/// <summary>
/// 获取回原点模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int GetConfigHomeMode(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_config_home_mode(axisInfo.AxisNumber, ref axisInfo.mHomeDir, ref axisInfo.mVel, ref axisInfo.mHomeMode, ref axisInfo.mEZCount);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴回原点模式", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取软件限位
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int GetConfigSoftlimit(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_config_softlimit(axisInfo.AxisNumber, ref axisInfo.mON_OFF, ref axisInfo.mSourceSel, ref axisInfo.mSLAction, ref axisInfo.mNLimit, ref axisInfo.mPLimit);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴软件限位", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 设置指定轴的指令脉冲位置
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int SetPosition(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_set_position(axisInfo.AxisNumber, axisInfo.CurrentPosition);
Log.GetInstance().ActionWrite(string.Format("设置[{0}]轴的指令脉冲位置为[{1}]", axisInfo.AxisName, axisInfo.CurrentPosition), ((ErrorMsg)0).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 定长运动
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int Pmove(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_pmove(axisInfo.AxisNumber, axisInfo.Dist, axisInfo.PosiMode);
Log.GetInstance().ActionWrite(string.Format("[{0}]轴定长运动距离[{1}]", axisInfo.AxisName, axisInfo.Dist), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 紧急停止所有轴
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int EmgStop(bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_emg_stop();
Log.GetInstance().ActionWrite(string.Format("紧急停止所有轴 "), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 读取卡硬件的固件版本号
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int GetCardSoftVersion(bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_card_soft_version(this.CardNo, ref this.mFirmId, ref this.mSubFirmId);
Log.GetInstance().ActionWrite(string.Format("读取卡硬件的固件版本号[{0}]子版本号[{1}]", this.mFirmId, this.mSubFirmId), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 指定轴减速停止
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误码</returns>
public int DecelStop(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_decel_stop(axisInfo.AxisNumber, axisInfo.Dec);
Log.GetInstance().ActionWrite(string.Format("[{0}]轴减速停止", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 同步停止所有轴
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int SimultaneousStop(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_simultaneous_stop(axisInfo.AxisNumber);
Log.GetInstance().ActionWrite(string.Format("[{0}]轴同步停止", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 设置指定轴的EZ信号的有效电平及其作用
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int SetConfigEzPin(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_config_EZ_PIN(axisInfo.AxisNumber, axisInfo.EzLogic, axisInfo.EzMode);
Log.GetInstance().ActionWrite(string.Format("设置[{0}]轴的EZ信号的有效电平及其方式", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取指定卡的插补速度
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>插补速度</returns>
public override double ReadVectorSpeed(bool isShowLog)
{
double dRtn = Dmc2C80.d2c80_read_vector_speed(this.CardNo);
Log.GetInstance().ActionWrite(string.Format("获取控制卡[{0}]的插补速度[{1}] ", this.CardNo, dRtn), ((ErrorMsg)0).ToString(), isShowLog);
return(dRtn);
}
/// <summary>
/// 获取S形速度曲线运动模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int Get_S_ProFile(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_s_profile(axisInfo.AxisNumber, ref axisInfo.mS_Para);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的S形曲线运动和S段比[{1}]", axisInfo.AxisName, axisInfo.S_Para), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 设置ORG信号的有效电平
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int SetConfigHomePinLogic(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_config_HOME_PIN_logic(axisInfo.AxisNumber, axisInfo.OrgLogic, 1);
Log.GetInstance().ActionWrite(string.Format("设置[{0}]轴ORG信号的有效电平", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取T形速度曲线运动模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public int Get_T_ProFile(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_profile(axisInfo.AxisNumber, ref axisInfo.mMinVel, ref axisInfo.mMaxVel, ref axisInfo.mAcc, ref axisInfo.mDec);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的起始速度[{1}]、运行速度[{2}]、加速度[{3}]、减速度[{4}]", axisInfo.AxisName, axisInfo.MinVel, axisInfo.MaxVel, axisInfo.Acc, axisInfo.Dec), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取指定轴编码器的计数方式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int GetCounterConfig(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_counter_config(axisInfo.AxisNumber, ref axisInfo.mMode);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的编码器计算方式[{1}]", axisInfo.AxisName, axisInfo.Mode), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取指定轴的脉冲输出模式
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误码</returns>
public override int GetPulseOutmode(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_pulse_outmode(axisInfo.AxisNumber, ref axisInfo.mOutmode);
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的脉冲输出模式[{1}]", axisInfo.AxisNumber, axisInfo.Outmode), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 在线改变指定轴的当前运动速度。该函数只适用于单轴运动中的变速
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int ChangeSpeed(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_change_speed(axisInfo.AxisNumber, axisInfo.CurrVel);
Log.GetInstance().ActionWrite(string.Format("修改[{0}]轴的当前运动速度为[{1}]", axisInfo.AxisName
, axisInfo.CurrVel), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 读取卡的总轴数
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>轴数</returns>
public override int GetTotalAxis(bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_get_total_axes(this.CardNo);
this.AxisCount = iRtn;
Log.GetInstance().ActionWrite(string.Format("读取控制卡的总轴数[{0}]", iRtn), ((ErrorMsg)0).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 读取硬件版本号
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>硬件版本号</returns>
public uint GetCardVersion(bool isShowLog)
{
uint iRtn = Dmc2C80.d2c80_get_card_version(this.CardNo);
this.CardVersion = iRtn;
Log.GetInstance().ActionWrite(string.Format("读取硬件版本号[{0}]", iRtn), ((ErrorMsg)0).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 检测指定轴的运动状态
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns> 0运行，1停止</returns>
public override int CheckDone(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_check_done(axisInfo.AxisNumber);
axisInfo.IsMove = iRtn == 0 ? true : false;
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴运动状态{1}", axisInfo.AxisName, iRtn == 0 ? "正在运动" : "停止运动"), ((ErrorMsg)0).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 回原点运动
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>错误代码</returns>
public override int HomeMove(AxisInfo axisInfo, bool isShowLog)
{
int iRtn = (int)Dmc2C80.d2c80_home_move(axisInfo.AxisNumber);
axisInfo.IsHome = iRtn == 0 ? true : false;
Log.GetInstance().ActionWrite(string.Format("[{0}]轴回原点运动", axisInfo.AxisName), ((ErrorMsg)iRtn).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 读取控制卡的ID拨码开关
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>控制卡的ID拨码开关标志值</returns>
public override uint GetCardID(bool isShowLog)
{
uint iRtn = Dmc2C80.d2c80_get_card_ID(this.CardNo);
this.IsOff = iRtn == 0 ? true : false;
Log.GetInstance().ActionWrite(string.Format("读取控制卡的ID拨码开关[{0}]", iRtn == 0 ? "低电平" : "高电平"), ((ErrorMsg)0).ToString(), isShowLog);
return(iRtn);
}
/// <summary>
/// 获取指定轴的当前速度
/// </summary>
/// <param name="axisInfo"></param>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>指定轴的速度脉冲数</returns>
public override double ReadCurrentSpeed(AxisInfo axisInfo, bool isShowLog)
{
double dRtn = Dmc2C80.d2c80_read_current_speed(axisInfo.AxisNumber);
axisInfo.CurrVel = dRtn;
Log.GetInstance().ActionWrite(string.Format("获取[{0}]轴的当前速度[{1}] ", axisInfo.AxisNumber, dRtn), ((ErrorMsg)0).ToString(), isShowLog);
return(dRtn);
}
/// <summary>
/// 初始化控制卡
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
/// <returns>成功与否</returns>
public override bool InitCard(bool isShowLog)
{
bool f = false;
int iRtn = Dmc2C80.d2c80_board_init();
if (iRtn < 1 || iRtn > 7)
{
f = false;
Log.GetInstance().ActionWrite(string.Format("初始化控制卡"), "没有读到控制卡", isShowLog);
}
else
{
f = true;
Log.GetInstance().ActionWrite(string.Format("初始化控制卡"), ((ErrorMsg)iRtn).ToString(), isShowLog);
}
return(f);
}
/// <summary>
/// 设置控制卡的全部通用输出口的电平状态
/// </summary>
/// <param name="port_value">bit0–bit31位值分别代表第1–32 号输出端口值</param>
/// <returns>错误代码</returns>
public override int WriteOutport(ushort port_value)
{
int iRtn = (int)Dmc2C80.d2c80_write_outport(this.CardNo, port_value);
return(iRtn);
}
/// <summary>
/// 读取指定控制卡的全部通用输出口的电平状态
/// </summary>
/// <returns>bit0 – bit31位值分别代表第1 – 32号输出端口值</returns>
public override int ReadOutport()
{
int iRtn = (int)Dmc2C80.d2c80_read_outport(this.CardNo);
return(iRtn);
}
/// <summary>
/// 获取指定控制卡的某一位输出口的电平状态
/// </summary>
/// <param name="bitNo">指定输出口位号</param>
/// <returns>0表示低电平；1表示高电平</returns>
public override int ReadOutbit(ushort bitNo)
{
int iRtn = (int)Dmc2C80.d2c80_read_outbit(this.CardNo, bitNo);
return(iRtn);
}
/// <summary>
/// IO输出
/// </summary>
/// <param name="bitNo">指定输出口位号（取值范围：1－32）</param>
/// <param name="on_off">
/// 拨码开关选择OFF时，输出初始电平为高，当输出口写 0时,
/// 端口输出低电平；拨码开关选择ON 时，输出初始电平为低，
/// 当输出口写 0时,端口输 出高电平</param>
/// <returns>错误代码</returns>
public override int WriteOutbit(ushort bitNo, ushort on_off)
{
int iRtn = (int)Dmc2C80.d2c80_write_outbit(this.CardNo, bitNo, on_off);
return(iRtn);
}
/// <summary>
/// 关闭控制卡
/// </summary>
/// <param name="isShowLog">是否显示日志到UI</param>
public override void CloseCard(bool isShowLog)
{
Dmc2C80.d2c80_board_close();
Log.GetInstance().ActionWrite(string.Format("关闭控制卡"), ((ErrorMsg)0).ToString(), isShowLog);
}