public bool resetCar() // 重启运动控制卡 报警
{
LTDMC.dmc_soft_reset(CarNum);
LTDMC.dmc_board_reset();
LTDMC.dmc_board_close();
for (int i = 0; i < 15; i++)//总线卡软件复位耗时15s左右
{
Thread.Sleep(1000);
Global.frmMain.PushMess(i + "/15....");
}
var a = LTDMC.dmc_board_init();
Global.frmMain.PushMess("Card Number: " + a + "");
if (a > 0)
{
return(true);
}
else
{
return(false);
}
// Axis.nmc_get_errcode(MyGlobal._CarId, 2, ref errcode);
// mess_textBox.AppendText("总线卡软件复位完成,请确认总线状态" + errcode.ToString());
}
private void FrMain_FormClosed(object sender, FormClosedEventArgs e)
{
LTDMC.dmc_emg_stop(0); //停轴
LTDMC.nmc_set_axis_disable(0, 0);
LTDMC.nmc_set_axis_disable(0, 1);
LTDMC.nmc_set_axis_disable(0, 2);
LTDMC.nmc_set_axis_disable(0, 3);
LTDMC.nmc_set_axis_disable(0, 4);
LTDMC.dmc_board_close();
if (VarClass.Homeing) //归零中
{
myPublicClass.myHomeThread.Abort();
}
if (VarClass.Autoing) //自动中
{
myPublicClass.myAutoThread.Abort();
}
myCycleThread.Abort();
try
{
Environment.Exit(0);
}
catch (Exception ex)
{ }
}
/// <summary>
/// 关闭所有控制卡
/// </summary>
public static void CloseCard()
{
try
{
LTDMC.dmc_board_close();
}
catch (Exception ex)
{
m_logFile.AppendText(ex.Message);
}
}
/// <summary>
/// 窗口关闭事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void 机械臂控制软件界面_FormClosed(object sender, FormClosedEventArgs e)
{
m_thread.Abort();
try
{
//关闭串口
robot1.CloseCom();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "串口关闭错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
CloseMatlab();
LTDMC.dmc_board_close();
}
private void AppClosedEventCommandExecute()
{
try
{
for (int i = 0; i < 4; i++)
{
Res = LTDMC.dmc_write_sevrst_pin(_CardID, (ushort)i, 1);
Res = LTDMC.dmc_write_sevon_pin(_CardID, (ushort)i, 1);
}
for (int i = 0; i < 16; i++)
{
Res = LTDMC.dmc_write_outbit(_CardID, (ushort)i, 1);
}
LTDMC.dmc_board_close();
}
catch { }
}
public bool Terminate()
{
LTDMC.dmc_board_close();
return(true);
}
/// <summary>
/// 关闭板卡。先关从卡再关主卡。
/// </summary>
/// <returns></returns>
public EM_RES Close()
{
if (!isInit)
{
return(EM_RES.OK);
}
int ret;
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
if (type == TYPE.MOTION)
{
//axis dec stop
for (int n = 0; n < ax_num; n++)
{
LTDMC.dmc_stop((ushort)card_id, (ushort)n, 0);
Thread.Sleep(10);
}
ret = LTDMC.dmc_board_close();
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}关闭失败,Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}关闭成功", disc));
isInit = false;
return(EM_RES.OK);
}
else if (type == TYPE.CAN_IO)
{
//连接IO卡
ret = LTDMC.dmc_set_can_state((ushort)maincard_id, (ushort)card_id, 0, 0);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}断开失败,Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}断开成功", disc));
isInit = false;
return(EM_RES.OK);
}
#if LEADSHINE_IO
else if (type == TYPE.IO)
{
IOC0640.ioc_board_close();
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}关闭成功", disc));
return(EM_RES.OK);
}
#endif
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
if (handle != (IntPtr)0)
{
ret = zmcaux.ZAux_Close(handle);
if (ret != 0)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, string.Format("{0}关闭失败,Err:0x{1:X8}", disc, ret));
return(EM_RES.ERR);
}
handle = (IntPtr)0;
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}关闭成功", disc));
return(EM_RES.OK);
}
return(EM_RES.OK);
}
#endif
#if ADVANTTECK
if (brand == BRAND.ADVANTTECH)
{
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, "研华库未添加!");
return(EM_RES.ERR);
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
if (AZD.Motor.Close())
{
isInit = false;
return(EM_RES.OK);
}
else
{
return(EM_RES.ERR);
}
}
#endif
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("未定义异常，BRAND={0}，TYPE={1}", brand, type));
return(EM_RES.ERR);
}
public EM_RES DownLoadFile(string filename = "")
{
int ret = 0;
//if (!isReady) return EM_RES.ERR;
#if LEADSHINE
if (brand == BRAND.LEADSHINE)
{
//download config
if (filename == "")
{
filename = string.Format("{0}DMC3800_{1}.ini", Path.GetFullPath("..") + "\\syscfg\\", card_id);
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}下载配置,{1}", str_disc, filename));
ret = LTDMC.dmc_download_configfile((ushort)card_id, filename);
if (ret != 0)
{
LTDMC.dmc_board_close();
isInit = false;
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, String.Format("{0}/id{1},配置失败！Err:0x{2:X8}", disc, card_id, ret));
return(EM_RES.ERR);
}
else
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}/id{1},更新配置成功！", disc, card_id));
}
}
#endif
#if ZMOTION
if (brand == BRAND.ZMOTION)
{
//下载时，容易引起程序丢失
//if (filename == "") filename = string.Format("{0}{1}_{2}.bas", Path.GetFullPath("..") + "\\syscfg\\", str_disc, id);
//VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}下载配置,{1}", str_disc, filename));
//ret = zmcaux.ZAux_BasDown(handle, filename);
//if (ret != 0)
//{
// isInit = false;
// zmcaux.ZAux_Close(handle);
// handle = (IntPtr)0;
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0} 下载配置失败,Err:{1},{2}", disc, ret, filename));
// return EM_RES.ERR;
//}
//else
//{
// //set max_spd
// foreach (AXIS ax in AxList)
// {
// zmcaux.ZAux_Direct_SetMaxSpeed(handle, ax.num, (int)(ax.max_spd * ax.pul_per_mm));
// if (ret != 0)
// {
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0} 配置MAX_SPD失败,Err:{1}", disc, ret));
// }
// }
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}/id{1},更新配置成功！", disc, id));
//}
}
#endif
#if ORIENTALMOTOR
if (brand == BRAND.ORIENTALMOTOR)
{
if (!Motor.isRs485Ready)
{
EM_RES res = Init();
if (res != EM_RES.OK)
{
return(res);
}
}
VAR.msg.AddMsg(Msg.EM_MSGTYPE.SYS, String.Format("{0}下载配置", str_disc));
foreach (AXIS ax in AxList)
{
UInt32 temp = 0;
UInt32 temp2 = 0;
ushort[] dat;
bool bres = true;
////(ZHOME)•运行速度 688/689
////(ZHOME)•加减速 690/691
//temp = (ushort)(ax.home_spd * ax.pul_per_mm);
//temp2 = (ushort)(ax.tacc / 0.001);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp2 >> 16), (ushort)(temp2 & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(688, dat);
//if(!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置运行速度/加速出错!",ax.disc));
// return EM_RES.ERR;
//}
////SLN作为 原点/预置位置 908/909
//temp = (ushort)(ax.sln * ax.pul_per_mm);
//dat = new ushort[2] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(908, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置原点出错!", ax.disc));
// return EM_RES.ERR;
//}
//POS0点数据 1024/1025
//POS1点数据 1026/1027
temp = (ushort)(ax.pos0 * ax.pul_per_mm);
temp2 = (ushort)(ax.pos1 * ax.pul_per_mm);
dat = new ushort[4] {
(ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp2 >> 16), (ushort)(temp2 & 0XFFFF)
};
bres = ax.AzdMotor.WriteReg(1024, dat);
if (!bres)
{
VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置POS0/POS1出错!", ax.disc));
return(EM_RES.ERR);
}
////速度No.0 1152/1153
////速度No.1 1154/1155
//temp = (ushort)(ax.spd_work * ax.pul_per_mm);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(1152,dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置速度0/速度1出错!", ax.disc));
// return EM_RES.ERR;
//}
////方式No.0 1280/1281 1-绝对定位
////方式No.1 1282/1283 1-绝对定位
//dat = new ushort[4] { 0, 1, 0, 1 };
//bres = ax.AzdMotor.WriteReg(1280, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置定位方式0/1出错!", ax.disc));
// return EM_RES.ERR;
//}
////加减速单位 654/655 0：•kHz/s• 1：•s• 2：•ms / kHz
//dat = new ushort[2] { 0,1 };
//bres = ax.AzdMotor.WriteReg(654, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置加减速单位出错!", ax.disc));
// return EM_RES.ERR;
//}
////起动/变速No.0 1536/1537
////起动/变速No.1 1538/1539
//temp = (ushort)(ax.tacc/0.001);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(1536, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置加速度出错!", ax.disc));
// return EM_RES.ERR;
//}
////停止No.0 1664/1665
////停止No.1 1666/1667
//temp = (ushort)(ax.tdec / 0.001);
//dat = new ushort[4] { (ushort)(temp >> 16), (ushort)(temp & 0XFFFF), (ushort)(temp >> 16), (ushort)(temp & 0XFFFF) };
//bres = ax.AzdMotor.WriteReg(1664, dat);
//if (!bres)
//{
// VAR.msg.AddMsg(Msg.EM_MSGTYPE.ERR, string.Format("{0}设置减速度出错!", ax.disc));
// return EM_RES.ERR;
//}
return(EM_RES.OK);
}
}
#endif
return(EM_RES.OK);
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
LTDMC.dmc_board_close();
}
/// <summary>
/// 关闭控制卡
/// </summary>
/// <returns></returns>
public int CloseMotionCard()
{
int Flag = LTDMC.dmc_board_close();
return(Flag);
}
public int IPrimDispose()
{
LTDMC.dmc_board_close();
return(0);
}
public void CloseComm()
{
LTDMC.dmc_board_close();
LSList.Clear();
}
