public void Initial()
{
Fixture = new FixturePLC(fixtureStartAddress, Cp_descr, Cref, Orderid);
Com = new ComPLC(comStartAddress, Cp_descr, Cref, Orderid);
Rail1 = new RailPLC(RailStartAddress[0], Cp_descr, Cref, Orderid);
Rail2 = new RailPLC(RailStartAddress[1], Cp_descr, Cref, Orderid);
InitialReadPara();
}
/// <summary>
/// 将读取的数据存至各PLC（导轨PLC包含于机器人类）
/// </summary>
/// <param name="Read_Var"></param>
/// <param name="comPLC"></param>
/// <param name="fixurePLC"></param>
/// <param name="railPLC1"></param>
/// <param name="railPLC2"></param>
public static void ByteToPLCsys(Byte[] Read_Var, ComPLC comPLC, FixturePLC fixurePLC, RailPLC railPLC1, RailPLC railPLC2)
{
//将字节转化为bool值，存入到对应的plc中
//读取Rail1 PLC中的值
if (railPLC1 != null)
{
BitArray TEMP1 = new BitArray(new Byte[1] {
Read_Var[0]
});
BitArray TEMP2 = new BitArray(new Byte[1] {
Read_Var[1]
});
Byte[] BTEMP1 = new Byte[4];
float FTEMP1 = 0;
railPLC1.Touch_Sensor_SG = TEMP1[0];
railPLC1.TeleCylin_Max_On = TEMP1[1];
railPLC1.TeleCylin_Min_On = TEMP1[2];
railPLC1.Laser_Sensor_CH1_On = TEMP1[3];
railPLC1.Laser_Sensor_CH2_On = TEMP1[4];
railPLC1.FlapWheel_RotaDrect = TEMP1[5];
railPLC1.FlapWheel_Servo_Warn_SG = TEMP1[6];
railPLC1.Rail_Servo_Warn_SG = TEMP1[7];
railPLC1.Rail_MotionDrect = TEMP2[0];
railPLC1.Rail_Position_Match_Done = TEMP2[1];
railPLC1.Rail_Search_OriginPT_Done = TEMP2[2];
railPLC1.Rail_To_Desti_Done = TEMP2[3];
railPLC1.Device_Elec_Off = TEMP2[4];
railPLC1.Local_Communication_OK = TEMP2[5];
railPLC1.Local_PLC_ERR = TEMP2[6];
railPLC1.Local_Device_ERR = TEMP2[7];
//读取错误代码
railPLC1.FlapWheel_Error_Code = Read_Var[7];
railPLC1.Rail_Read_Coder_ErrCode = Read_Var[20];
railPLC1.Rail_Position_Match_ErrCode = Read_Var[21];
railPLC1.Rail_Search_OriginPT_ErrCode = Read_Var[22];
railPLC1.Rail_Jog_ErrCode = Read_Var[23];
railPLC1.Rail_To_Desti_ErrCode = Read_Var[24];
//读取实数
//激光器1
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[3 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
railPLC1.Laser_Sensor_Value = FTEMP1;
//激光器2
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[25 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
railPLC1.Laser_Sensor2_Value = FTEMP1;
//百叶轮转速（或转矩）
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[8 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
railPLC1.FlapWheel_SpeedOrTorque = FTEMP1;
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[12 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
railPLC1.Rail_Robot_Position = FTEMP1;
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[16 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
railPLC1.Rail_Robot_Speed = FTEMP1;
}
//读取Rail2 PLC中的值
if (railPLC2 != null)
{
BitArray TEMP1 = new BitArray(new Byte[1] {
Read_Var[0]
});
BitArray TEMP2 = new BitArray(new Byte[1] {
Read_Var[1]
});
Byte[] BTEMP1 = new Byte[4];
float FTEMP1 = 0;
//读取bool值
BitArray TEMP3 = new BitArray(new Byte[1] {
Read_Var[50]
});
BitArray TEMP4 = new BitArray(new Byte[1] {
Read_Var[51]
});
railPLC2.Touch_Sensor_SG = TEMP3[0];
railPLC2.TeleCylin_Max_On = TEMP3[1];
railPLC2.TeleCylin_Min_On = TEMP3[2];
railPLC2.Laser_Sensor_CH1_On = TEMP3[3];
railPLC2.Laser_Sensor_CH2_On = TEMP3[4];
railPLC2.FlapWheel_RotaDrect = TEMP3[5];
railPLC2.FlapWheel_Servo_Warn_SG = TEMP3[6];
railPLC2.Rail_Servo_Warn_SG = TEMP3[7];
railPLC2.Rail_MotionDrect = TEMP4[0];
railPLC2.Rail_Position_Match_Done = TEMP4[1];
railPLC2.Rail_Search_OriginPT_Done = TEMP4[2];
railPLC2.Rail_To_Desti_Done = TEMP4[3];
railPLC2.Device_Elec_Off = TEMP4[4];
railPLC2.Local_Communication_OK = TEMP4[5];
railPLC2.Local_PLC_ERR = TEMP4[6];
railPLC2.Local_Device_ERR = TEMP4[7];
//读取错误代码
railPLC2.FlapWheel_Error_Code = Read_Var[57];
railPLC2.Rail_Read_Coder_ErrCode = Read_Var[70];
railPLC2.Rail_Position_Match_ErrCode = Read_Var[71];
railPLC2.Rail_Search_OriginPT_ErrCode = Read_Var[72];
railPLC2.Rail_Jog_ErrCode = Read_Var[73];
railPLC2.Rail_To_Desti_ErrCode = Read_Var[74];
//读取实数
//激光器1
Byte[] BTEMP2 = new Byte[4];
float FTEMP2 = 0;
for (int i = 0; i <= 3; i++)
{
BTEMP2[i] = Read_Var[53 + i];
}
Byte_ExRank(ref BTEMP2, 4);
Byte_To_Float(BTEMP2, ref FTEMP2);
railPLC2.Laser_Sensor_Value = FTEMP2;
//激光器2
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[75 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
railPLC2.Laser_Sensor2_Value = FTEMP1;
for (int i = 0; i <= 3; i++)
{
BTEMP2[i] = Read_Var[58 + i];
}
Byte_ExRank(ref BTEMP2, 4);
Byte_To_Float(BTEMP2, ref FTEMP2);
railPLC2.FlapWheel_SpeedOrTorque = FTEMP2;
for (int i = 0; i <= 3; i++)
{
BTEMP2[i] = Read_Var[62 + i];
}
Byte_ExRank(ref BTEMP2, 4);
Byte_To_Float(BTEMP2, ref FTEMP2);
railPLC2.Rail_Robot_Position = FTEMP2;
for (int i = 0; i <= 3; i++)
{
BTEMP2[i] = Read_Var[66 + i];
}
Byte_ExRank(ref BTEMP2, 4);
Byte_To_Float(BTEMP2, ref FTEMP2);
railPLC2.Rail_Robot_Speed = FTEMP2;
}
//读取叶片夹持小车PLC中的值
if (fixurePLC != null)
{
BitArray TEMP1 = new BitArray(new Byte[1] {
Read_Var[0]
});
BitArray TEMP2 = new BitArray(new Byte[1] {
Read_Var[1]
});
Byte[] BTEMP1 = new Byte[4];
float FTEMP1 = 0;
//读取bool值
BitArray TEMP5 = new BitArray(new Byte[1] {
Read_Var[100]
});
BitArray TEMP6 = new BitArray(new Byte[1] {
Read_Var[101]
});
fixurePLC.Fixture_Local_Reset_SG = TEMP5[0];
fixurePLC.Fixture_Jog_Rota_CW_SG = TEMP5[1];
fixurePLC.Fixture_Jog_Rota_CWW_SG = TEMP5[2];
fixurePLC.Fixture_LRota_CW_SG = TEMP5[3];
fixurePLC.Fixture_LRota_CWW_SG = TEMP5[4];
fixurePLC.Fixture_Rota_CW_SG = TEMP5[5];
fixurePLC.Fixture_Rota_CWW_SG = TEMP5[6];
fixurePLC.Fixture1_Rotation_Done = TEMP5[7];
fixurePLC.Fixture2_Rotation_Done = TEMP6[0];
fixurePLC.Fixture_Rotation_Done = TEMP6[1];
fixurePLC.Fixture_Current_Mode = TEMP6[2];
fixurePLC.Fixture_Stop_SG = TEMP6[3];
fixurePLC.Local_Communication_OK = TEMP6[4];
fixurePLC.Local_PLC_ERR = TEMP6[5];
fixurePLC.Fixture_ERR_SG = TEMP6[6];
//读角度传感器
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[102 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
fixurePLC.Fixture_XAngle = FTEMP1;
for (int i = 0; i <= 3; i++)
{
BTEMP1[i] = Read_Var[106 + i];
}
Byte_ExRank(ref BTEMP1, 4);
Byte_To_Float(BTEMP1, ref FTEMP1);
fixurePLC.Fixture_YAngle = FTEMP1;
}
//读取通信PLC中的数值
if (comPLC != null)
{
BitArray TEMP7 = new BitArray(new Byte[1] {
Read_Var[110]
});
comPLC.PLC_Communication_OK = TEMP7[0];
comPLC.PLC_ERR_SG = TEMP7[1];
comPLC.System_ERR_SG = TEMP7[2];
comPLC.Enmergency_Stop_SG = TEMP7[3];
}
}