
waitPause();
rc = DMC.CS_DMC_01_start_sr_move_xy(ControlCard.CardNo, ref _nodeMove[0], ref Parameter.slotGroup[0],
-_moveLinePulse[0], 0, strVel, getMaxSpeed(maxVel, CoeTable.DrillingRec), tAcc, tDec);
waitForDone(_nodeMove, currentProcessNo, WaitMode.Always, DebugAction.MillRec);
//退刀
waitPause();
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
process.StartPoint.XPulse, process.StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.DrillingOut), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.DrillOut);
}
/// <summary>
/// 加工面的切换
/// </summary>
/// <param name="cutPoint">工位的切边点</param>
/// <param name="direction">加工环绕方向</param>
/// <param name="startNo">起始序号</param>
/// <param name="stopNo">终止序号</param>
/// <param name="strVel">初始速度</param>
/// <param name="maxVel">最大速度</param>
/// <param name="tAcc">加速时间</param>
/// <param name="tDec">减速时间</param>
private static void sideChange(List<CutPoint> cutPoint, Process process, Direction direction, int startNo, int stopNo, int strVel, int maxVel, double tAcc, double tDec)
{
short rc = 0;
//刀具位置与工件之间的间隙、当前切边点序号与下一切边点序号
//当准备进行加工面切换时，直接使用起始点坐标的标志
int blank = 0, iNext = 0, iNow = 0;
bool useCurrentPoint = false;
for (iNow = startNo; iNow < stopNo; iNow++) {
waitPause();
//切边点总共8个
if (iNow >= 8) {
//如果当前点的序号为8
//则需要重置为0重新轮询
iNow = iNow - 8;
//下一个切边点的序号加1
iNext = iNow + 1;
}
else if (iNow == 7) {
//如果当前的切边点为7，则下一个点的序号重置为0
iNext = 0;
}
else {
//否则正常情况下下一个序号为当前序号加1
iNext = iNow + 1;
}
//如果当前的加工面与下一个加工面不同，则要切换加工面
if (cutPoint[iNow].SideType != cutPoint[iNext].SideType) {
//获取圆心的绝对坐标坐标
int angelPulse;
//xy轴圆周运动，w轴做切线追随运动,到达下一个切边点
if (cutPoint[iNow].SideType == SideType.Front || cutPoint[iNow].SideType == SideType.Back) {
//不用移动到下一切边点，可直接进行螺旋插补
if (useCurrentPoint == true) {
useCurrentPoint = false;
int[] _centerPulse = getCenterPulse(new Point(process.StartPoint.XPulse, cutPoint[iNow].YPulse, 0, process.StartPoint.WPulse), cutPoint[iNext], out angelPulse);
rc = DMC.CS_DMC_01_start_tr_heli_xy(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Parameter.slotGroup[0], _centerPulse[0] - process.StartPoint.XPulse,
_centerPulse[1] - process.StartPoint.YPulse, angelPulse, Tool.WPulsePerCircle, (short)direction, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
else {
int[] _centerPulse = getCenterPulse(cutPoint[iNow], cutPoint[iNext], out angelPulse);
//如果是前后面，则对应的圆心的相对坐标需要在Y轴上加上一个“blank”
rc = DMC.CS_DMC_01_start_tr_heli_xy(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Parameter.slotGroup[0], _centerPulse[0] - cutPoint[iNow].XPulse,
_centerPulse[1] - cutPoint[iNow].YPulse + blank, angelPulse, Tool.WPulsePerCircle, (short)direction, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
}
else {
if (useCurrentPoint == true) {
useCurrentPoint = false;
int[] _centerPulse = getCenterPulse(new Point(cutPoint[iNow].XPulse, process.StartPoint.YPulse, 0, process.StartPoint.WPulse), cutPoint[iNext], out angelPulse);
rc = DMC.CS_DMC_01_start_tr_heli_xy(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Parameter.slotGroup[0], _centerPulse[0] - process.StartPoint.XPulse,
_centerPulse[1] - process.StartPoint.YPulse, angelPulse, Tool.WPulsePerCircle, (short)direction, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
else {
//否则在X轴上加上一个“blank”
int[] _centerPulse = getCenterPulse(cutPoint[iNow], cutPoint[iNext], out angelPulse);
rc = DMC.CS_DMC_01_start_tr_heli_xy(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Parameter.slotGroup[0], _centerPulse[0] - cutPoint[iNow].XPulse + blank,
_centerPulse[1] - cutPoint[iNow].YPulse, angelPulse, Tool.WPulsePerCircle, (short)direction, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
}
waitForDone(Parameter.xywNodeGroup, currentProcessNo + 1, WaitMode.OnlyDebug, DebugAction.Move);
}
else {
//如果加工面是前或者后
if (cutPoint[iNow].SideType == SideType.Front || cutPoint[iNow].SideType == SideType.Back) {
if (iNow == startNo) {
//获取和工件之间的间隙
blank = cutPoint[iNow].YPulse - process.StartPoint.YPulse;
//如果当前点距离inow切边点的距离小于inow切边点与inext切边点间的距离则要移动到inext切边点
if (Math.Abs(process.StartPoint.XPulse - cutPoint[iNow].XPulse) <
Math.Abs(cutPoint[iNext].XPulse - cutPoint[iNow].XPulse)) {
//如果现在的序号等于起始号，则通过相对坐标的移动达到目的位置
rc = DMC.CS_DMC_01_start_tr_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
cutPoint[iNext].XPulse - process.StartPoint.XPulse, cutPoint[iNext].YPulse - cutPoint[iNow].YPulse, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
else
//下一个螺旋插补,使用当前点
useCurrentPoint = true;
}
else {
//否则正常移动到下一个切边点的XY上的位置
rc = DMC.CS_DMC_01_start_tr_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
cutPoint[iNext].XPulse - cutPoint[iNow].XPulse, cutPoint[iNext].YPulse - cutPoint[iNow].YPulse, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
waitForDone(Parameter.xyNodeGroup, currentProcessNo + 1, WaitMode.OnlyDebug, DebugAction.Move);
}
//否则移动y轴
else {
if (iNow == startNo) {
//获取和工件之间的间隙
blank = cutPoint[iNow].XPulse - process.StartPoint.XPulse;
if (Math.Abs(process.StartPoint.YPulse - cutPoint[iNow].YPulse) <
Math.Abs(cutPoint[iNext].YPulse - cutPoint[iNow].YPulse)
) {
//如果现在的序号等于起始号，则通过相对坐标的移动达到目的位置，这么做是为了方便使用线性插补命令
rc = DMC.CS_DMC_01_start_tr_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
cutPoint[iNext].XPulse - cutPoint[iNow].XPulse, cutPoint[iNext].YPulse - process.StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
else
useCurrentPoint = true;
}
else {
//否则正常移动到下一个切边点的XY上的位置
rc = DMC.CS_DMC_01_start_tr_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
cutPoint[iNext].XPulse - cutPoint[iNow].XPulse, cutPoint[iNext].YPulse - cutPoint[iNow].YPulse, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
}
waitForDone(Parameter.xyNodeGroup, currentProcessNo + 1, WaitMode.OnlyDebug, DebugAction.Move);
}
}
}
}
/// <summary>
/// 执行加工工序
/// </summary>
/// <param name="process">要加工的工序</param>
/// <param name="strVel">初始速度</param>
/// <param name="maxVel">最大速度</param>
/// <param name="tAcc">加速时间</param>
/// <param name="tDec">减速时间</param>
private static void doProcess(Process process, int strVel, int maxVel, double tAcc, double tDec)
{
//根据加工形状进行选择工序
switch (process.ProcessShape) {
//铣圆
case ProcessShape.Cir:
cirDrill(process, strVel, maxVel, tAcc, tDec);
break;
//铣矩形
case ProcessShape.Rec:
recDrill(process, strVel, maxVel, tAcc, tDec);
break;
}
}
/// <summary>
/// 铣圆孔动作
/// </summary>
/// <param name="process">工序名</param>
/// <param name="strVel">初始速度</param>
/// <param name="maxVel">最大速度</param>
/// <param name="tAcc">加速时间</param>
/// <param name="tDec">减速时间</param>
private static void cirDrill(Process process, int strVel, int maxVel, double tAcc, double tDec)
{
short rc = 0;
//钻入一定深度
waitPause();
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
process.IntoPoint.XPulse, process.IntoPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.DrillingIn), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.DrillIn);
//如果要铣圆孔的直径大于刀具直径，则进行正常的铣削加工，否则可视为钻孔
if (process.Diameter > Spindle.BladeDiameter) {
ushort[] _nodeCenter = new ushort[2];
//中心脉冲,这里计算用的是相对坐标
int[] _centerPulse = new int[2] { 0, 0 };
switch (process.SideType) {
case SideType.Front:
case SideType.Back:
_nodeCenter[0] = 1;
_nodeCenter[1] = 3;
_centerPulse[0] = (int)((process.Diameter / 2 - Spindle.BladeRadius) * Tool.XPulsePerMill);
break;
case SideType.Left:
case SideType.Right:
_nodeCenter[0] = 2;
_nodeCenter[1] = 3;
_centerPulse[0] = (int)((process.Diameter / 2 - Spindle.BladeRadius) * Tool.YPulsePerMill);
break;
}
waitPause();
rc = DMC.CS_DMC_01_start_sr_move_xy(ControlCard.CardNo, ref _nodeCenter[0], ref Parameter.slotGroup[0],
_centerPulse[0], _centerPulse[1], strVel, getMaxSpeed(maxVel, CoeTable.DrillingCir), tAcc, tDec);
//等待动作完成
waitForDone(_nodeCenter, currentProcessNo, WaitMode.Always, DebugAction.MillCir);
//xz轴圆弧插补360度铣一个孔，孔中心为定位中心
waitPause();
rc = DMC.CS_DMC_01_start_sr_arc_xy(ControlCard.CardNo, ref _nodeCenter[0], ref Parameter.slotGroup[0],
-_centerPulse[0], _centerPulse[1], 359, strVel, getMaxSpeed(maxVel, CoeTable.DrillingCir), tAcc, tDec);
//等待动作完成
waitForDone(_nodeCenter, currentProcessNo, WaitMode.Always, DebugAction.MillCir);
}
//退刀
waitPause();
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
process.StartPoint.XPulse, process.StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.DrillingOut), tAcc, tDec);
//等待动作完成
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.DrillOut);
}
public void InsertProcess(int processNo, Process process)
{
ProcessList.Insert(processNo, process);
//更改后续工序的工序号
for (int number = processNo + 1; number < ProcessNum; number++) {
ProcessList[number].Number = number;
}
}
/// <summary>
/// 向工位添加一道工序
/// </summary>
/// <param name="process">工序</param>
public void Add(Process process)
{
//调用工序列表的Add方法
ProcessList.Add(process);
}
/// <summary>
/// 向工位添加一道工序
/// </summary>
/// <param name="processType">加工类型</param>
/// <param name="processShape">加工形状</param>
/// <param name="isOutside">指示是否为外侧面</param>
/// <param name="startPoint">起始点坐标</param>
public void Add(ProcessType processType, ProcessShape processShape, bool isOutside, Point startPoint)
{
//新建一道工序
Process process = new Process(processType, processShape, isOutside, ProcessNum, startPoint);
this.Add(process);
}