/// <summary>
/// 检测轴在指定延迟时间内是否完成动作
/// </summary>
/// <param name="axis"></param>
/// <param name="milliseconds"></param>
/// <returns></returns>
public bool WaitForAxisMoveDone(ushort axis, int milliseconds)
{
if (axis < 0 || axis >= m_axisCount)
{
return(false);
}
short state = 0;
while (true)
{
if (milliseconds-- == 0)
{
return(false); //动作超时
}
lock (globalLock)
{
state = LTDMC.dmc_check_done(m_cardNo, axis);
if (state == 1)
{
return(true);
}
}
Thread.Sleep(1);
}
}
private void Axis_GOCommandExecute(object obj)
{
if (System.Windows.Forms.MessageBox.Show($"是否运动到点{int.Parse(obj.ToString()) + 1}？", "确认", MessageBoxButtons.OKCancel) == DialogResult.OK)
{
if (LTDMC.dmc_check_done(_CardID, 0) == 1 && LTDMC.dmc_check_done(_CardID, 1) == 1 && LTDMC.dmc_check_done(_CardID, 2) == 1)
{
Task.Run(() => {
DMC5400ASVN[0] = true; DMC5400ASVN[1] = true; DMC5400ASVN[2] = true;
Res = LTDMC.dmc_write_sevon_pin(_CardID, 0, 0); //励磁
Res = LTDMC.dmc_write_sevon_pin(_CardID, 1, 0); //励磁
Res = LTDMC.dmc_write_sevon_pin(_CardID, 2, 0); //励磁
Res = LTDMC.dmc_set_profile(_CardID, 0, 200, 2000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_set_profile(_CardID, 1, 200, 2000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_set_profile(_CardID, 2, 200, 2000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_pmove(_CardID, 0, (int)(PrefilePos[int.Parse(obj.ToString())].X * 100), 1);
Res = LTDMC.dmc_pmove(_CardID, 1, (int)(PrefilePos[int.Parse(obj.ToString())].Y * 100), 1);
Res = LTDMC.dmc_pmove(_CardID, 2, (int)(PrefilePos[int.Parse(obj.ToString())].Z * 100), 1);
while (LTDMC.dmc_check_done(_CardID, 0) == 0 || LTDMC.dmc_check_done(_CardID, 1) == 0 || LTDMC.dmc_check_done(_CardID, 2) == 0)
{
System.Threading.Thread.Sleep(100);
}
});
}
else
{
AddMessage("错误:轴Busy");
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
// ushort axis = GetAxis(); //轴号
double dcurrent_speedX = 0, dcurrent_speedY = 0, dcurrent_speedZ = 0, dcurrent_speedW = 0; //速度值
// double dunitPosX, dunitPosY, dunitPosZ, dunitPosW; //脉冲当量转换后指令值
int PosX, PosY, PosZ, PosW; //脉冲值
LTDMC.dmc_read_current_speed_unit(_CardID, 0, ref dcurrent_speedX); // 读取轴当前速度
LTDMC.dmc_read_current_speed_unit(_CardID, 1, ref dcurrent_speedY);
LTDMC.dmc_read_current_speed_unit(_CardID, 2, ref dcurrent_speedZ);
LTDMC.dmc_read_current_speed_unit(_CardID, 3, ref dcurrent_speedW);
txtCurrentSpeedX.Text = dcurrent_speedX.ToString();
txtCurrentSpeedY.Text = dcurrent_speedY.ToString();
txtCurrentSpeedZ.Text = dcurrent_speedZ.ToString();
txtCurrentSpeedW.Text = dcurrent_speedW.ToString();
//LTDMC.dmc_get_position_unit(_CardID, 0, ref dunitPosX); //读取指定轴指令位置值
//txtFinalPosY.Text = dunitPosX.ToString();
PosX = LTDMC.dmc_get_position(_CardID, 0);//读取指定轴的脉冲值
PosY = LTDMC.dmc_get_position(_CardID, 1);
PosZ = LTDMC.dmc_get_position(_CardID, 2);
PosW = LTDMC.dmc_get_position(_CardID, 3);
txtCurrentPosX.Text = PosX.ToString();
txtCurrentPosY.Text = PosY.ToString();
txtCurrentPosZ.Text = PosZ.ToString();
txtCurrentPosW.Text = PosW.ToString();
if (LTDMC.dmc_check_done(_CardID, 0) == 0) // 读取指定轴运动状态
{
txtStateX.Text = "运行中";
}
else
{
txtStateX.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 1) == 0) // 读取指定轴运动状态
{
txtStateY.Text = "运行中";
}
else
{
txtStateY.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 2) == 0) // 读取指定轴运动状态
{
txtStateZ.Text = "运行中";
}
else
{
txtStateZ.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 3) == 0) // 读取指定轴运动状态
{
txtStateW.Text = "运行中";
}
else
{
txtStateW.Text = "停止中";
}
}
// 封装dmc运动函数:卡号, 轴号, 脉冲数, 运动方向, 运动模式
public void DMC3400_Move(ushort nCardNo, ushort nAxisIndex, int nPulse, int nDirection, ushort nMoveMode)
{
if (LTDMC.dmc_check_done(m_cardNo, nAxisIndex) == 0) //已经在运动中
{
return;
}
//点动(位置模式)
LTDMC.dmc_pmove(m_cardNo, nAxisIndex, nPulse * nDirection, nMoveMode); //最后的0表示相对运动
}
public bool Check_done()
{
short run;
//
run = LTDMC.dmc_check_done(_CardID, axis);
return(Run = run == 1 ? false : true);
}
public void DoState()
{
uint rdy = 0;
uint alm = 0;
uint plt = 0;
uint nlt = 0;
uint org = 0;
for (int axis = 0; axis < define_motion.wd_axis_count; axis++)
{
//位置
mAxisPlace[axis] = LTDMC.dmc_get_position(pAxis[axis].AxisCard, pAxis[axis].AxisCode);
//当前状态
uint mask = pAxis[axis].AxisMask;
if (LTDMC.dmc_check_done(pAxis[axis].AxisCard, pAxis[axis].AxisCode) != 0)
{
rdy |= mask; //轴已经停止。检测指定轴的运动状态,返回值： 0 指定轴正在运行， 1 指定轴已停止
}
//轴运动状态
uint st = LTDMC.dmc_axis_io_status(pAxis[axis].AxisCard, pAxis[axis].AxisCode);//读取指定轴有关运动信号的状态
if ((st & LTDMC.state_axis.state_org) > 0)
{
org |= mask;
}
if ((st & LTDMC.state_axis.alarm_eln) > 0)
{
nlt |= mask;
}
if ((st & LTDMC.state_axis.alarm_elp) > 0)
{
plt |= mask;
}
if ((st & LTDMC.state_axis.state_alm) > 0)
{
alm |= mask;
}
list.Add(new AxisStatus()
{
IoReady = rdy,
IoAlarm = alm,
IoOrgin = org,
IoNegLt = nlt,
IoPosLt = plt
});
}
}
private void Axis_Jog_P_MouseDown_CommandExecute(object obj)
{
ushort axis = ushort.Parse(obj.ToString());
if (LTDMC.dmc_check_done(_CardID, axis) == 1)
{
DMC5400ASVN[axis] = true;
Res = LTDMC.dmc_write_sevon_pin(_CardID, axis, 0);//励磁
Res = LTDMC.dmc_set_profile(_CardID, axis, 200, 2000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_vmove(_CardID, axis, 1);
}
else
{
AddMessage("错误:轴Busy");
}
}
/// <summary>
/// 获取轴状态信息
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="axisStatus">获取的轴状态</param>
/// <returns>返回0与非0 0代表轴停止， 非0轴在运动中</returns>
public short _SR_GetAxisStatus(short card, short axis, out int axisStatus)
{
short shrResult = 0;
short staus = (short)LTDMC.dmc_check_done((ushort)tag_cardids[card], (ushort)axis);
if (staus == 1)
{
axisStatus = 0;
}
else
{
axisStatus = 1;
}
return(shrResult);
}
void Home_alone(ushort Cardno, ushort Axis, ushort home_mode, double Low_Vel, double High_Vel)
{
// LTDMC.nmc_set_axis_enable(0, 0); //使能
///Thread.Sleep(1000);
PublicClass.AxisHome(Cardno, Axis, home_mode, Low_Vel, High_Vel);
ushort homerres = 99;
while ((LTDMC.dmc_check_done(Cardno, Axis) == 0) || (homerres != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(Cardno, Axis, ref homerres);
Application.DoEvents();
if (VarClass.ReadIN[4]) //jiting
{
return;
}
Thread.Sleep(10);
}
}
private void OrderByAxis(ushort axis)
{
AxisBackHome(axis);
Thread.Sleep(100);
while (true)
{
GetAxisLimitedSensor(axis, ref homeSensor0, ref posLimited0, ref negLimited0);
if (homeSensor0)
{
LTDMC.dmc_stop(0, axis, 1);
}
short state = LTDMC.dmc_check_done(0, axis);
if (state == 1)
{
if (axis != 0)
{
StartHome(axis - 1);
}
break;
}
}
}
private bool WaitAxisMotionDone(int axis, int uMilliSeconds)
{
short status = 0;
int nMillSec = uMilliSeconds;
while (true)
{
if (nMillSec-- == 0)
{
return(false);
}
lock (globalLock)
{
status = LTDMC.dmc_check_done(0, (ushort)axis);
if (status == 1)
{
return(true);
}
}
Thread.Sleep(1);
}
}
private bool MonitorDMCCard()
{
short state = 0;
lock (globalLock)
{
for (ushort i = 0; i < m_axisCount; i++)
{
m_axisPrfPos[i] = LTDMC.dmc_get_position(m_cardNo, i);
m_axisEncPos[i] = LTDMC.dmc_get_encoder(m_cardNo, i);
state = LTDMC.dmc_check_done(m_cardNo, i);
//轴状态
AnalyseMotionStatus(i, state);
//IO状态
AnalyseMotionIOStatus(i);
}
}
return(true);
}
public void HomeMove()
{
HomeStep = 1;
while (HomeStep != 0)
{
switch (HomeStep)
{
case 1:
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("3个Z轴归零中", Color.Black);
});
Home1:
PublicClass.AxisHome(0, 0, 7, VarClass.Low_Wel[0], VarClass.High_Wel[0]); //大Z轴归零
PublicClass.AxisHome(0, 1, 7, VarClass.Low_Wel[1], VarClass.High_Wel[1]); //小Z轴归零
PublicClass.AxisHome(0, 2, 7, VarClass.Low_Wel[2], VarClass.High_Wel[2]); //扫码轴归零
ushort BigZstate = 99;
ushort SmallZstate = 99;
ushort ScanZstate = 99;
Thread.Sleep(500);
while ((LTDMC.dmc_check_done(0, 0) == 0) || (BigZstate != 1) || (LTDMC.dmc_check_done(0, 1) == 0) || (SmallZstate != 1) || (LTDMC.dmc_check_done(0, 2) == 0) || (ScanZstate != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(0, 0, ref BigZstate);
LTDMC.dmc_get_home_result(0, 1, ref SmallZstate);
LTDMC.dmc_get_home_result(0, 2, ref ScanZstate);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 0, 0); //大Z轴停止
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
PublicClass.AxisStop(0, 2, 0); //大Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home1;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("3个Z轴归零完成，下一步小Z轴归零", Color.Black);
});
HomeStep = 3;
break;
}
case 3:
{
Home3:
PublicClass.AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[1]); //小Z轴跑低位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[1] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home3;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小Z轴到达低位，下一步左右气缸出", Color.Black);
});
//PublicClass.WriteOUT(0, 12, 0);//左气缸出
//PublicClass.WriteOUT(0, 13, 1);
PublicClass.WriteOUT(0, 6, 0); //左右气缸出
PublicClass.WriteOUT(0, 7, 1);
while (!VarClass.ReadIN[13] || !VarClass.ReadIN[16]) //左,右气缸出限
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左右气缸出完，下一步小Z轴跑位，扫码Z轴去扫码位", Color.Black);
});
HomeStep = 4;
break;
}
case 4:
{
Home4:
Thread.Sleep(500);
PublicClass.AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[0]); //小 Z轴跑高位
// PublicClass.AxisMove(2, VarClass.AutoSpeed[2], VarClass.ScanZ_Location[1]); //扫码Z轴到扫描位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[0] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home4;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小Z轴到达高位；XY轴归零", Color.Black);
});
HomeStep = 5;
break;
}
case 5:
{
Home5:
Thread.Sleep(500);
PublicClass.AxisHome(0, 3, 13, VarClass.Low_Wel[3], VarClass.High_Wel[3]); //X轴归零
PublicClass.AxisHome(0, 4, 13, VarClass.Low_Wel[4], VarClass.High_Wel[4]); //Y轴归零
ushort XAixsState = 99;
ushort YAixsState = 99;
Thread.Sleep(500);
while ((LTDMC.dmc_check_done(0, 3) == 0) || (XAixsState != 1) || (LTDMC.dmc_check_done(0, 4) == 0) || (YAixsState != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(0, 3, ref XAixsState);
LTDMC.dmc_get_home_result(0, 4, ref YAixsState);
Thread.Sleep(10);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //X轴停止
PublicClass.AxisStop(0, 4, 0); //Y轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home5;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("归零完成", Color.Black);
});
VarClass.Homeing = false; //归零标志
VarClass.HomeFinish = true;
HomeStep = 0;
break;
}
}
}
}
public bool IsAxisStop(int index, int axis)
{
return(LTDMC.dmc_check_done((ushort)Id, (ushort)axis) == 1);
}
private void Axis_Home_CommandExecute(object obj)
{
ushort axis = ushort.Parse(obj.ToString());
if (System.Windows.Forms.MessageBox.Show("是否回原点？", "确认", MessageBoxButtons.OKCancel) == DialogResult.OK)
{
if (LTDMC.dmc_check_done(_CardID, axis) == 1)
{
Task.Run(() =>
{
DMC5400ASVN[axis] = true;
Res = LTDMC.dmc_write_sevon_pin(_CardID, axis, 0);//励磁
Res = LTDMC.dmc_set_profile(_CardID, axis, 200, 2000, 0.1, 0.1, 1000);
switch (axis)
{
case 0:
case 1:
Res = LTDMC.dmc_pmove(_CardID, axis, -99999, 0);
while (!DMC5400ALimN[axis])
{
System.Threading.Thread.Sleep(10);
}
Res = LTDMC.dmc_stop(_CardID, axis, 0);
System.Threading.Thread.Sleep(100);
Res = LTDMC.dmc_set_homemode(_CardID, axis, 1, 0, 1, 0); //设置回零模式
break;
case 2:
Res = LTDMC.dmc_pmove(_CardID, axis, 99999, 0);
while (!DMC5400ALimP[axis])
{
System.Threading.Thread.Sleep(10);
}
Res = LTDMC.dmc_stop(_CardID, axis, 0);
System.Threading.Thread.Sleep(100);
Res = LTDMC.dmc_set_homemode(_CardID, axis, 0, 0, 1, 0); //设置回零模式
break;
default:
break;
}
Res = LTDMC.dmc_home_move(_CardID, axis);
while (LTDMC.dmc_check_done(_CardID, axis) == 0)
{
System.Threading.Thread.Sleep(100);
}
System.Threading.Thread.Sleep(500);
Res = LTDMC.dmc_set_position(_CardID, axis, 0);
Res = LTDMC.dmc_set_encoder(_CardID, axis, 0);
homed[axis] = true;
});
}
else
{
AddMessage("错误:轴Busy");
}
}
}
public bool AxisIsStop(int index, int axis)
{
return(LTDMC.dmc_check_done((ushort)DevIndex, (ushort)axis) == 1);
}
private async void Run()
{
bool DMC5400ADi_0 = false;
bool presurefirst = false; double _value1 = 0;
while (true)
{
try
{
#region IO
var portno0 = LTDMC.dmc_read_inport(_CardID, 0);
for (int i = 0; i < 16; i++)
{
DMC5400ADi[i] = (portno0 & 0x1 << i) == 0;
}
for (int i = 0; i < 4; i++)
{
DMC5400ALimP[i] = (portno0 & 0x10000 << i) != 0;
DMC5400ALimN[i] = (portno0 & 0x1000000 << i) != 0;
}
var portno1 = LTDMC.dmc_read_inport(_CardID, 1);
for (int i = 0; i < 4; i++)
{
DMC5400AHome[i] = (portno1 & 0x1 << i) == 0;
DMC5400AAlarm[i] = (portno1 & 0x100 << i) != 0;
DMC5400AReady[i] = (portno1 & 0x10000 << i) == 0;
}
#endregion
#region 轴状态
GPos.X = (double)(LTDMC.dmc_get_position(_CardID, 0)) / 100;
GPos.Y = (double)(LTDMC.dmc_get_position(_CardID, 1)) / 100;
GPos.Z = (double)(LTDMC.dmc_get_position(_CardID, 2)) / 100;
CPos.X = (double)(LTDMC.dmc_get_encoder(_CardID, 0)) / 100;
CPos.Y = (double)(LTDMC.dmc_get_encoder(_CardID, 1)) / 100;
CPos.Z = (double)(LTDMC.dmc_get_encoder(_CardID, 2)) / 100;
#endregion
#region 模拟量
double _value = 0;
LTDMC.nmc_get_ad_input(_CardID, 1, 0, ref _value);
if (!presurefirst)
{
_value1 = _value;
presurefirst = true;
}
WeightValue = (_value - _value1) / 16 * 1000;
#endregion
#region 运行函数
if (runflag && DMC5400ASVN[0] && DMC5400ASVN[1] && DMC5400ASVN[2] && homed[0] && homed[1] && homed[2])
{
switch (stepnum)
{
case 0:
//Res = LTDMC.dmc_set_profile(_CardID, 0, 200, 50000, 0.1, 0.1, 1000);
//Res = LTDMC.dmc_set_profile(_CardID, 1, 200, 50000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_set_profile(_CardID, 2, 200, 10000, 0.01, 0.01, 1000);
//Res = LTDMC.dmc_pmove(_CardID, 0, (int)(PrefilePos[0].X * 100), 1);
//Res = LTDMC.dmc_pmove(_CardID, 1, (int)(PrefilePos[0].Y * 100), 1);
Res = LTDMC.dmc_pmove(_CardID, 2, (int)(PrefilePos[0].Z * 100), 1);
stepnum = 1;
break;
case 1:
//if (LTDMC.dmc_check_done(_CardID, 0) == 1 && LTDMC.dmc_check_done(_CardID, 1) == 1 && LTDMC.dmc_check_done(_CardID, 2) == 1)
if (LTDMC.dmc_check_done(_CardID, 2) == 1)
{
stepnum = 2;
}
break;
case 2:
await Task.Delay(1000);
stepnum = 3;
break;
case 3:
//Res = LTDMC.dmc_set_profile(_CardID, 0, 200, 50000, 0.1, 0.1, 1000);
//Res = LTDMC.dmc_set_profile(_CardID, 1, 200, 50000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_set_profile(_CardID, 2, 200, 10000, 0.01, 0.01, 1000);
//Res = LTDMC.dmc_pmove(_CardID, 0, (int)(PrefilePos[1].X * 100), 1);
//Res = LTDMC.dmc_pmove(_CardID, 1, (int)(PrefilePos[1].Y * 100), 1);
Res = LTDMC.dmc_pmove(_CardID, 2, (int)(PrefilePos[1].Z * 100), 1);
stepnum = 4;
break;
case 4:
//if (LTDMC.dmc_check_done(_CardID, 0) == 1 && LTDMC.dmc_check_done(_CardID, 1) == 1 && LTDMC.dmc_check_done(_CardID, 2) == 1)
if (LTDMC.dmc_check_done(_CardID, 2) == 1)
{
stepnum = 5;
}
break;
case 5:
await Task.Delay(1000);
stepnum = 0;
break;
case 6:
//Res = LTDMC.dmc_set_profile(_CardID, 0, 200, 50000, 0.1, 0.1, 1000);
//Res = LTDMC.dmc_set_profile(_CardID, 1, 200, 50000, 0.1, 0.1, 1000);
Res = LTDMC.dmc_set_profile(_CardID, 2, 200, 50000, 0.1, 0.1, 1000);
//Res = LTDMC.dmc_pmove(_CardID, 0, (int)(PrefilePos[2].X * 100), 1);
//Res = LTDMC.dmc_pmove(_CardID, 1, (int)(PrefilePos[2].Y * 100), 1);
Res = LTDMC.dmc_pmove(_CardID, 2, (int)(PrefilePos[2].Z * 100), 1);
stepnum = 7;
break;
case 7:
//if (LTDMC.dmc_check_done(_CardID, 0) == 1 && LTDMC.dmc_check_done(_CardID, 1) == 1 && LTDMC.dmc_check_done(_CardID, 2) == 1)
if (LTDMC.dmc_check_done(_CardID, 2) == 1)
{
stepnum = 8;
}
break;
case 8:
await Task.Delay(1000);
stepnum = 0;
break;
default:
break;
}
}
if (DMC5400ADi_0 != DMC5400ADi[0])
{
DMC5400ADi_0 = DMC5400ADi[0];
if (DMC5400ADi[0])
{
runflag = false;
Res = LTDMC.dmc_stop(_CardID, 0, 0);
Res = LTDMC.dmc_stop(_CardID, 1, 0);
Res = LTDMC.dmc_stop(_CardID, 2, 0);
stepnum = -1;
DMC5400ASVN[0] = false;
DMC5400ASVN[1] = false;
DMC5400ASVN[2] = false;
Res = LTDMC.dmc_write_sevon_pin(_CardID, 0, 1);
Res = LTDMC.dmc_write_sevon_pin(_CardID, 1, 1);
Res = LTDMC.dmc_write_sevon_pin(_CardID, 2, 1);
AddMessage("急停按钮 按下");
}
}
#endregion
}
catch { }
await Task.Delay(10);
}
}
/// <summary>
/// 读取轴状态
/// </summary>
public void DoState()
{
bool rdy = false;
bool alm = false;
bool plt = false;
bool nlt = false;
bool org = false;
//int place = 0;
AxisStateList.Clear();
for (int axis = 0; axis < define_AxisNum.wd_axis_count; axis++)
{
//位置
AxisPlace[axis] = LTDMC.dmc_get_position(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode);
//当前状态
//轴已经停止。检测指定轴的运动状态,返回值： 0 指定轴正在运行， 1 指定轴已停止
if (LTDMC.dmc_check_done(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode) == 0)
{
rdy = true;
}
else
{
rdy = false;
}
//轴运动状态
uint st = LTDMC.dmc_axis_io_status(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode);//读取指定轴有关运动信号的状态
if ((st & LTDMC.state_axis.state_org) > 0)
{
org = true;
}
else
{
org = false;
}
if ((st & LTDMC.state_axis.alarm_eln) > 0)
{
nlt = true;
}
else
{
nlt = false;
}
if ((st & LTDMC.state_axis.alarm_elp) > 0)
{
plt = true;
}
else
{
plt = false;
}
if ((st & LTDMC.state_axis.state_alm) > 0)
{
alm = true;
}
else
{
alm = false;
}
AxisStateList.Add(new define_AxisState()
{
isReady = rdy,
isAlarm = alm,
isOrgin = org,
isNegLt = nlt,
isPosLt = plt,
});
}
}
public void AutoMove()
{
AutoStep = 1;
while (AutoStep != 0)
{
switch (AutoStep)
{
case 1:
{
Auto1:
AxisMove(3, VarClass.AutoSpeed[3], VarClass.XAxis_Location[0]); //X轴到换料位
AxisMove(4, VarClass.AutoSpeed[4], VarClass.YAxis_Location[0]); //Y轴到换料位
//读取下标为3.4轴的运动状态
while ((LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.XAxis_Location[0] != VarClass.Pulse_Current[3]) ||
(LTDMC.dmc_check_done(0, 4) == 0) || (VarClass.YAxis_Location[0] != VarClass.Pulse_Current[4]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //XAxis停止
PublicClass.AxisStop(0, 4, 0); //YAxis轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto1;
}
}
}
if (VarClass.StopState == "outing")
{
VarClass.StopState = "outed";
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("XY轴到换料位，下步点击进入按钮", Color.Black);
});
}
else
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("XY轴到换料位，选择测试", Color.Black);
});
}
///saoma
AutoStep = 2;
break;
}
case 2:
{
while ((VarClass.TestNumber == 0) || (VarClass.StopState != "")) //开始测试
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("选择测试完成，下步双手启动", Color.Black);
});
while (!VarClass.ReadIN[0] || !VarClass.ReadIN[1]) //双手启动
{
VarClass.HandsStart = true;
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
VarClass.HandsStart = false;
while (!VarClass.ReadIN[5]) //接近感应器
{
MessageBox.Show("接近没有感应到");
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("接近感应到，下步XY轴去扫码位", Color.Black);
});
Auto2:
AxisMove(3, VarClass.AutoSpeed[3], VarClass.XAxis_Location[1]); //X轴到扫码位
AxisMove(4, VarClass.AutoSpeed[4], VarClass.YAxis_Location[1]); //Y轴到扫码位
while ((LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.XAxis_Location[1] != VarClass.Pulse_Current[3]) || (LTDMC.dmc_check_done(0, 4) == 0) || (VarClass.YAxis_Location[1] != VarClass.Pulse_Current[4]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //XAxis停止
PublicClass.AxisStop(0, 4, 0); //YAxis轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto2;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("下步XY轴到扫码位，下步扫码Z轴去扫码位", Color.Black);
});
Auto50 : PublicClass.AxisMove(2, VarClass.AutoSpeed[2], VarClass.ScanZ_Location[1]); //扫码Z轴到扫描位
while ((LTDMC.dmc_check_done(0, 2) == 0) || (VarClass.ScanZ_Location[1] != VarClass.Pulse_Current[2]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 2, 0); //扫码Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto50;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("扫码Z轴到扫码位，下步扫码", Color.Black);
});
while (!VarClass.IsScanOK)
{
VarClass.ClientString[1] = "";
// Scan.ClientSend1("T");
Scan.ClientSend3("T");
// Scan.ClientSend3("T");
Thread.Sleep(2000);
if ((VarClass.ClientString[2] != "NG") && (VarClass.ClientString[2] != ""))
{
string ScanString = HttpVar.barcode = VarClass.ClientString[2];
VarClass.IsScanOK = true;
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("扫码成功:" + HttpVar.barcode + "，下步XY去测料位", Color.Black);
});
}
else
{
MessageBox.Show("扫码失败");
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("扫码失败", Color.Black);
});
}
}
VarClass.IsScanOK = false;
AutoStep = 3;
break;
}
case 3:
{
Auto3:
AxisMove(3, VarClass.AutoSpeed[3], VarClass.XAxis_Location[2]); //X轴到测料位
AxisMove(4, VarClass.AutoSpeed[4], VarClass.YAxis_Location[2]); //Y轴到测料位
while ((LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.XAxis_Location[2] != VarClass.Pulse_Current[3]) || (LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.YAxis_Location[2] != VarClass.Pulse_Current[4]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //XAxis停止
PublicClass.AxisStop(0, 4, 0); //YAxis轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto3;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("XY轴到测料位，下步大轴下", Color.Black);
});
AutoStep = 4;
break;
}
case 4:
{
Auto4:
PublicClass.AxisJogMove(0, VarClass.AutoSpeed[0], 0); //大轴下，速度，方向
while (!VarClass.ReadIN[10]) //对射光纤
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 0, 0); //XAxis停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto4;
}
}
}
PublicClass.AxisStop(0, 0, 0); //XAxis停止
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("大轴到位，下步左右气缸回", Color.Black);
});
//PublicClass.WriteOUT(0, 12, 1);//左气缸回
//PublicClass.WriteOUT(0, 13, 0);
AutoStep = 5;
break;
}
case 5:
{
PublicClass.WriteOUT(0, 6, 1); //左右气缸回
PublicClass.WriteOUT(0, 7, 0);
while (!VarClass.ReadIN[14] || !VarClass.ReadIN[17]) //左,右气缸回限
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
Thread.Sleep(500);
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左,右气缸到回限，下步小Z轴下", Color.Black);
});
Auto5:
AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[1]); //小Z轴下
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[1] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //XAxis停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto5;
}
}
}
VarClass.ImpactCurrentNum[VarClass.TestNumber - 1] = VarClass.ImpactCurrentNum[VarClass.TestNumber - 1] + 1;
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小轴到位，下步左右气缸出", Color.Black);
});
AutoStep = 10;
break;
}
case 10:
{
//PublicClass.WriteOUT(0, 12, 0);//左气缸出
//PublicClass.WriteOUT(0, 13, 1);
PublicClass.WriteOUT(0, 6, 0); //左右气缸出
PublicClass.WriteOUT(0, 7, 1);
while (!VarClass.ReadIN[13] || !VarClass.ReadIN[16]) //左,右气缸出限
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
if ((VarClass.ImpactCurrentNum[VarClass.TestNumber - 1] < Convert.ToInt32(VarClass.Excel_specificationsNum[VarClass.TestNumber - 1])) && VarClass.StopState != "outing")
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左,右气缸到出限，下步小Z轴上", Color.Black);
});
Auto10:
AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[0]); //小Z轴到上位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[0] != VarClass.Pulse_Current[1]))
{
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //XIAOZ轴轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto10;
}
}
}
AutoStep = 5;
break;
}
else
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左,右气缸到出限，下步大小Z轴上", Color.Black);
});
// VarClass.ImpactCurrentNum[VarClass.TestNum-1] = 0;
AutoStep = 6;
break;
}
}
case 6:
{
Auto6:
AxisMove(0, VarClass.AutoSpeed[0], VarClass.BigZ_Location[0]); //大Z轴到上位
AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[0]); //小Z轴到上位
while ((LTDMC.dmc_check_done(0, 0) == 0) || (VarClass.BigZ_Location[0] != VarClass.Pulse_Current[0]) || (LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[0] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 0, 0); //大Z轴停止
PublicClass.AxisStop(0, 1, 0); //大Z轴轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto6;
}
}
}
if (VarClass.StopState == "outing")
{
}
else
{
HttpVar.end_time[VarClass.TestNumber - 1] = (DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")).ToString();
VarClass.TestEnd[VarClass.TestNumber - 1] = true; //测试完成
VarClass.Testing = false;
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("大小轴到位，下步XY轴到换料位", Color.Black);
});
AutoStep = 1;
break;
}
}
}
}
