/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_AbsoluteMove(AxisConfig axisC, PointModule point)
{
short shrResult = 0;
if (point.dblPonitSpeed == 0.0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
LTDMC.dmc_set_s_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, 0, point.db_S_Time); //设置S段时间（0-0.05s)
LTDMC.dmc_set_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, axisC.StartSpeed, point.dblPonitSpeed, point.db_StopSpeed, point.dblAccTime, point.dblDecTime); //设置起始速度、运行速度、停止速度、加速时间、减速时间
shrResult = LTDMC.dmc_pmove((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, (int)(point.dblPonitValue * axisC.Eucf), 1); //定长运动
if (shrResult != shrGtsSuccess)
{
CommandResult("_SR_RelativeMove", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 单轴相对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_RelativeMove(AxisConfig axisC, PointModule point)
{
short shrResult = 0;
if (point.dblPonitSpeed == 0.0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
Dmc1000.d1000_set_s_profile(axisC.CardNum * tag_AxisCount + axisC.AxisNum, point.db_S_Time); //设置S段时间（0-0.05s)
// Dmc1000.d1000_set_profile((ushort)axisC.CardNum, (ushort)axisC.AxisNum, dblPonitSpeed.StartSpeed, point.dblPonitSpeed, point.db_StopSpeed, point.dblAccTime, point.dblDecTime);//设置起始速度、运行速度、停止速度、加速时间、减速时间
shrResult = (short)Dmc1000.d1000_start_t_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum,
(int)(point.dblPonitValue * axisC.Eucf), (int)point.dblPonitStartSpeed, (int)point.dblPonitSpeed, point.dblAcc);//定长运动
if (shrResult != shrGtsSuccess)
{
CommandResult("_SR_RelativeMove", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 单轴连续运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
adt8960m.adt8960_set_startv(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblPonitStartSpeed); //
adt8960m.adt8960_set_speed(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblPonitSpeed); //
adt8960m.adt8960_set_acc(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblAcc); //
return((short)adt8960m.adt8960_continue_move(axisC.CardNum, axisC.AxisNum + 1, dir));
}
public PointAggregate(string stationName, string pointName)
{
strName = pointName;
strStationName = stationName;
arrPoint = new PointModule[StationManage.intStationAxisCount];
for (int i = 0; i < StationManage.intStationAxisCount; i++)
{
arrPoint[i] = new PointModule();
}
}
/// <summary>
/// 单轴连续运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
int ddir = 1;
if (dir == 1)
{
ddir = -1;
}
return((short)Dmc1000.d1000_start_sv_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum, (int)point.dblPonitStartSpeed,
(int)point.dblPonitSpeed * ddir, point.dblAccTime));//连续运动
}
/// <summary>
/// 寻找原点,一次寻找pos1 ,
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindHomeSinge(AxisConfig axisC, int pos1)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = pos1;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //采集原点信号
if (!axisC.tag_homeIoHighLow) //如果信号位高电平
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum)); //停止轴
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-2);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-3);
}
}
}
/// <summary>
/// 寻找原点,一次寻找pos1 ,
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindHomeSinge(AxisConfig axisC, int pos1)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule();
point.dblPonitSpeed = axisC.Speed;
point.dblAcc = axisC.Acc;
point.dblDec = axisC.Dec;
point.dblDec = axisC.tag_accTime;
point.dblPonitValue = pos1;
shrResult = _SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
CommandResult("_SR_RelativeMove", shrResult);
return(1);
}
Thread.Sleep(10);
while (true)
{
_SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
if (!axisC.tag_homeIoHighLow)
{
if (!pIo)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (_SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
}
/// <summary>
/// 单轴连续运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
if (dir == 0)
{
dir = 1;
}
else
{
dir = 0;
}
LTDMC.dmc_set_s_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, 0, point.db_S_Time); //设置S段时间（0-0.05s)
LTDMC.dmc_set_profile((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, axisC.StartSpeed, point.dblPonitSpeed, point.db_StopSpeed, point.dblAccTime, point.dblDecTime); //设置起始速度、运行速度、停止速度、加速时间、减速时间
short ret = LTDMC.dmc_vmove((ushort)tag_cardids[axisC.CardNum], (ushort)axisC.AxisNum, (ushort)dir); //连续运动
return(ret);
}
/// <summary>
/// 运行第二段距离
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeMoveTwoDis(AxisConfig axisC)
{
short shrResult = 0;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = axisC.intSecondFindOriginDis;
if (axisC.HomeDir == 0)
{
point.dblPonitValue = 0 - point.dblPonitValue;
}
shrResult = SR_RelativeMove(axisC, point); //单轴的相对运动
if (shrResult != 0)
{
return(-1);
}
if (point.dblPonitValue == 0)
{
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
}
/// <summary>
/// 单轴连续运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
if (tag_CardCount < 1 || axisC.CardNum >= tag_CardCount)
{
return(-1);
}
int ddir = 1;
if (dir == 1)
{
ddir = -1;
}
int speed = (int)point.dblPonitSpeed * ddir;
int dblPonitStartSpeed = (int)point.dblPonitStartSpeed * ddir;
short ret = (short)Dmc1000.d1000_start_sv_move(axisC.CardNum * tag_AxisCount + axisC.AxisNum, (int)dblPonitStartSpeed,
(int)speed, point.dblAccTime);
return(ret); //连续运动
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_AbsoluteMove(AxisConfig axisC, PointModule point)
{
short shrResult = 0;
if (point.dblPonitStartSpeed == 0.0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
adt8960m.adt8960_set_startv(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblPonitStartSpeed); //
adt8960m.adt8960_set_speed(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblPonitSpeed); //
adt8960m.adt8960_set_acc(axisC.CardNum, axisC.AxisNum + 1, (int)point.dblAcc); //
shrResult = (short)adt8960m.adt8960_symmetry_absolute_move(axisC.CardNum, axisC.AxisNum + 1, (int)(point.dblPonitValue * axisC.Eucf), (int)axisC.StartSpeed, (int)point.dblPonitSpeed, (int)point.dblAccTime, (int)point.dblAcc, 1);
if (shrResult != shrGtsSuccess)
{
CommandResult("adt8960_symmetry_relative_move", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public static short SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
short shrResult = 0;
if (point.dblPonitSpeed == 0)
{
MessageBoxLog.Show(axisC.AxisName + "速度设置位0,急停请设置");
return(-1);
}
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
shrResult = Base_.SR_continue_move(axisC, point, dir);
if (shrResult != shrGtsSuccess)
{
return(shrFail);
}
return(shrSuccess);
}
public short HomeFindOneHomeIO(AxisConfig axisC)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.HomeSpeed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = axisC.intThreeFindOriginDis;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
return(-1);
}
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
if (axisC.tag_homeIoHighLow)
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
else
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
Thread.Sleep(1000);
int countzeor = 30;
while (countzeor >= 0)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
int status = 0;
short r = SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out status);
if (r != 0)
{
return(-1);
}
if (status == 0)
{
break;
}
}
while (countzeor >= 0)
{
double pos = 0;
double Enc = 0;
Thread.Sleep(1000);
SR_GetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), ref pos);
SR_GetEncPos(axisC.CardNum, (short)(axisC.AxisNum), ref Enc);
SR_SetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), 0);
SR_SetEncPos(axisC.CardNum, (short)(axisC.AxisNum), 0);
SR_GetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), ref pos);
SR_GetEncPos(axisC.CardNum, (short)(axisC.AxisNum), ref Enc);
if (pos < 5 && pos > -5 && Enc < 5 && Enc > -5)
{
return(0);
}
countzeor--;
Thread.Sleep(10);
}
if (countzeor >= 0)
{
return(0);
}
return(-1);
}
/// <summary>
///
/// </summary>
/// <param name="axisC"></param>
/// <returns></returns>
public short HomeFindLimit(AxisConfig axisC)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
if (axisC.HomeDir == 1) //回零方向，默认为0
{
point.dblPonitValue = 0 - axisC.intFirstFindOriginDis; //第一次找原点距离
}
else
{
point.dblPonitValue = axisC.intFirstFindOriginDis;
}
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //获取正限输入状态
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo); //获取负限输入状态
}
if (axisC.tag_IoLimtPNHighEnable == 0) //正负限位高电平有效
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
shrResult = SR_RelativeMove(axisC, point); //单轴的相对运动
if (shrResult != 0)
{
CommandResult("_SR_AbsoluteMove", shrResult);
return(-1);
}
Thread.Sleep(10);
while (true)
{
if (WorkBase.IsRestExit())
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(-1);
}
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
return(3);
}
}
}
public short HomeFindHomeIO(AxisConfig axisC)
{
short shrResult = 0;
bool pIo = false;
int AxisState = 0;
int pos = 0;
if (axisC.HomeDir == 0)
{
pos = 0 - pos;
}
PointModule point = new PointModule();
point.dblPonitSpeed = axisC.HomeSpeed;
point.dblAcc = axisC.Acc;
point.dblDec = axisC.Dec;
point.dblDec = axisC.tag_accTime;
point.dblPonitValue = pos;
shrResult = _SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
CommandResult("_SR_RelativeMove", shrResult);
return(1);
}
while (true)
{
_SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
if (axisC.tag_homeIoHighLow)
{
if (pIo)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
else
{
if (!pIo)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
if (_SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
_SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
Thread.Sleep(700);
shrResult = mc.GT_ZeroPos(axisC.CardNum, axisC.AxisNum, 1);
if (shrResult != shrGtsSuccess)
{
CommandResult("GT_ZeroPos", shrResult);
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 单轴连续运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_continue_move(AxisConfig axisC, PointModule point, int dir)
{
short shrResult;
mc.TJogPrm jog;
//if (axisC.AxisNum == 4)
//{
// _SR_SetOutputBit(0, 15, 1);//R轴动前关刹车
//}
shrResult = mc.GT_PrfJog(axisC.CardNum, axisC.AxisNum);
if (shrResult != shrGtsSuccess)
{
CommandResult("GT_PrfJog", shrResult);
return(shrFail);
}
shrResult = mc.GT_GetJogPrm(axisC.CardNum, (short)(axisC.AxisNum), out jog);
if (shrResult != shrGtsSuccess)
{
CommandResult("GT_GetJogPrm", shrResult);
return(shrFail);
}
//jog.acc = axisC.Acc;
//jog.dec = axisC.Dec;
jog.acc = point.dblAcc;
jog.dec = point.dblDec;
jog.smooth = 0;
shrResult = mc.GT_SetJogPrm(axisC.CardNum, (short)(axisC.AxisNum), ref jog);
if (shrResult != shrGtsSuccess)
{
CommandResult("GT_SetJogPrm", shrResult);
return(shrFail);
}
if (dir == 0)
{
shrResult = mc.GT_SetVel(axisC.CardNum, (short)(axisC.AxisNum), point.dblPonitSpeed / 1000);
}
else
{
shrResult = mc.GT_SetVel(axisC.CardNum, (short)(axisC.AxisNum), -point.dblPonitSpeed / 1000);
}
if (shrResult != shrGtsSuccess)
{
CommandResult("GT_SetVel", shrResult);
return(shrFail);
}
shrResult = mc.GT_ClrSts(axisC.CardNum, (short)(axisC.AxisNum), 1);
if (shrResult != shrGtsSuccess)
{
CommandResult("GT_ClrSts", shrResult);
return(shrFail);
}
shrResult = mc.GT_Update(axisC.CardNum, 1 << (axisC.AxisNum - 1));
if (shrResult != shrGtsSuccess)
{
CommandResult("GT_Update", shrResult);
return(shrFail);
}
return(0);
}
//往下移动
private void Jog_minusBT_MouseDown(object sender, MouseEventArgs e)
{
if (!Work.IsMove(1))
{
return;
}
setspeed();
if (arrAxis == null)
{
MessageBoxLog.Show("");
return;
}
double pos = 0;
if (arrAxis.SoftLimitEnablel == 0)
{
pos = arrAxis.SoftLimitMaxValue;
}
else
{
pos = -1000;
}
if (StationManage.Distancemode == "短距")
{
nowpset = StationManage.Shortdistanceset;
/* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint - nowpset) * arrAxis.Eucf))
* {
* return;
* }*/
PointModule _pointModule = new PointModule();
_pointModule.dblAcc = arrAxis.Acc;
_pointModule.blnPointEnable = true; //表示点位是否启用
_pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变
_pointModule.dblPonitValue = nowpoint - nowpset; //点位数据
_pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度
_pointModule.dblAcc = arrAxis.Acc; //加速度
_pointModule.dblDec = arrAxis.Dec; //减速度
_pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间
_pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间
_pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度
_pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度
resutl = NewCtrlCardV0.SR_AbsoluteMove(arrAxis, _pointModule);
if (resutl != 0)
{
MessageBoxLog.Show("轴运动异常");
}
}
else
{
if (StationManage.Distancemode == "长距")
{
nowpset = StationManage.Longdistanceset;
/* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint - nowpset) * arrAxis.Eucf))
* {
* return;
* }*/
PointModule _pointModule = new PointModule();
_pointModule.dblAcc = arrAxis.Acc;
_pointModule.blnPointEnable = true; //表示点位是否启用
_pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变
_pointModule.dblPonitValue = nowpoint - nowpset; //点位数据
_pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度
_pointModule.dblAcc = arrAxis.Acc; //加速度
_pointModule.dblDec = arrAxis.Dec; //减速度
_pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间
_pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间
_pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度
_pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度
resutl = NewCtrlCardV0.SR_AbsoluteMove(arrAxis, _pointModule);
if (resutl != 0)
{
MessageBoxLog.Show("轴运动异常");
}
}
else
{
/* if (!AxisSafeManage.AxisIsSafe(tag_work._Config.tag_safeStationModule, arrAxis, 0, (nowpoint + nowpset) * arrAxis.Eucf))
* {
* return;
* }*/
PointModule _pointModule = new PointModule();
_pointModule.dblAcc = arrAxis.Acc;
_pointModule.blnPointEnable = true; //表示点位是否启用
_pointModule.blnIsSpecialPoint = true; //表示此点位是否是特殊点位 方便对应轴速度快速改变
_pointModule.dblPonitValue = nowpoint - 6000; //点位数据
_pointModule.dblPonitSpeed = StationManage.Speedvalue; //点位速度
_pointModule.dblAcc = arrAxis.Acc; //加速度
_pointModule.dblDec = arrAxis.Dec; //减速度
_pointModule.dblAccTime = arrAxis.tag_accTime; //加速时间
_pointModule.dblDecTime = arrAxis.tag_accTime; //减速时间
_pointModule.dblPonitStartSpeed = arrAxis.StartSpeed; //初始速度
_pointModule.db_S_Time = arrAxis.tag_S_Time; //初始速度
resutl = NewCtrlCardV0.SR_continue_move(arrAxis, _pointModule, 1);
if (resutl != 0)
{
MessageBoxLog.Show("轴运动异常");
}
}
}
}
public short HomeFindOneHomeIO(AxisConfig axisC)
{
short shrResult = 0;
int Isfined = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.HomeSpeed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
point.dblPonitValue = axisC.intThreeFindOriginDis;
shrResult = SR_RelativeMove(axisC, point);
if (shrResult == 1)
{
return(1);
}
while (true)
{
SR_GetOriginInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
if (axisC.tag_homeIoHighLow)
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
else
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
shrResult = 0;
break;
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
Thread.Sleep(100);
if (SR_SetPrfPos(axisC.CardNum, (short)(axisC.AxisNum), 0) != 0)
{
return(4);
}
if (SR_SetEncPos(axisC.CardNum, (short)(axisC.AxisNum), 0) != 0)
{
return(5);
}
return(shrResult);
}
public short HomeFindLimit(AxisConfig axisC)
{
short shrResult = 0;
int Isfined = 0;
bool pIo = false;
int AxisState = 0;
PointModule point = new PointModule(true, false, 0, axisC.Speed, axisC.Acc, axisC.Dec, axisC.tag_accTime, axisC.tag_delTime, axisC.StartSpeed, axisC.tag_S_Time, axisC.tag_StopSpeed);
if (axisC.HomeDir == 1)
{
point.dblPonitValue = 0 - axisC.intFirstFindOriginDis;
}
else
{
point.dblPonitValue = axisC.intFirstFindOriginDis;
}
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
shrResult = SR_RelativeMove(axisC, point);
if (shrResult != 0)
{
CommandResult("_SR_AbsoluteMove", shrResult);
return(1);
}
Thread.Sleep(10);
while (true)
{
if (axisC.HomeDir == 0)
{
SR_GetLimitPInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
else
{
SR_GetLimitNInput(axisC.CardNum, (short)(axisC.AxisNum), out pIo);
}
if (axisC.tag_IoLimtPNHighEnable == 0)
{
if (!pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
else
{
if (pIo)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(0);
}
}
if (SR_GetAxisStatus(axisC.CardNum, (short)(axisC.AxisNum), out AxisState) != 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(1);
}
if (AxisState == 0)
{
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(3);
}
Thread.Sleep(1);
}
SR_AxisEmgStop(axisC.CardNum, (short)(axisC.AxisNum));
return(4);
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="card"></param>
/// <param name="axis"></param>
/// <param name="postion">目标点位</param>
/// <param name="speed">速度</param>
/// <returns></returns>
public short _SR_AbsoluteMove(AxisConfig axisC, PointModule point)
{
short card = axisC.CardNum;
short axis = axisC.AxisNum;
//if (axis == 4)
//{
// _SR_SetOutputBit(0, 15, 1);//R轴动前关刹车
//}
short sResult;
int ipos;
sResult = mc.GT_Stop(card, 1 << (axis - 1), 0);
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
//设置为点位模试
sResult = mc.GT_PrfTrap(card, axis);
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
mc.TTrapPrm tprm;
//读取点位运动参数
sResult = mc.GT_GetTrapPrm(card, axis, out tprm);
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
tprm.acc = (point.dblPonitSpeed / 1000) / axisC.AccTime;
tprm.dec = (point.dblPonitSpeed / 1000) / axisC.DecTime;
tprm.smoothTime = 0;
//设置点位运动参数
sResult = mc.GT_SetTrapPrm(card, axis, ref tprm);
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
sResult = mc.GT_ClrSts(card, axis, 1);
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
sResult = mc.GT_ClrSts(card, axis, 1); //1001 09
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
sResult = mc.GT_GetPos(card, axis, out ipos);
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
//设置目标位置
//ipos = ipos + postion;
sResult = mc.GT_SetPos(card, axis, (int)(point.dblPonitValue * axisC.Eucf));
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
//设置轴运动速度
sResult = mc.GT_SetVel(card, axis, point.dblPonitSpeed / 1000); //
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
//启动轴运动
sResult = mc.GT_Update(card, 1 << (axis - 1));
if (sResult != shrGtsSuccess)
{
CommandResult("GT_PrfTrap", sResult);
return(shrFail);
}
return(shrGtsSuccess);
}
//初始化组件
public void Init()
{
try
{
if (_PointSet != null)
{
label_Step.Text = tag_stepName.ToString();
if (_PointSet.tag_isWait == 0)
{
checkBox_wait.Checked = false;
}
else
{
checkBox_wait.Checked = true;
}
textBox_name.Text = _PointSet.strName;
checkBox_Enable.Checked = _PointSet.tag_isEnable;
checkBox_AxisStop.Checked = _PointSet.tag_isAxisStop;
if (_PointSet.tag_motionType == 0)
{
comboBox2.SelectedIndex = 0;
}
else
{
comboBox2.SelectedIndex = 1;
}
if (_PointSet.tag_MotionLineType == 0)
{
comboBox_Line.SelectedIndex = 0;
}
else
{
comboBox_Line.SelectedIndex = 1;
}
if (_PointSet.tag_isRest == 1)
{
checkBox_AxisRest.Checked = true;
}
else
{
checkBox_AxisRest.Checked = false;
}
textBox_Sleep.Text = _PointSet.tag_Sleep.ToString();
int ww = 5;
comboBox_delectAdd.Location = new Point(30, (this.Size.Height - textBox_name.Size.Height) / 2);
textBox_name.Location = new Point(comboBox_delectAdd.Location.X + comboBox_delectAdd.Size.Width + ww, (this.Size.Height - textBox_name.Size.Height) / 2);
int x = textBox_name.Location.X + textBox_name.Size.Width + ww;
int x2 = x;
if (_PointSet.arrPoint.Length < tag_stationM.arrAxis.Count)
{
PointModule[] arrPoint = new PointModule[tag_stationM.arrAxis.Count];
int mm = 0;
for (mm = 0; mm < _PointSet.arrPoint.Length; mm++)
{
arrPoint[mm] = _PointSet.arrPoint[mm];
}
for (mm = 0; mm < tag_stationM.arrAxis.Count; mm++)
{
arrPoint[mm] = new PointModule();;
}
_PointSet.arrPoint = arrPoint;
}
int i = 0;
for (i = 0; i < tag_stationM.arrAxis.Count; i++)
{
// if (_PointSet.arrPoint[i].blnPointEnable)
{
TextBox tex = null;
if (tag_textobj[i] == null)
{
tex = new TextBox();
this.Controls.Add(tex);
}
else
{
tex = (TextBox)tag_textobj[i];
}
tex.Text = _PointSet.arrPoint[i].dblPonitValue.ToString();
tex.Size = new Size(40, 20);
tex.Location = new Point(x2 + ww * i + tex.Size.Width * i,
(this.Size.Height - tex.Size.Height) / 2);
x = tex.Location.X;
tag_textobj[i] = tex;
if (!_PointSet.arrPoint[i].blnPointEnable)
{
tex.BackColor = Color.White;
tex.ForeColor = Color.Black;
tex.Enabled = false;
}
else
{
tex.BackColor = Color.Green;
tex.ForeColor = Color.White;
tex.Enabled = true;
}
tex.Visible = true;
}
}
while (i < tag_textobj.Length)
{
TextBox tex2 = (TextBox)tag_textobj[i];
if (tex2 != null)
{
tex2.Visible = false;
}
i++;
}
button_Exe.Location = new Point(x + 50, (this.Size.Height - button_Exe.Size.Height) / 2);
butIoSet.Location = new Point(button_Exe.Location.X + button_Exe.Size.Width + ww, (this.Size.Height - butIoSet.Size.Height) / 2);
button_save.Location = new Point(butIoSet.Location.X + butIoSet.Size.Width + ww, (this.Size.Height - button_save.Size.Height) / 2);
checkBox_Enable.Location = new Point(button_save.Location.X + button_save.Size.Width + ww, (this.Size.Height - checkBox_Enable.Size.Height) / 2);
// button1.Location = new Point(checkBox_Enable.Location.X + button_save.Size.Width + ww, (this.Size.Height - checkBox_Enable.Size.Height) / 2);
checkBox_wait.Location = new Point(checkBox_Enable.Location.X + checkBox_Enable.Size.Width + ww, (this.Size.Height - checkBox_wait.Size.Height) / 2);
checkBox_AxisRest.Location = new Point(checkBox_wait.Location.X + checkBox_wait.Size.Width + ww, (this.Size.Height - checkBox_AxisRest.Size.Height) / 2);
checkBox_AxisStop.Location = new Point(checkBox_AxisRest.Location.X + checkBox_AxisRest.Size.Width + ww, (this.Size.Height - checkBox_AxisStop.Size.Height) / 2);
comboBox2.Location = new Point(checkBox_AxisStop.Location.X + checkBox_AxisStop.Size.Width + ww, (this.Size.Height - comboBox2.Size.Height) / 2);
comboBox_Line.Location = new Point(comboBox2.Location.X + comboBox2.Size.Width + ww, (this.Size.Height - comboBox_Line.Size.Height) / 2);
button_axisSafe.Location = new Point(comboBox_Line.Location.X + comboBox_Line.Size.Width + ww, (this.Size.Height - button_axisSafe.Size.Height) / 2);
textBox_Sleep.Location = new Point(button_axisSafe.Location.X + button_axisSafe.Size.Width + ww, (this.Size.Height - textBox_Sleep.Size.Height) / 2);
if ((_PointSet.tag_BeginFun != null || _PointSet.tag_EndFun != null) && Global.WorkVar.tag_GuanLian == true)
{
textBox_name.Enabled = false;
}
else
{
textBox_name.Enabled = true;
}
}
}
catch
{ }
}