public int RelLine_P(int[] axisList, double[] posList, JFMotionParam mp)
{
_CheckAxisEnable(axisList, "RelLine_P");
if (posList == null || posList.Count() != axisList.Count())
{
throw new ArgumentException("RelLine_P(int[] axisList, double[] posList) failed By: posList.Count() != axisList.Count()");
}
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.Line(axisList, axisList.Count(), posList, 1.0, HTM.MotionMode.RS, ref _mp);
if (opt != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
/// <summary>运动控制卡初始化 </summary>
internal void Open()
{
AxisCount = HTM.GetAxisNum();
if (AxisCount > 0)
{
axisHomeDones = new bool[AxisCount];
detectHomeDones = new Thread[AxisCount];
_motionParams = new JFMotionParam[AxisCount];
for (int i = 0; i < AxisCount; i++)
{
HTM.AXIS_INFO ai;
HTM.GetAxisInfo(i, out ai);
HTM.MOTION_PARA mp = HTM.GetMotionPara(i);//HTM.GetMovePara(i, out mp);
//if (ret != 0)
//{
// AxisCount = 0;
// _motionParams = null;
// throw new Exception(string.Format("MC_Htm.Init Failed :HTM.GetMovePara(axis = {0}) return errorCode = {1}", i, ret));
//}
_motionParams[i] = new JFMotionParam();
_motionParams[i].vs = mp.vStart;
_motionParams[i].vm = mp.vMax;
_motionParams[i].ve = mp.vEnd;
_motionParams[i].acc = mp.acc;
_motionParams[i].dec = mp.dec;
_motionParams[i].curve = mp.sFactor;
_motionParams[i].jerk = 0;
axisHomeDones[i] = false;
detectHomeDones[i] = new Thread(new ParameterizedThreadStart(FuncDetectHomeDone));
}
}
IsOpen = true;
}
bool _isMotionParamValid(JFMotionParam mp)
{
if (mp.acc <= 0)
{
MessageBox.Show("无效操作:加速度参数acc <=0");
return(false);
}
if (mp.dec <= 0)
{
MessageBox.Show("无效操作:减速度参数dec <=0");
return(false);
}
if (mp.vs < 0)
{
MessageBox.Show("无效操作:初始速度参数vs <0");
return(false);
}
if (mp.vm <= 0)
{
MessageBox.Show("无效操作:工作速度参数vm <=0");
return(false);
}
if (mp.ve < 0)
{
MessageBox.Show("无效操作:终点速度参数ve <0");
return(false);
}
if (mp.curve < 0 || mp.curve > 1)
{
MessageBox.Show("无效操作:加速取消参数 curve 不在允许范围0~1");
return(false);
}
return(true);
}
/// <summary>
/// 以指定运动参数做速度运动
/// </summary>
/// <param name="axis"></param>
/// <param name="mp"></param>
/// <returns></returns>
public int VelMove_P(int axis, JFMotionParam mp, bool isPositive)
{
_CheckAxisEnable(axis, "VelMove_P");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.Speed(axis, isPositive?1.0:-1.0, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") 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";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
JFMotionParam mp = (JFMotionParam)GetInitParamValue("运动参数");
/*
* public double vs { get; set; }
* /// <summary>最大速度</summary>
* public double vm { get; set; }
* /// <summary>结束速度</summary>
* public double ve { get; set; }
* /// <summary>加速度</summary>
* public double acc { get; set; }
* /// <summary>减速度</summary>
* public double dec { get; set; }
* /// <summary>s曲线因子(0~1.0)</summary>
* public double curve { get; set; }
* /// <summary>加加速</summary>
* public double jerk { get; set; }
*/
if (mp.vs < 0)
{
errorInfo = "起始速度参数vs < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.vm <= 0)
{
errorInfo = "运行速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.ve < 0)
{
errorInfo = "终点速度参数ve < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.acc <= 0)
{
errorInfo = "加速度参数acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.dec <= 0)
{
errorInfo = "减速度参数dec <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (mp.curve < 0 || mp.curve > 1)
{
errorInfo = "加速度曲线段系数不在允许范围0~1";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetMotionParam(ci.ChannelIndex, mp);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
public int AbsArc2CE_P(int axis1, int axis2, double center1, double center2, double pos1, double pos2, bool isPositive, JFMotionParam mp)
{
_CheckAxisEnable(axis1, "AbsArc2CE_P");
_CheckAxisEnable(axis2, "AbsArc2CE_P");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.ArcCe(axis1, axis2, center1, center2, pos1, pos2, isPositive ? 1 : 0, 1.0, HTM.MotionMode.AS, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
public int SetMotionParam(int axis, JFMotionParam mp)
{
_CheckAxisEnable(axis, "GetMotionParam");
_motionParams[axis] = mp;
return(0);
}
/// <summary>
/// 获取单轴运动参数
/// </summary>
/// <param name="axis"></param>
/// <returns></returns>
public int GetMotionParam(int axis, out JFMotionParam mp)
{
_CheckAxisEnable(axis, "GetMotionParam");
mp = _motionParams[axis];
return((int)ErrorDef.Success);
}
public int BuffRelArc2CA(int axis1, int axis2, double center1, double center2, double angle, JFMotionParam mp)
{
_CheckAxisEnable(axis1, "BuffRelArc2CA");
_CheckAxisEnable(axis2, "BuffRelArc2CA");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.ArcCa(axis1, axis2, center1, center2, angle, 1.0, HTM.MotionMode.RS | HTM.MotionMode.BUF, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
/// <summary>
/// 开始直线插补运动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btStartLiner_Click(object sender, EventArgs e)
{
if (dgvLinePos.Rows.Count == 0)
{
MessageBox.Show("请设置差补运动的轴数量");
return;
}
List <int> axisIDs = new List <int>();
List <double> trgtPoses = new List <double>();
for (int i = 0; i < dgvLinePos.Rows.Count; i++)
{
string axisIDText = dgvLinePos.Rows[i].Cells[0].Value as string;
if (string.IsNullOrEmpty(axisIDText))
{
MessageBox.Show("请设置差补轴" + (i + 1) + " 的轴序号");
return;
}
int axisID = Convert.ToInt32(axisIDText);
axisIDs.Add(axisID);
string trgtPos = dgvLinePos.Rows[i].Cells[1].Value as string;
if (string.IsNullOrEmpty(trgtPos))
{
MessageBox.Show("请设置差补轴" + (i + 1) + " 的目标位置");
return;
}
double dVal = 0;
if (!double.TryParse(trgtPos, out dVal))
{
MessageBox.Show("差补轴" + (i + 1) + " 的目标位置不是一个数字，请重新输入");
return;
}
if (!_IsAxisCanMove(axisID))
{
return;
}
trgtPoses.Add(dVal);
}
if (dgvLinePos.Rows.Count == 0)
{
MessageBox.Show("请设置差补运动的轴数量");
return;
}
object omp = null;
if (!ucLineParam.GetParamValue(out omp))
{
MessageBox.Show("未能获取运动参数，请检查输入");
return;
}
JFMotionParam mp = (JFMotionParam)omp;
if (!_isMotionParamValid(mp))
{
return;
}
int err = 0;
if (chkAbsLine.Checked)
{
err = _module.AbsLine_P(axisIDs.ToArray(), trgtPoses.ToArray(), mp);
}
else
{
err = _module.RelLine_P(axisIDs.ToArray(), trgtPoses.ToArray(), mp);
}
if (err != 0)
{
MessageBox.Show("操作失败:" + _module.GetErrorInfo(err));
}
else
{
ShowTips("开始插补运动");
}
}
