public void motors_Init() //电机初始化
{
canObj = new canOpenObj(); //实例化网络接口
profileSettingsObj = new ProfileSettingsObj(); //实例化驱动器属性
canObj.BitRate = CML_BIT_RATES.BITRATE_1_Mbit_per_sec; //设置CAN传输速率为1M/s
canObj.Initialize(); //网络接口初始化
ampObj = new AmpObj[MOTOR_NUM]; //实例化四个驱动器（盘式电机）
ampsettingsObj = new ampSettingsObj();
ampsettingsObj.enableOnInit = true;
ampsettingsObj.guardTime = 1000;
ampsettingsObj.lifeFactor = 1000;
for (int i = 0; i < MOTOR_NUM; i++) //初始化四个驱动器
{
ampObj[i] = new AmpObj();
//ampObj[i].Initialize(canObj, (short)(i + 1));
ampObj[i].InitializeExt(canObj, (short)(i + 1), ampsettingsObj);
ampObj[i].HaltMode = CML_HALT_MODE.HALT_DECEL; //选择通过减速来停止电机的方式
ampObj[i].CountsPerUnit = 1; //电机转一圈编码器默认计数25600次，设置为4后转一圈计数6400次
userUnits[i] = ampObj[i].MotorInfo.ctsPerRev / ampObj[i].CountsPerUnit; //用户定义单位，counts/圈
}
Linkage = new LinkageObj();
Linkage.Initialize(ampObj);
Linkage.SetMoveLimits(200000, 3000000, 3000000, 200000);
motorsTimer = new DispatcherTimer();
motorsTimer.Tick += new EventHandler(motorsTimer_Tick); //Tick是超过计时器间隔时发生事件，此处为Tick增加了一个叫ShowCurTimer的取当前时间并扫描串口的委托
motorsTimer.Interval = TimeSpan.FromMilliseconds(100);; //设置刻度之间的时间值，设定为1秒（即文本框会1秒改变一次输出文本）
motorsTimer.Start();
}
public void motors_Init()//电机初始化
{
try
{
canObj = new canOpenObj(); //实例化网络接口
profileSettingsObj = new ProfileSettingsObj(); //实例化驱动器属性
//canObj.BitRate = CML_BIT_RATES.BITRATE_500_Kbit_per_sec;
canObj.BitRate = CML_BIT_RATES.BITRATE_1_Mbit_per_sec; //设置CAN传输速率为1M/s
canObj.Initialize(); //网络接口初始化
ampObj = new AmpObj[MOTOR_NUM]; //实例化四个驱动器（盘式电机）
ampsetingsObj = new ampSettingsObj();
ampsetingsObj.enableOnInit = true;
ampsetingsObj.guardTime = 2000; // 防止时间过长工控机电机失能
//ampsetingsObj.heartbeatPeriod = 1000;
//ampsetingsObj.heartbeatPeriod = 300;
ampsetingsObj.lifeFactor = 1000;
for (int i = 0; i < MOTOR_NUM; i++)//初始化四个驱动器
{
ampObj[i] = new AmpObj();
//ampObj[i].Initialize(canObj, (short)(i + 1));
ampObj[i].InitializeExt(canObj, (short)(i + 1), ampsetingsObj);
ampObj[i].HaltMode = CML_HALT_MODE.HALT_DECEL; //选择通过减速来停止电机的方式
ampObj[i].CountsPerUnit = 1; //电机转一圈编码器默认计数25600次，设置为4后转一圈计数6400次
userUnits[i] = ampObj[i].MotorInfo.ctsPerRev / ampObj[i].CountsPerUnit; //用户定义单位，counts/圈
}
//ampObj[0].PositionActual = -1;
//ampObj[1].PositionActual = -2;
//ampObj[2].PositionActual = -2;
//ampObj[3].PositionActual = -1;
Linkage = new LinkageObj();
linkageSettingsObj = new LinkageSettingsObj();
linkageSettingsObj.moveAckTimeout = 2000; // 代替WaitMoveDone
//Linkage.Initialize(ampObj);
Linkage.InitializeExt(ampObj, linkageSettingsObj); //电机联动初始化
Linkage.SetMoveLimits(200000, 3000000, 3000000, 200000); // 设置电机速度，加速度等极限值
EventObj = Linkage.CreateEvent(CML_LINK_EVENT.LINKEVENT_TRJDONE | CML_LINK_EVENT.LINKEVENT_MOVEDONE | CML_LINK_EVENT.LINKEVENT_ABORT, CML_EVENT_CONDITION.CML_EVENT_ANY);
EventObj.EventNotify += new eventObj.EventHandler(EventObj_EventNotify);
motorsTimer = new DispatcherTimer();
motorsTimer.Tick += new EventHandler(motorsTimer_Tick); //Tick是超过计时器间隔时发生事件，此处为Tick增加了一个叫ShowCurTimer的取当前时间并扫描串口的委托
motorsTimer.Interval = TimeSpan.FromMilliseconds(100);; //设置刻度之间的时间值，设定为1秒（即文本框会1秒改变一次输出文本）
motorsTimer.Start();
}
catch (Exception)
{
MessageBox.Show("驱动器初始化错误");
}
}
///////////////////////////////////////////////////////////////////////////////
///
///
///////////////////////////////////////////////////////////////////////////////
private void Motor_Connect()
{
try
{
xAxisAmp = new AmpObj();
//***************************************************
//
// CANOpen Network
//
//***************************************************
canOpen = new canOpenObj(); // Set the bit rate to 1 Mbit per second
canOpen.BitRate = CML_BIT_RATES.BITRATE_1_Mbit_per_sec;
canOpen.PortName = "copley0"; // Indicate that channel 0 of a Copley CAN card should be used
ampSettings = new ampSettingsObj();
//***************************************************
// Initialize the CAN card and network
//***************************************************
canOpen.Initialize();
canOpen.ClearErrorFrameCounter();
// CHANGE CAN Address -> based on settings
//X_AXIS_CAN_ADDRESS = (short) X_AXIS_CAN_ADDRESS; // Sets CAN address to connect to
//***************************************************
//* Initialize the Amplifier (Stepnet)
//***************************************************
ampSettings.enableOnInit = true;
xAxisAmp.InitializeExt(canOpen, X_AXIS_CAN_ADDRESS, ampSettings);
xAxisAmp.ClearFaults(); // Clear Errors
//xAxisAmp.StopGuarding();
//***************************************************
//* Create Event Handler for the Amplifier (Stepnet)
//***************************************************
xAxisEventObj = xAxisAmp.CreateEvent(CML_AMP_EVENT.AMPEVENT_MOVE_DONE, CML_EVENT_CONDITION.CML_EVENT_ANY);
xAxisEventObj.EventNotify += new eventObj.EventHandler(xAxisEventObj_EventNotify);
motorConnect = true; // Motor Connected Successful
motorButton.BackgroundImage = TeamMusclesAndMachine.Properties.Resources.Start_button;
}
catch (Exception ex)
{
motorButton.BackgroundImage = TeamMusclesAndMachine.Properties.Resources.Connect_button;
//DisplayErrorPopup("Linear Actuator Error", "Connection to Stepnet failed. Check that device is " +
// "connected and CAN Channel selected is correct.");
}
}
