public void UpdateHomebtnMethod()
{
int count = 0;
do
{
count = 0;
foreach (Axis axis in AxisGroup)
{
if (Motion2610Control.GetAxisIsDoWell(axis))
{
count++;
Thread.Sleep(100);
}
}
} while (count != 4);
btnInitialization.Enabled = true;
}
private void timer1_Tick(object sender, EventArgs e)
{
long pos, pos2;
int checkStauts;
string str_DisplayPos;
pos = Dmc2610.d2610_get_position(0);//读取指定轴的当前位置
str_DisplayPos = "X=" + Convert.ToString(pos) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.XAxis)) ? "...Run..." : "...Stop...");
pos = Dmc2610.d2610_get_position(1);
str_DisplayPos = str_DisplayPos + " Y=" + Convert.ToString(pos) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.YAxis)) ? "...Run..." : "...Stop...");
str_DisplayPos += "\n";
pos2 = Dmc2610.d2610_get_position(2);
str_DisplayPos = str_DisplayPos + "Z=" + Convert.ToString(pos2) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.ZAxis)) ? "...Run..." : "...Stop...");
pos2 = Dmc2610.d2610_get_position(3);
str_DisplayPos = str_DisplayPos + " U=" + Convert.ToString(pos2) + " " + (!Convert.ToBoolean(Dmc2610.d2610_check_done((ushort)AxisID.UAxis)) ? "...Run..." : "...Stop...");
//str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsORGON(XAxis)) ? "X ORG IS ON" : "X ORG IS OFF");
str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsORGON(XAxis)) ? "X ORG IS ON" : "X ORG IS OFF") + " " + ((Motion2610Control.GetAxisIsORGON(YAxis)) ? "Y ORG IS ON" : "Y ORG IS OFF") + " " + ((Motion2610Control.GetAxisIsORGON(CAxis)) ? "C ORG IS ON" : "C ORG IS OFF") + " " + ((Motion2610Control.GetAxisIsORGON(LAxis)) ? "L ORG IS ON" : "L ORG IS OFF");
str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsNELON(XAxis)) ? "X EL- IS ON" : "X EL- IS OFF") + " " + ((Motion2610Control.GetAxisIsNELON(YAxis)) ? "Y EL- IS ON" : "Y EL- IS OFF") + " " + ((Motion2610Control.GetAxisIsNELON(CAxis)) ? "C EL- IS ON" : "C EL- IS OFF") + " " + ((Motion2610Control.GetAxisIsNELON(LAxis)) ? "L EL- IS ON" : "L EL- IS OFF");
str_DisplayPos += "\n" + ((Motion2610Control.GetAxisIsPELON(XAxis)) ? "X EL+ IS ON" : "X EL+ IS OFF") + " " + ((Motion2610Control.GetAxisIsPELON(YAxis)) ? "Y EL+ IS ON" : "Y EL+ IS OFF") + " " + ((Motion2610Control.GetAxisIsPELON(CAxis)) ? "C EL+ IS ON" : "C EL+ IS OFF") + " " + ((Motion2610Control.GetAxisIsPELON(LAxis)) ? "L EL+ IS ON" : "L EL+ IS OFF");
str_DisplayPos += "\n\n" + ((Motion2610Control.GetAxisIsINPON(XAxis)) ? "X INP IS ON" : "X INP IS OFF") +
" " + ((Motion2610Control.GetAxisIsINPON(YAxis)) ? "Y INP IS ON" : "Y INP IS OFF");
Label_POSITION.Text = str_DisplayPos;//显示位置信
StringBuilder axisStautsDetail = new StringBuilder();
foreach (Axis axis in AxisGroup)
{
if (!Motion2610Control.AxisQueryStatus(axis))
{
while (axis.AxisStatusStack.Count > 0)
{
axisStautsDetail.Append(axis.AxisStatusStack.Pop());
}
}
}
if (axisStautsDetail.Length <= 0)
{
lbAxisStatus.Text = "Axis Status : \n" + "Every Axis is OK!";
}
else
{
lbAxisStatus.Text = "Axis Status : \n" + axisStautsDetail;
}
StringBuilder sb2 = new StringBuilder();
for (int i = 0; i < 2; i++)
{
if (Motion2610Control.ReadInputKey((ushort)(i + 1)) != InputiskeyDown[i])
{
InputiskeyDown[i] = Motion2610Control.ReadInputKey((ushort)(i + 1));
if (InputiskeyDown[i] != InputinitStatus[i])
{
inputstartTime[i] = DateTime.Now;
string str1 = "input " + i.ToString() + ": StartTime= " + inputstartTime[i].ToString();
sb2.AppendLine(str1);
}
else
{
InputEndTime[i] = DateTime.Now;
string str1 = "input " + i.ToString() + ": EndTime = " + InputEndTime[i].ToString();
sb2.AppendLine(str1);
}
}
}
this.tbinputsig.Text += sb2.ToString();
}
private void XYMotion()
{
updateBtn = UpdateRunbtnMethod;
uint count = 0;
bool isCompleted = true;
float xCoordinate, yCoordinate;
#region 循环所有孔类型的操作
foreach (DrillTAPE.HoleShapeCollections holeShape in drill1.HoleList)
{
if (isCompleted)
{
for (int i = 0; i < holeShape.XYCoordinateGroup.GetCoordinateCount(); i++)
{
xCoordinate = holeShape.XYCoordinateGroup.Pointfs[i].X;
yCoordinate = holeShape.XYCoordinateGroup.Pointfs[i].Y;
picBox1.Image = DrawCurrentHitHole1(xCoordinate, yCoordinate);
if (!Motion2610Control.XYPMoveAbsolutUseTMode(XAxis, YAxis, xCoordinate, yCoordinate))
{
isCompleted = false;
break;
}
else
{
Thread.Sleep(50);
count++;
}
while ((!Motion2610Control.GetAxisIsDoWell(XAxis)) && (!Motion2610Control.GetAxisIsDoWell(YAxis)))
{
}
}
}
else
{
MessageBox.Show("Some wrong has Happend!!!");
RunedorRunAbort = true;
BeginInvoke(updateBtn);
return;
}
}
#endregion
#region 循环所有Slot类型的操作
//foreach (DrillTAPE.SlotShapeCollections slotShape in drill1.SlotList)
//{
// if (isCompleted)
// {
// Stack<PointF> singleSlotSequenceStack;
// for (int i = 0; i < slotShape.Count; i++)
// {
// xCoordinate = slotShape.XYCoordinateGroup.Pointfs[i].X;
// yCoordinate = slotShape.XYCoordinateGroup.Pointfs[i].Y;
// picBox1.Image = DrawCurrentHitHole1(xCoordinate, yCoordinate);
// if (!Motion2610Control.XYPMoveAbsolutUseTMode(XAxis, YAxis, xCoordinate, yCoordinate))
// {
// isCompleted = false;
// break;
// }
// else
// {
// Thread.Sleep(50);
// count++;
// }
// while ((!Motion2610Control.GetAxisIsDoWell(XAxis)) && (!Motion2610Control.GetAxisIsDoWell(YAxis)))
// {
// }
// }
// }
// else
// {
// MessageBox.Show("Some wrong has Happend!!!");
// RunedorRunAbort = true;
// BeginInvoke(updateBtn);
// return;
// }
//}
#endregion
RunedorRunAbort = true;
BeginInvoke(updateBtn);
}
private void AxiseHomeUseThread(Axis axis)
{
Motion2610Control.HomeMove(axis);
BeginInvoke(updateBtn);
}
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];
}
}
