// ReSharper disable InconsistentNaming
public static bool XYPMoveAbsolutUseTMode(Axis axisX, Axis axisY, float x, float y)
// ReSharper restore InconsistentNaming
{
bool OrderIsCompeleted = false;
int xposition = Convert.ToInt32(x * axisX.PulseOfPerMilMeter);
int yposition = Convert.ToInt32(y * axisY.PulseOfPerMilMeter);
if (axisX.MaxRouteDistance > xposition && (xposition >= 0))
{
if (axisY.MaxRouteDistance > yposition && (yposition >= 0))
{
axisX.SetTModeProfile();
}
axisY.SetTModeProfile();
if (AxisQueryStatus(axisX) && AxisQueryStatus(axisY))
{
Dmc2610.d2610_t_pmove(axisX.AxisId, xposition, (ushort)AxisPositionMode.Absolut);
Dmc2610.d2610_t_pmove(axisY.AxisId, yposition, (ushort)AxisPositionMode.Absolut);
//while ((!GetAxisIsINPON(axisX)) && (!GetAxisIsINPON(axisY)))
//{
//}
while (!(GetAxisIsDoWell(axisX) && (GetAxisIsDoWell(axisY))))
{
}
OrderIsCompeleted = true;
}
}
return(OrderIsCompeleted);
}
public static void InitinalDMC2610()
{
// DMC2610卡的函数调用
UInt16 nCard = 0;
nCard = Dmc2610.d2610_board_init(); //'为控制卡分配系统资源，并初始化控制卡。
if (nCard <= 0) //DMC1000控制卡初始化
{
MessageBox.Show("未找到DMC2610控制卡!", "警告");
return;//退出当前程序
}
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
timer1.Enabled = false;
if (AxisGroup != null)
{
Dmc2610.d2610_board_close();
}
if (objThread != null)
{
if (objThread.IsAlive)
{
objThread.Abort();
}
}
}
public static bool SigelAxisPMoveAbsolutUseTMode(Axis axis, float dis)
{
bool OrderIsCompeleted = false;
int position = Convert.ToInt32(dis * axis.PulseOfPerMilMeter);
if (axis.MaxRouteDistance > position && (position >= 0))
{
axis.SetTModeProfile();
if (AxisQueryStatus(axis))
{
Dmc2610.d2610_t_pmove(axis.AxisId, position, (ushort)AxisPositionMode.Absolut);
while (!GetAxisIsDoWell(axis))
{
}
OrderIsCompeleted = true;
}
}
return(OrderIsCompeleted);
}
public Axis(AxisID id, AxisPulseOutMode axisPulseOutMode, double pulseOfMilMeter, long maxRouteDistance, long logicOrgPosition, AxisINPSIG inpsig)
{
_axisId = Convert.ToUInt16(id);
_pulseOfPerMilMeter = pulseOfMilMeter;
_maxRouteDistance = (long)(maxRouteDistance * PulseOfPerMilMeter);
_logicOrgPosition = (int)(logicOrgPosition * PulseOfPerMilMeter);
_axisPulseOutMode = Convert.ToUInt16(axisPulseOutMode);
//轴脉冲输出模式
Dmc2610.d2610_set_pulse_outmode(_axisId, Convert.ToUInt16(AxisPulseOutMode));
//ALM信号定义： 低电平有效，触发后立即停止
Dmc2610.d2610_config_ALM_PIN(_axisId, Convert.ToUInt16(AxisALMLogic.HighLevelVaild),
Convert.ToUInt16(AxisALMAction.ImmediatelyStop));
//INP信号低电平有效, 发送完成指令脉冲后立即置check_done 完成，无需等待，否则需得到INP为低电平才置位check_done
if (_axisPulseOutMode < 4)
{
Dmc2610.d2610_config_INP_PIN(_axisId, Convert.ToUInt16(AxisINPSIG.Enable), Convert.ToUInt16(AxisINPLogic.LowLevelVaild));
}
else
{
Dmc2610.d2610_config_INP_PIN(_axisId, Convert.ToUInt16(AxisINPSIG.Enable), Convert.ToUInt16(AxisINPLogic.HighLevelVaild));
}
//Emergy Stop 信号定义 0为1号卡 1允许，1 高电平有效
Dmc2610.d2610_config_EMG_PIN(0, 1, 0);
//编码器计数方式为： AB相 EA单路信号4倍。(无卡时，初始化这一项会出现内存存储违规，故暂时取消掉)
Dmc2610.d2610_counter_config(_axisId, Convert.ToUInt16(EnCoderCountMode.ABPhased4xEA));
//Dmc2610.d2610_set_encoder(_axisId, 0);
//设置Home PIN的回原点以及滤波器开关。(无卡时，初始化这一项会出现内存存储违规，故暂时取消掉)
Dmc2610.d2610_set_HOME_pin_logic(AxisId, Convert.ToUInt16(AxisHOMEOrgLogic.LowLevelVaild), Convert.ToUInt16(AxisHOMEUseFilter.Enable));
Dmc2610.d2610_config_home_mode(AxisId, Convert.ToUInt16(AxisHomeMode.HomeCountOnly), Convert.ToUInt16(0));
}
public static void CloseDMC2610()
{
Dmc2610.d2610_board_close();
}
private void btnLoadAxisPara_Click(object sender, EventArgs e)
{
// DMC2610卡的函数调用
nCard = Dmc2610.d2610_board_init(); //'为控制卡分配系统资源，并初始化控制卡。
if (nCard <= 0) //DMC1000控制卡初始化
{
MessageBox.Show("未找到DMC2610控制卡!", "警告");
return;//退出当前程序
}
string connectionString = @"Data Source=.\AOI;Initial Catalog=aoi5sys;Integrated Security=True";
SqlConnection connection = new SqlConnection(connectionString);
//string sql=@"SELECT * FROM AXIS_PARAM WHERE NAME='#1HOST'";
string sql = @"SELECT [NAME]
,[AXIS]
,[AXIS_ID]
,[PULSE_MODE]
,[MAX_DIST]
,[ORG_POSITION]
,[RESET_SPEED]
,[START_SPEED]
,[MAX_SPEED]
,[ADD_SPEED]
,[ADD_MODE]
,[PULSE_PER_MM]
FROM [aoi5sys].[dbo].[AXIS_PARAM]
WHERE NAME='#1HOST'";
try
{
connection.Open();
SqlCommand cmd = new SqlCommand(sql, connection);
SqlDataReader dataReader = cmd.ExecuteReader();
AxisGroup = new List <Axis>();
while (dataReader.Read())
{
string tempstr = dataReader.GetValue(1).ToString();
AxisPulseOutMode PoutMode = dataReader.GetInt32(3) == 0
? AxisPulseOutMode.PM_PLDL
: AxisPulseOutMode.PM_PHDHPHDH;
double pulseOfMilMeter = Convert.ToDouble(dataReader.GetValue(11).ToString());
long maxRouterDistance = Convert.ToInt64(dataReader.GetValue(4));
long logicOrgPosition = Convert.ToInt64(dataReader.GetValue(5));
AxisINPSIG axisInpsig = AxisINPSIG.Enable;
double ResetVelocity = Convert.ToDouble(dataReader.GetValue(6));
double startVelocity = Convert.ToDouble(dataReader.GetValue(7));
double maxVelocity = Convert.ToDouble(dataReader.GetValue(8));
double accVelocity = Convert.ToDouble(dataReader.GetValue(9));
double decVelocity = Convert.ToDouble(dataReader.GetValue(9));
float scale = (float)0.75;
if (tempstr.Contains("X_"))
{
this.XAxis = new Axis(AxisID.XAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
XAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
XAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
XAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
XAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
// XAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(XAxis);
}
if (tempstr.Contains("Y_"))
{
this.YAxis = new Axis(AxisID.YAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
YAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
YAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
YAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
YAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
// YAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(YAxis);
}
if (tempstr.Contains("C_"))
{
this.CAxis = new Axis(AxisID.ZAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
CAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
CAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
CAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
CAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
//CAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(CAxis);
}
if (tempstr.Contains("L_"))
{
this.LAxis = new Axis(AxisID.UAxis, PoutMode, pulseOfMilMeter, maxRouterDistance, logicOrgPosition, axisInpsig);
LAxis.AxisSetResetMoveParameters(ResetVelocity / 2, ResetVelocity, ResetVelocity / 2, ResetVelocity / 2);
LAxis.AxisSetTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity);
LAxis.AxisSetSPMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
LAxis.AxisSetSTMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, scale);
// LAxis.AxisSetVectorMoveParameters(startVelocity, maxVelocity, accVelocity, decVelocity, (float)0.6);
AxisGroup.Add(LAxis);
}
}
timer1.Enabled = true;
}
catch (DataException dataException)
{
MessageBox.Show(dataException.ToString());
}
finally
{
connection.Close();
this.btnLoadAxisPara.Enabled = false;
}
for (int i = 0; i < 2; i++)
{
InputinitStatus[i] = Motion2610Control.ReadInputKey((ushort)(i + 1));
InputiskeyDown[i] = InputinitStatus[i];
}
}
private void timer1_Tick(object sender, EventArgs e)
{
long pos, pos2;
int checkStauts;
string str_DisplayPos;
pos = Dmc2610.d2610_get_position(0);//读取指定轴的当前位置
str_DisplayPos = "X=" + Convert.ToString(pos) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.XAxis)) ? "...Run..." : "...Stop...");
pos = Dmc2610.d2610_get_position(1);
str_DisplayPos = str_DisplayPos + " Y=" + Convert.ToString(pos) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.YAxis)) ? "...Run..." : "...Stop...");
str_DisplayPos += "\n";
pos2 = Dmc2610.d2610_get_position(2);
str_DisplayPos = str_DisplayPos + "Z=" + Convert.ToString(pos2) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.ZAxis)) ? "...Run..." : "...Stop...");
pos2 = Dmc2610.d2610_get_position(3);
str_DisplayPos = str_DisplayPos + " U=" + Convert.ToString(pos2) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.UAxis)) ? "...Run..." : "...Stop...");
//str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsORGON(XAxis)) ? "X ORG IS ON" : "X ORG IS OFF");
str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsORGON(XAxis)) ? "X ORG IS ON" : "X ORG IS OFF") + " " + ((Motion2610Control.GetAxisIsORGON(YAxis)) ? "Y ORG IS ON" : "Y ORG IS OFF") + " " + ((Motion2610Control.GetAxisIsORGON(CAxis)) ? "C ORG IS ON" : "C ORG IS OFF") + " " + ((Motion2610Control.GetAxisIsORGON(LAxis)) ? "L ORG IS ON" : "L ORG IS OFF");
str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsNELON(XAxis)) ? "X EL- IS ON" : "X EL- IS OFF") + " " + ((Motion2610Control.GetAxisIsNELON(YAxis)) ? "Y EL- IS ON" : "Y EL- IS OFF") + " " + ((Motion2610Control.GetAxisIsNELON(CAxis)) ? "C EL- IS ON" : "C EL- IS OFF") + " " + ((Motion2610Control.GetAxisIsNELON(LAxis)) ? "L EL- IS ON" : "L EL- IS OFF");
str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsPELON(XAxis)) ? "X EL+ IS ON" : "X EL+ IS OFF") + " " + ((Motion2610Control.GetAxisIsPELON(YAxis)) ? "Y EL+ IS ON" : "Y EL+ IS OFF") + " " + ((Motion2610Control.GetAxisIsPELON(CAxis)) ? "C EL+ IS ON" : "C EL+ IS OFF") + " " + ((Motion2610Control.GetAxisIsPELON(LAxis)) ? "L EL+ IS ON" : "L EL+ IS OFF");
str_DisplayPos += "\n\n" + ((Motion2610Control.GetAxisIsINPON(XAxis)) ? "X INP IS ON" : "X INP IS OFF") +
" " + ((Motion2610Control.GetAxisIsINPON(YAxis)) ? "Y INP IS ON" : "Y INP IS OFF");
Label_POSITION.Text = str_DisplayPos;//显示位置信
StringBuilder axisStautsDetail = new StringBuilder();
foreach (Axis axis in AxisGroup)
{
if (!Motion2610Control.AxisQueryStatus(axis))
{
while (axis.AxisStatusStack.Count > 0)
{
axisStautsDetail.Append(axis.AxisStatusStack.Pop());
}
}
}
if (axisStautsDetail.Length <= 0)
{
lbAxisStatus.Text = "Axis Status : \n" + "Every Axis is OK!";
}
else
{
lbAxisStatus.Text = "Axis Status : \n" + axisStautsDetail;
}
StringBuilder sb2 = new StringBuilder();
for (int i = 0; i < 2; i++)
{
if (Motion2610Control.ReadInputKey((ushort)(i + 1)) != InputiskeyDown[i])
{
InputiskeyDown[i] = Motion2610Control.ReadInputKey((ushort)(i + 1));
if (InputiskeyDown[i] != InputinitStatus[i])
{
inputstartTime[i] = DateTime.Now;
string str1 = "input " + i.ToString() + ": StartTime= " + inputstartTime[i].ToString();
sb2.AppendLine(str1);
}
else
{
InputEndTime[i] = DateTime.Now;
string str1 = "input " + i.ToString() + ": EndTime = " + InputEndTime[i].ToString();
sb2.AppendLine(str1);
}
}
}
this.tbinputsig.Text += sb2.ToString();
}
public static void AllAxisEMGStop()
{
Dmc2610.d2610_emg_stop();
}
public static bool ReadInputKey(ushort inum)
{
return((Dmc2610.d2610_read_inbit(0, inum) == 0)? false : true);
}
public void SetVectorModeProfile()
{
Dmc2610.d2610_set_vector_profile(axisVectorModeMoveParameters.StartVelocity,
axisVectorModeMoveParameters.MaxVelocity, axisVectorModeMoveParameters.TimeofAcc,
axisVectorModeMoveParameters.TimeofDec);
}
public void SetSTModeProfile()
{
Dmc2610.d2610_set_st_profile(AxisId, axisSPModeMoveParameters.StartVelocity,
axisSPModeMoveParameters.MaxVelocity, axisSPModeMoveParameters.TimeofAcc,
axisSPModeMoveParameters.TimeofDec, axisSPModeMoveParameters.TimeofAcc, axisSPModeMoveParameters.TimeofDec);
}
public static void ResetDMC2610()
{
Dmc2610.d2610_board_reset();
}
public static void HomeMove(Axis axis)
{
if ((axis.axisTModeMoveParameters.MaxVelocity > 0) && (axis.axisTModeMoveParameters.MaxVelocity < 50000000))
{
if (!((Dmc2610.d2610_read_RDY_PIN(axis.AxisId) == 0) && (GetAxisIsALMON(axis)) && (GetAxisIsEMGON(axis))))
{
if (!(GetAxisIsNELON(axis) && GetAxisIsPELON(axis)))
{
if (!(GetAxisIsORGON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
else
{
if ((GetAxisIsORGON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_t_pmove(axis.AxisId, 10000, (ushort)AxisPositionMode.Relation);
while (!GetAxisIsDoWell(axis))
{
}
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
while (!GetAxisIsDoWell(axis))
{
}
Dmc2610.d2610_set_position(axis.AxisId, 0);
}
}
}
else
{
if (GetAxisIsNELON(axis) && (!GetAxisIsPELON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_t_pmove(axis.AxisId, 10000, (ushort)AxisPositionMode.Relation);
while (!GetAxisIsDoWell(axis))
{
}
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
else
{
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
}
while (!GetAxisIsDoWell(axis))
{
}
//axis.SetTModeProfile();
//Dmc2610.d2610_t_pmove(axis.AxisId, axis.LogicOrgPosition, (ushort)AxisPositionMode.Relation);
axis.SetResetModeProfile();
Dmc2610.d2610_set_position(axis.AxisId, 0);
Dmc2610.d2610_t_pmove(axis.AxisId, axis.LogicOrgPosition, (ushort)AxisPositionMode.Absolut);
while (!GetAxisIsDoWell(axis))
{
}
Thread.Sleep(500);
Dmc2610.d2610_set_position(axis.AxisId, 0);
}
else
{
MessageBox.Show("Axis is Not Ready or occur EMG Stop !");
}
}
else
{
MessageBox.Show("Axis Parameters of AcclerateVelocity is Incorrect !");
}
}
public void SetResetModeProfile()
{
Dmc2610.d2610_set_profile(AxisId, Convert.ToDouble(axisResetModeMoveParameters.StartVelocity),
Convert.ToDouble(axisResetModeMoveParameters.MaxVelocity), Convert.ToDouble(axisResetModeMoveParameters.TimeofAcc),
Convert.ToDouble(axisResetModeMoveParameters.TimeofDec));
}
public static bool GetAxisIsDoWell(Axis axis)
{
bool result = (Dmc2610.d2610_check_done(axis.AxisId) == 1) ? true : false;
return(result);
}
public static bool GetAxisIsReadyPIN(Axis axis)
{
bool result = (Dmc2610.d2610_read_RDY_PIN(axis.AxisId) == (ushort)AxisReadyPINLogic.IsReady) ? true : false;
return(result);
}
public static bool GetAxisIsNELON(Axis axis)
{
bool result = ((Dmc2610.d2610_axis_io_status(axis.AxisId) & (1 << 13)) == (1 << 13)) ? true : false;
return(result);
}
public static bool GetAxisIsINPON(Axis axis)
{
bool result = ((((ushort)Dmc2610.d2610_get_rsts(axis.AxisId)) & (1 << 15)) == (1 << 15)) ? true : false;
return(result);
}
