/// <summary>
/// 改变定位信息
/// </summary>
/// <param name="station">要改变定位信息的工序列表</param>
/// <param name="noOfProcessing">正在信息工序的工序号</param>
/// <param name="pointOld">改变前的定位信息</param>
/// <param name="typeOfAction">执行的试教动作</param>
private static void changePosition(Station station, int noOfProcessing, Point pointOld, DebugAction typeOfAction)
{
//取得当前点的脉冲
Point _pointNew = Servo.GetPosition();
//根据试教的运动类型选择处理的方式
switch (typeOfAction)
{
#region DrillIn
case DebugAction.DrillIn:
//如果是正面和背面，则改变除了Y轴以外的其余轴的绝对定位信息
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse;
station[noOfProcessing].StartPoint.XPulse = station[noOfProcessing].IntoPoint.XPulse;
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse - pointOld.YPulse + station[noOfProcessing].IntoPoint.YPulse;
}
//否则改变X轴以外的其余轴的定位信息
else
{
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse;
station[noOfProcessing].StartPoint.YPulse = station[noOfProcessing].IntoPoint.YPulse;
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse - pointOld.XPulse + station[noOfProcessing].IntoPoint.XPulse;
}
station[noOfProcessing].IntoPoint.ZPulse = _pointNew.ZPulse;
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse;
station[noOfProcessing].StartPoint.ZPulse = station[noOfProcessing].IntoPoint.ZPulse;
station[noOfProcessing].StartPoint.WPulse = station[noOfProcessing].IntoPoint.WPulse;
break;
#endregion
#region DrillOut
case DebugAction.DrillOut:
//如果是正面和背面，则Y轴StartPoint的定位信息
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].StartPoint.YPulse = _pointNew.YPulse - pointOld.YPulse + station[noOfProcessing].StartPoint.YPulse;
}
//否则改变X轴StartPoint的定位信息
else
{
station[noOfProcessing].StartPoint.XPulse = _pointNew.XPulse - pointOld.XPulse + station[noOfProcessing].StartPoint.XPulse;
}
break;
#endregion
#region Cut
case DebugAction.Cut:
//如果是正面和背面，则改变除了Y轴以外的其.余轴的绝对定位信息
//if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
//{
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse;
//}
////否则改变X轴以外的其余轴的定位信息
//else
//{
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse;
//}
station[noOfProcessing].IntoPoint.ZPulse = _pointNew.ZPulse;
if (noOfProcessing != station.MillNum)
{
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse;
}
else
{
//如果相差超过270度
if (Math.Abs(double.Parse(station[noOfProcessing].IntoPoint.WCodinate) - double.Parse(_pointNew.WCodinate)) > 270)
{
if (station[noOfProcessing].IntoPoint.WPulse > _pointNew.WPulse)
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse + Tool.WPulsePerCircle;
else
station[noOfProcessing].IntoPoint.WPulse = _pointNew.WPulse - Tool.WPulsePerCircle;
station[noOfProcessing].StartPoint.WPulse = station[noOfProcessing].IntoPoint.WPulse;
}
//如果是正面和背面，则改变除了Y轴以外的其余轴的绝对定位信息
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].StartPoint.XPulse = _pointNew.XPulse;
}
//否则改变X轴以外的其余轴的定位信息
else
{
station[noOfProcessing].StartPoint.YPulse = _pointNew.YPulse;
}
//}
station[noOfProcessing].StartPoint.ZPulse = _pointNew.ZPulse;
}
break;
#endregion
#region DrillCir & DrillRec
case DebugAction.MillCir:
case DebugAction.MillRec:
if (station[noOfProcessing].SideType == SideType.Front || station[noOfProcessing].SideType == SideType.Back)
{
station[noOfProcessing].IntoPoint.YPulse = _pointNew.YPulse;
}
else
{
station[noOfProcessing].IntoPoint.XPulse = _pointNew.XPulse;
}
break;
#endregion
case DebugAction.InOutChange:
station.InOutChangeHeight = _pointNew.ZPulse;
break;
case DebugAction.Move:
break;
}
}
/// <summary>
/// 开始加工
/// </summary>
/// <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 Processing(int strVel, int maxVel, double tAcc, double tDec)
{
try {
zSpeedLimit = 150000000;
//设启动时间
startTime = DateTime.Now;
//开始加工循环时间
DateTime strTime;
//如果加工开始事件被订阅，则执行
if (ProcessingStarted != null) {
ProcessingStarted(null, new ProcessingStartEventArgs(DateTime.Now));
}
//启动加工时间间隔定时器
spanTimer.Start();
//如果正在回原点则等待回原点完成
if (Servo.IsHoming) {
while (!Servo.IsHomed) {
Thread.Sleep(5);
}
}
int startNo = 0, endNo = CurrentModel.StationNum;
//如果是试加工,总是需要回到原点
if (IsTrying) {
Servo.HomeBack(new ServoHomeParam());
System.Windows.MessageBox.Show("试教开始");
switch (TryMode) {
case TryProcessingMode.OnlyStationOne:
MoveToStartPosition(CurrentModel.StationList[0], strVel, maxVel, tAcc, tDec);
startNo = 0;
endNo = 1;
break;
case TryProcessingMode.OnlyStationTwo:
MoveToStartPosition(CurrentModel.StationList[1], strVel, maxVel, tAcc, tDec);
startNo = CurrentModel.StationNum - 1;
endNo = CurrentModel.StationNum;
break;
case TryProcessingMode.TwoStation:
MoveToStartPosition(CurrentModel.StationList[0], strVel, maxVel, tAcc, tDec);
startNo = 0;
endNo = CurrentModel.StationNum;
break;
}
}
else {
Servo.HomeBack(new ServoHomeParam(ServoHomeMode.ToPoint, CurrentModel.StationList[0][0].StartPoint));
mainWindow.Dispatcher.Invoke(new Action(() => {
mainWindow.btnPause.IsEnabled = true;
}));
MoveToStartPosition(CurrentModel.StationList[0], strVel, maxVel, tAcc, tDec);
}
while (IsProcessing) {
//如果不是试教加工则要根据选择的暂停模式进行暂停
if (!IsTrying) {
switch (PauseMode) {
case PauseType.No:
break;
case PauseType.Always:
RunStatus = RunStatus.Pause;
OneStationCompleted(null, null);
waitPause();
break;
case PauseType.ByChose:
RunStatus = RunStatus.Pause;
OneStationCompleted(null, null);
waitPause();
if (CurrentModel.StationNum == 2) {
if (ChosedStationNo == 0) {
startNo = 0;
endNo = 1;
}
else {
startNo = 1;
endNo = 2;
}
}
break;
}
}
//更新开始时间
strTime = DateTime.Now;
for (int stationNo = startNo; stationNo < endNo; stationNo++) {
currentStation = CurrentModel.StationList[stationNo];
//执行加工工序
for (int i = 0; i < CurrentModel.StationList[stationNo].MillNum; i++) {
//设置正在加工的工序号
currentProcessNo = i;
//执行工序
doProcess(CurrentModel.StationList[stationNo][i], strVel, Parameter.maxVel, tAcc, tDec);
processChange(CurrentModel.StationList[stationNo], i, strVel, Parameter.maxVel, tAcc, tDec);
}
//进行切底边
cutBottom(CurrentModel.StationList[stationNo], strVel, Parameter.maxVel, tAcc, tDec);
int _nextStationNo = stationNo + 1 == endNo ? startNo : stationNo + 1;
//进行工位切换
stationChange(CurrentModel.StationList[stationNo], CurrentModel.StationList[_nextStationNo], strVel, Parameter.maxVel, tAcc, tDec);
//已加工数量加1
NumOfProcessed++;
mainWindow.Dispatcher.Invoke(new Action(() => {
Registry.LocalMachine.CreateSubKey(@"SOFTWARE\CNCMill").SetValue("ProcessedNum", NumOfProcessed);
mainWindow.lblProcessedCount.Content = NumOfProcessed;
}));
new Thread(() => {
ushort no = (ushort)(stationNo + 14);
RM32.SetPortIO(no, 1);
Thread.Sleep(SignalTime * 1000);
if (IsProcessing) {
RM32.SetPortIO(no, 0);
}
}).Start();
//如果不是试加工且需要等待
if (OneStationCompleted != null && PauseMode != PauseType.No) {
RunStatus = RunStatus.Pause;
OneStationCompleted(null, null);
}
}
//计算一个加工循环的耗时
mainWindow.Dispatcher.Invoke(new Action(() =>
mainWindow.lblLastTime.Content = string.Format("{0,2}:{1,2}", (DateTime.Now - strTime).Minutes, (DateTime.Now - strTime).Seconds)));
}
}
catch (FormatException ex) {
Servo.HomeBackEscape();
System.Windows.MessageBox.Show(ex.Message);
}
}
/// <summary>
/// 启动试教监视器
/// </summary>
/// <param name="debugMode">试教模式</param>
/// <param name="masterNode">调速主轴</param>
/// <param name="process">要改变定位信息的工序</param>
public static Thread StartDebugMonitor(DebugMode debugMode, ushort masterNode, Station station, int processingNo, DebugAction debugAction)
{
lock (debugMonitorLock)
{
//获取用以调速的主轴站号
masterAxisNode = masterNode;
//根据选定的模式进行试教
if (debugMode == DebugMode.ModeOne)
{
debugMonitor = new Thread(debugMonitorHandle);
}
else
{
debugMonitor = new Thread(debugMonitorHandle2);
}
//获取正在加工的工位
debugingStation = station;
//获取正在执行的工序号
noOfProcessing = processingNo;
//获取正在执行的试教动作
debugingAction = debugAction;
//设为后台线程，以使关闭窗口后退出线程
debugMonitor.IsBackground = true;
debugMonitor.Priority = ThreadPriority.Highest;
debugMonitor.Start();
//指示试教监视器已经启动
IsDebugMonitorStarted = true;
return debugMonitor;
}
}
/// <summary>
/// 工序切换
/// </summary>
/// <param name="station">当前工位的工序列表</param>
/// <param name="n">工序号</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 processChange(Station station, int n, int strVel, int maxVel, double tAcc, double tDec)
{
//起始序号
int _startNo = 0;
//终止序号
int _stopNo = 0;
//获取下一工序起始点坐标
int[] _posArray = station[n + 1].StartPoint.ToArray();
//如果当前工序的内外侧面类型与下一工序的不同，则需要进行内外侧面的切换
if (station[n].IsOutside != station[n + 1].IsOutside) {
inOutChange(station, n + 1, strVel, maxVel, tAcc, tDec);
}
//如果内外侧面的类型相同
else if (station[n].IsOutside) {
//如果当前的工序和下一工序的加工面相同，则直接切换,否则需要进行环形运动以切换加工面
if (station[n].SideType != station[n + 1].SideType) {
//起始序号
switch (station.MillDirection) {
//铣型工序的执行过程为顺时针
case Direction.ClockWise:
_startNo = (int)station[n].SideType * 2;
if (station[n + 1].SideType > station[n].SideType)
//终止序号
_stopNo = (int)station[n + 1].SideType * 2;
else
_stopNo = _startNo + (4 + (int)station[n + 1].SideType - (int)station[n].SideType) * 2;
break;
case Direction.CounterClockWise:
_startNo = 4 - (int)station[n].SideType == 4 ? 0 : (4 - (int)station[n].SideType) * 2;
if (station[n + 1].SideType < station[n].SideType)
_stopNo = (4 - (int)station[n + 1].SideType) * 2;
else
//终止序号
_stopNo = _startNo + (4 - ((int)station[n + 1].SideType - (int)station[n].SideType)) * 2;
break;
}
sideChange(station.CutPointList, station[n], station.MillDirection, _startNo, _stopNo, strVel, maxVel, tAcc, tDec);
}
waitPause();
if (station[n].SideType == station[n + 1].SideType) {
//Point _pointNow = Servo.GetPosition();
//Point _pointNext = station[n + 1].StartPoint.Clone();
//_pointNext.ZPulse = _pointNow.ZPulse;
////先移动xyw，再下降
//DMC.CS_DMC_01_start_ta_move_xyz(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Parameter.slotGroup[0], _posArray[0], _posArray[1], _posArray[3], strVel,
// getMaxSpeed(_pointNow, _pointNext, maxVel, CoeTable.ProcessChanging), tAcc, tDec);
//waitForDone(Parameter.xywNodeGroup, n + 1, WaitMode.Always, DebugAction.Move);
DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), station[n + 1].StartPoint, maxVel, CoeTable.ProcessChanging), tAcc, tDec, 1, 1);
}
else {
//经过之前的加工面切换，当前所在加工面已经与下一加工面相同
DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel,
getMaxSpeed(new Point(station.CutPointList[_stopNo >= 8 ? _stopNo - 8 : _stopNo].XPulse,
station.CutPointList[_stopNo >= 8 ? _stopNo - 8 : _stopNo].YPulse, station[n].StartPoint.ZPulse, 0),
station[n + 1].StartPoint, maxVel, CoeTable.ProcessChanging), tAcc, tDec, 1, 1);
}
waitForDone(Parameter.nodeGroup, n + 1, WaitMode.Always, DebugAction.Move);
}
else {
waitPause();
int _speed = 0;
if (Math.Abs(Servo.GetPosition().WPulse - station[n + 1].StartPoint.WPulse) > Tool.WPulsePerCircle / 2) {
_speed = Math.Abs(Tool.WPulsePerCircle) + 50000000;
currentSpeed = _speed;
}
else {
_speed = getMaxSpeed(station[n].StartPoint, station[n + 1].StartPoint, maxVel, CoeTable.ProcessChanging);
}
//DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
// ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(station[n].StartPoint, station[n + 1].StartPoint, maxVel, CoeTable.ProcessChanging), tAcc, tDec, 1, 1);
DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, _speed, tAcc, tDec, 1, 1);
waitForDone(Parameter.nodeGroup, n + 1, WaitMode.Always, DebugAction.Move);
}
}
/// <summary>
/// 移动到加工起始点
/// </summary>
/// <param name="station">起始工位</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 MoveToStartPosition(Station station, int strVel, int maxVel, double tAcc, double tDec)
{
currentStation = station;
//如果第一个加工点在内部则需要移动到内部
if (!station[0].IsOutside) {
inOutChange(station, 0, strVel, maxVel, tAcc, tDec);
}
//如果起始点Y方向的坐标小于原点或者起始点位于背面，则先要移动Y轴避免碰撞工件
else if (station[0].StartPoint.YPulse < 0 || station[0].SideType == SideType.Back) {
int[] _posArray = station[0].StartPoint.ToArray();
waitPause();
ushort[] _ywNode = { 2, 4 };
ushort[] _ywSlot = { 0, 0 };
DMC.CS_DMC_01_start_ta_move_xy(0, ref _ywNode[0], ref _ywSlot[0], station[0].StartPoint.YPulse, station[0].StartPoint.WPulse, strVel, Parameter.maxVel, 0.1, tDec);
currentSpeed = Parameter.maxVel;
waitForDone(_ywNode, 0, WaitMode.Always, DebugAction.Move);
waitPause();
//移动到第一个加工点的startPoint
DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), station[0].StartPoint, Parameter.maxVel, CoeTable.ProcessChanging), tAcc, tDec, 1, 1);
//等待动作完成
}
else {
int[] _posArray = station[0].StartPoint.ToArray();
waitPause();
//移动到第一个加工点的startPoint
DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), station[0].StartPoint, Parameter.maxVel, CoeTable.ProcessChanging), tAcc, tDec, 1, 1);
}
waitForDone(Parameter.nodeGroup, 0, WaitMode.Always, DebugAction.Move);
}
/// <summary>
/// 内外侧面切换动作
/// </summary>
/// <param name="station">移入或移出的工位</param>
/// <param name="nextNo">下一工序的工序号</param>
/// <param name="strVel">起始速度</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 inOutChange(Station station, int nextNo, int strVel, int maxVel, double tAcc, double tDec)
{
//先移动到内外侧面的切换高度
waitPause();
//获取合理的最大速度
int _speedTemp = getMaxSpeed(maxVel, CoeTable.ProcessChanging) > zSpeedLimit ? zSpeedLimit : getMaxSpeed(maxVel, CoeTable.ProcessChanging);
currentSpeed = _speedTemp;
//移动到一定高度
DMC.CS_DMC_01_start_ta_move(ControlCard.CardNo, 3, 0, station.InOutChangeHeight, strVel, currentSpeed, tAcc, tDec);
waitForDone(new ushort[] { 3 }, nextNo, WaitMode.Always, DebugAction.Move);
waitPause();
//内外侧加工面切换
DMC.CS_DMC_01_start_ta_move_xyz(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Parameter.slotGroup[0],
station[nextNo].StartPoint.XPulse, station[nextNo].StartPoint.YPulse, station[nextNo].StartPoint.WPulse, strVel, getMaxSpeed(maxVel, CoeTable.ProcessChanging), tAcc, tDec);
waitForDone(Parameter.xywNodeGroup, nextNo, WaitMode.Always, DebugAction.InOutChange);
//移动到起始点
waitPause();
currentSpeed = _speedTemp;
DMC.CS_DMC_01_start_ta_move(ControlCard.CardNo, 3, 0, station[nextNo].StartPoint.ZPulse, strVel, currentSpeed, tAcc, tDec);
waitForDone(new ushort[] { 3 }, nextNo, WaitMode.Always, DebugAction.Move);
}
/// <summary>
/// 切除底边动作
/// </summary>
/// <param name="station">工序列表</param>
/// <param name="strVel">起始速度</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 cutBottom(Station station, int strVel, int maxVel, double tAcc, double tDec)
{
zSpeedLimit = 20000000;
short rc = 0;
//station.DrillNum就是第一个切边点的索引号
//当前工序号与下一工序号
int iNext, iNow;
//铣入一定深度
waitPause();
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
station[station.MillNum].IntoPoint.XPulse, station[station.MillNum].IntoPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.DrillingIn), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, station.MillNum, WaitMode.Always, DebugAction.DrillIn);
//开始执行切边，由第一个切边点开始到最后一个切边点
for (iNow = station.MillNum; iNow < station.ProcessNum; iNow++) {
//确保缓冲区内没有超过20个未执行命令
ushort length = 0;
do {
DMC.CS_DMC_01_get_buffer_length(ControlCard.CardNo, 1, 0, ref length);
Thread.Sleep(50);
}
while (length > 15);
//如果当前的工序号小于最后一个切边点的加工序号
if (iNow < station.ProcessNum - 1)
iNext = iNow + 1;
else
iNext = station.MillNum;
//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 (station[iNow].SideType != station[iNext].SideType) {
//转动的脉冲值
int anglePulse;
//圆心坐标
int[] centerPulse = getCenterPulse(station[iNow].IntoPoint, station[iNext].IntoPoint, out anglePulse);
//xy轴圆周运动，w轴做切线追随运动,到达下一点
waitPause();
do {
rc = DMC.CS_DMC_01_start_tr_heli_xy(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Parameter.slotGroup[0], centerPulse[0] - station[iNow].IntoPoint.XPulse,
centerPulse[1] - station[iNow].IntoPoint.YPulse, anglePulse, Tool.WPulsePerCircle, (short)station.CutDirection, strVel, getMaxSpeed(maxVel == 1 ? maxVel : maxVel, CoeTable.CuttingArc), tAcc, tDec);
if (rc != 0) {
Thread.Sleep(10);
}
}
while (rc != 0);
waitForDone(Parameter.xyNodeGroup, iNext, WaitMode.OnlyDebug, DebugAction.Cut);
}
else {
//否则直接移动到下一点，注意这里W轴也随之运动
waitPause();
if (station.CutNum > 8) {
int[] _posDisarr = station[iNext].IntoPoint.ToArray();
while (_posDisarr[3] - station[iNow].IntoPoint.WPulse > Tool.WPulsePerCircle / 2) {
_posDisarr[3] -= Tool.WPulsePerCircle;
}
while (_posDisarr[3] - station[iNow].IntoPoint.WPulse < -Tool.WPulsePerCircle / 2) {
_posDisarr[3] += Tool.WPulsePerCircle;
}
do {
rc = DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posDisarr[0], strVel, getMaxSpeed(station[iNow].IntoPoint, station[iNext].IntoPoint, maxVel, CoeTable.CuttingLine), tAcc, tDec, 1, 1);
if (rc != 0) {
Thread.Sleep(10);
}
} while (rc != 0);
}
else {
int posWint = station[iNext].IntoPoint.WPulse;
while (posWint - station[iNow].IntoPoint.WPulse > Tool.WPulsePerCircle / 2) {
posWint -= Tool.WPulsePerCircle;
}
while (posWint - station[iNow].IntoPoint.WPulse < -Tool.WPulsePerCircle / 2) {
posWint += Tool.WPulsePerCircle;
}
rc = DMC.CS_DMC_01_start_ta_move_xyz(ControlCard.CardNo, ref Parameter.xywNodeGroup[0], ref Servo.SlotID[0],
station[iNext].IntoPoint.XPulse, station[iNext].IntoPoint.YPulse, posWint, strVel, getMaxSpeed(maxVel, CoeTable.CuttingLine), tAcc, tDec);
}
waitForDone(Parameter.xyNodeGroup, iNext, WaitMode.OnlyDebug, DebugAction.Cut);
}
}
waitForDone(Parameter.xyNodeGroup, station.MillNum, WaitMode.Always, DebugAction.Move);
//退刀
waitPause();
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
station[station.MillNum].StartPoint.XPulse, station[station.MillNum].StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.DrillingOut), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, station.MillNum, WaitMode.Always, DebugAction.DrillOut);
zSpeedLimit = 150000000;
}
/// <summary>
/// 进行工位的切换
/// </summary>
/// <param name="stationNow">当前工位</param>
/// <param name="stationNext">下一个工位</param>
/// <param name="sideOne"></param>
/// <param name="sideTwo"></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 stationChange(Station stationNow, Station stationNext, int strVel, int maxVel, double tAcc, double tDec)
{
if (CurrentModel.Name.Last().Equals('X')) {
//先移动到内外侧面的切换高度
waitPause();
//获取合理的最大速度
int _speedTemp = getMaxSpeed(maxVel, CoeTable.ProcessChanging) > zSpeedLimit ? zSpeedLimit : getMaxSpeed(maxVel, CoeTable.ProcessChanging);
currentSpeed = _speedTemp;
//移动到一定高度
DMC.CS_DMC_01_start_ta_move(ControlCard.CardNo, 3, 0, (stationNext[0].StartPoint.ZPulse + Servo.GetPosition().ZPulse) / 2, strVel, currentSpeed, tAcc, tDec);
waitForDone(new ushort[] { 3 }, 0, WaitMode.Always, DebugAction.Move);
}
//如果下一工位的第一道工序在工件内部，则进行内外侧面的切换
if (!stationNext[0].IsOutside) {
inOutChange(stationNext, 0, strVel, maxVel, tAcc, tDec);
}
else {
//如果存在两个工位，则两个工位的靠近面
SideType sideTwo = SideType.Front, sideOne = SideType.Front;
if (stationNow.Number < stationNext.Number) {
sideOne = SideType.Right;
sideTwo = SideType.Left;
}
else if (stationNow.Number > stationNext.Number) {
sideOne = SideType.Left;
sideTwo = SideType.Right;
}
short rc = 0;
int nNow = stationNow.MillNum;
int[] _posArray = stationNext[0].StartPoint.ToArray();
waitPause();
//当前工位的首个切边点为正（背）面且下一个工位的第一道工序为正（背）面，或者为相邻的两个面
if ((stationNow[nNow].SideType == SideType.Front && stationNext[0].SideType == SideType.Front) || (stationNow[nNow].SideType == SideType.Back && stationNext[0].SideType == SideType.Back)) {
//直接移动到第一个加工点的startPoint
rc = DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), stationNext[0].StartPoint, maxVel, CoeTable.StationChanging), tAcc, tDec, 1, 1);
}
else if (stationNow[nNow].SideType == sideOne && stationNext[0].SideType == sideTwo) {
//移动到第一个加工点的startPoint
rc = DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), stationNext[0].StartPoint, maxVel, CoeTable.StationChanging), tAcc, tDec, 1, 1);
}
//如果当前工位的首个切边点为正面或者背面，且下一个工位的第一道工序为左侧面或者右侧面
else if ((stationNow[nNow].SideType == SideType.Front || stationNow[nNow].SideType == SideType.Back) && (stationNext[0].SideType == SideType.Left || stationNext[0].SideType == SideType.Right)) {
//先移动x轴到下一工位第一道工序起始点的x轴位置
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
stationNext[0].StartPoint.XPulse, stationNow[nNow].StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.StationChanging), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.Move);
//移动到第一个加工点的startPoint
waitPause();
rc = DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), stationNext[0].StartPoint, maxVel, CoeTable.StationChanging), tAcc, tDec, 1, 1);
}
//当前工位的首个切边点为左侧面或为右侧面
else if (stationNow[nNow].SideType == SideType.Left || stationNow[nNow].SideType == SideType.Right) {
//下一工位的第一道工序为正面或者背面
if ((stationNext[0].SideType == SideType.Front || stationNext[0].SideType == SideType.Back)) {
//先移动y轴到下一工位第一道工序起始点的y轴位置
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
stationNow[nNow].StartPoint.XPulse, stationNext[0].StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.StationChanging), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.Move);
//移动到第一个加工点的startPoint
waitPause();
rc = DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), stationNext[0].StartPoint, maxVel, CoeTable.StationChanging), tAcc, tDec, 1, 1);
}
//下一工位的第一道工序为sideTwo
else if (stationNext[0].SideType == sideOne) {
//先移动到下一工位第一道工序的Y轴位置
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
stationNow[nNow].StartPoint.XPulse, stationNext[0].StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.StationChanging), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.Move);
waitPause();
//再移动到下一工位第一道工序的X轴位置
rc = DMC.CS_DMC_01_start_ta_move_xy(ControlCard.CardNo, ref Parameter.xyNodeGroup[0], ref Parameter.slotGroup[0],
stationNext[0].StartPoint.XPulse, stationNext[0].StartPoint.YPulse, strVel, getMaxSpeed(maxVel, CoeTable.StationChanging), tAcc, tDec);
waitForDone(Parameter.xyNodeGroup, currentProcessNo, WaitMode.Always, DebugAction.Move);
//移动到第一个加工点的startPoint
waitPause();
rc = DMC.CS_DMC_01_multi_axes_move(ControlCard.CardNo, (ushort)(Servo.NumOfServo - 1), ref Parameter.nodeGroup[0],
ref Parameter.slotGroup[0], ref _posArray[0], strVel, getMaxSpeed(Servo.GetPosition(), stationNext[0].StartPoint, maxVel, CoeTable.StationChanging), tAcc, tDec, 1, 1);
}
}
else {
System.Windows.MessageBox.Show("未能找到有效的工位切换路径，请暂停加工并重新定位");
}
waitForDone(Parameter.nodeGroup, currentProcessNo, WaitMode.Always, DebugAction.Move);
}
}
