/// <summary>
/// 指定轴回原点
/// </summary>
/// <param name="axisIndex"></param>
public void Homing(int axisIndex, int pos, double acc, double speed)
{
short rtn;
ushort axisSts;
int prfPos;
if (isLink == false)
{
Util.Notify("控制卡未连接");
return;
}
lock (cardActLock)
{
Util.Notify(axisIndex + "开始回原点");
rtn = GT400.GT_Axis((ushort)axisIndex); //该命令一般不用检测是否正确执行
rtn = GT400.GT_GetSts(out axisSts);
runningError("当前轴状态状态查询", rtn);
if (0 != (axisSts & 0x400))
{
Util.Notify("轴动作中");
return;
}
rtn = GT400.GT_ClrSts(); //清除当前轴异常状态
runningError("当前轴状态异常状态清除", rtn);
if (0 != rtn)
{
return;
}
//在当前位置基础上，以S曲线向前运动指定个脉冲
rtn = GT400.GT_SetMAcc(acc);
//rtn = GT400.GT_SetAcc(acc);
runningError("当前轴加速度设置", rtn);
rtn = GT400.GT_SetVel(speed);
runningError("当前轴目标速度设置", rtn);
rtn = GT400.GT_SetPos(pos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_SetJerk(0.087);
runningError("当前轴加加速度设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
Thread.Sleep(10);
waitCurrentRunFinish();
rtn = GT400.GT_GetPrfPos(out prfPos);
runningError("当前轴位置读取", rtn);
//通过判断 pos正负来确定返回位置
if (pos >= 0)
{
prfPos -= 100;
}
else
{
prfPos += 100;
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
rtn = GT400.GT_SetPos(prfPos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
//MyNotify.Notify("轴小段后退中");
waitCurrentRunFinish();
//MyNotify.Notify("轴小段后退完成");
Thread.Sleep(10);
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
rtn = GT400.GT_SetVel(speedHomeY / 10.0);
runningError("当前轴目标速度设置", rtn);
rtn = GT400.GT_SetPos(pos); //继续执行回原点：靠-200000这个值自动判断是不是回原点。
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_Update();
runningError("当前轴参数更新", rtn);
waitCurrentRunFinish();
rtn = GT400.GT_ZeroPos();
runningError("轴位置状态清零", rtn);
Util.Notify(axisIndex + "轴原点回归完成");
}
}
public bool InitCard()
{
try
{
short rtn;
lock (cardActLock)
{
//连接控制器
rtn = GT400.GT_Open();
Error("打开控制卡", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_Reset();
runningError("控制卡复位", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
ushort sense = 0xffff;
rtn = GT400.GT_LmtSns(sense); //设置限位开关触发电平
runningError("设置限位开关电平", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
}
for (int i = 0; i < axisNum; i++)
{
lock (cardActLock)
{
//设置轴参数
rtn = GT400.GT_Axis((ushort)(i + 1)); //切换到测试轴
runningError("设置当前轴", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("GT_ClrSts", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_StepDir(); //脉冲方式为‘脉冲+方向’，必须与驱动器的设置一致
runningError("GT_StepDir", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
//闭环模式下必须设置PID
rtn = GT400.GT_AxisOn(); //伺服使能，如果驱动器没有上伺服，请检查：1、测试轴是否是axis 1，2、端子板及驱动器是否上电
runningError("GT_AxisOn", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
rtn = GT400.GT_PrflS();
//rtn = GT400.GT_PrflT(); //T曲线
runningError("当前轴设定为S曲线", rtn);
if (0 != rtn)
{
isLink = false;
return(false);
}
}
}
isLink = true;
return(true);
}
catch (Exception ex)
{
Util.Notify("控制卡打开失败 错误原因" + ex.Message);
//Notify("控制卡打开失败 错误原因" + ex.Message);
CloseCom();
isLink = false;
return(false);
}
}
/// <summary>
/// 指定轴运动到指定位置
/// </summary>
/// <param name="axisIndex">轴编号</param>
/// <param name="pos">位移量</param>
/// <param name="isAbsolute">绝对运动</param>
public void AxisPosMove(int axisIndex, int pos, bool isAbsolute)
{
ushort testAxis = (ushort)axisIndex;
if (homeFinish == false)
{
Util.Notify("控制卡未回原点");
return;
}
lock (cardActLock)
{
short rtn;
int prfPos = 0;
rtn = GT400.GT_Axis(testAxis);
ushort axisSts;
rtn = GT400.GT_GetSts(out axisSts);//如果测试轴正在运动则退出
runningError("当前轴状态状态查询", rtn);
if (0 != (axisSts & 0x400))
{
Util.Notify("轴动作中");
//return;
}
rtn = GT400.GT_ClrSts(); //清除不正常状态
runningError("当前轴状态异常状态清除", rtn);
if (0 != rtn)
{
return;
}
if (isAbsolute)
{
prfPos = pos;
}
else
{
rtn = GT400.GT_GetPrfPos(out prfPos);
runningError("当前轴位置读取", rtn);
prfPos += pos;
}
//Thread.Sleep(2);
//Thread.Sleep(2);
rtn = GT400.GT_SetMAcc(accRun);
//rtn = GT400.GT_SetAcc(accRun);
runningError("当前轴加速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_SetVel(speedRun);
runningError("当前轴目标速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_SetPos(prfPos);
runningError("当前轴目标位置设置", rtn);
rtn = GT400.GT_SetJerk(0.087);
runningError("当前轴加加速度设置", rtn);
//Thread.Sleep(2);
rtn = GT400.GT_Update(); //参数更新后，就可以开始运行了。
runningError("当前轴参数更新", rtn);
}
}
