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));
}
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];
}
}