protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string axisID = GetInitParamValue(PN_AxisID) as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
int timeoutMilSeconds = (int)GetInitParamValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, axisID);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
//归零完成检查
int errCode = 0;
bool isHomeDone = false;
errCode = _md.IsHomeDone(_ci.ChannelIndex, out isHomeDone);
if (errCode != 0)
{
errorInfo = "获取HomeDone状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (isHomeDone)
{
errorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
// 其他状态检查
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_md.MSID_SVO])
{
errorInfo = "轴伺服已断电!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到轴:\" " + axisID + "\"归零完成 ";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
int errCode = 0;
errCode = _md.Home(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "恢复轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
else
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
}
}
