public static bool SwitchSpeed(AbstractComm Comm, DoubleSpeedMotor Motor, bool IsSencond)
{
var result = true;
result = result && Comm.SetRegister(Motor.Speed.Addr, (IsSencond ? Motor.SecondSpeed : Motor.Speed).SetValue);
return(result);
}
/// <summary>
/// 初始化电机,先归零，再初始化
/// </summary>
/// <param name="Motor"></param>
/// <param name="Comm"></param>
/// <returns></returns>
public static bool InitMotor(Electromotor Motor, AbstractComm Comm, bool OnlyStart = false, decimal gap = 0m)
{
Constants.UserAbort = false;
//var result=MoveMotor(Motor, Comm, 0);
var result = StopMotor(Motor, Comm, true);
result = result && Comm.SetRegister(Motor.Distance.Addr, 0);
result = result && Comm.SetCoilOff(Motor.InitCoil.Addr);
result = result && Comm.SetCoilOn(Motor.InitCoil.Addr);
Motor.CurrentDistance = 0m;
Motor.IsBack = true;
Motor.IsStarted = false;
if (!OnlyStart)
{
result = result && Comm.Doned(30000, false, Motor.InitCoil);
if (Motor.ProgramZero > 0)
{
result = result && MoveMotor(Motor, Comm, 0, false, true, gap);
}
}
else
{
if (Motor.ProgramZero > 0)
{
Task.Run(() =>
{
MoveMotor(Motor, Comm, 0, false, true, gap);
});
}
}
return(result);
}
public static void Set2PLC <T>(PLCParameter <T> pLCParameter, Type targetType, float factor, AbstractComm Comm)
{
if (String.IsNullOrEmpty(pLCParameter.Addr))
{
return;
}
String TypeName = targetType == null ? typeof(T).Name : targetType.Name;
switch (TypeName)
{
case "Boolean":
{
Comm.SetCoil((bool)(Object)pLCParameter.SetValue, Comm.ConvertFatekAddrToModbusAddr(pLCParameter.Addr));
break;
}
case "Single":
{
Comm.SetRegister(pLCParameter.Addr, (float)(Object)pLCParameter.SetValue * factor);
break;
}
case "Int32":
{
Comm.SetRegister(pLCParameter.Addr, Convert.ToInt32(Convert.ToSingle((Object)pLCParameter.SetValue) * factor));
break;
}
case "Int16":
{
var val = Convert.ToInt16(Convert.ToSingle((Object)pLCParameter.SetValue) * factor);
//Console.WriteLine("val=" + val);
Comm.SetRegister(pLCParameter.Addr, val);
break;
}
default:
{
break;
}
}
}
/// <summary>
/// 移到指定位置,移动前关闭反馈完成信号
/// </summary>
/// <param name="Motor"></param>
/// <param name="Comm"></param>
/// <returns></returns>
public static bool MoveMotor(Electromotor Motor, AbstractComm Comm, decimal?Distance, bool OnlyStart = false, bool Start = true, decimal gap = 0m)
{
Constants.PauseResetEvent.WaitOne();
if (Constants.UserAbort)
{
return(false);
}
if (!Distance.HasValue)
{
return(false);
}
if (Distance.Value < 0)
{
Distance = 0;
}
var realdis = Motor.GetRealDistance(Distance.Value, gap);
if (Motor.CurrentDistance == realdis)
{
return(true);
}
else
{
//关闭完成信号
Comm.SetCoil(false, Motor.DoneCoil.Addr);
}
Motor.CurrentDistance = realdis;
int distance = Convert.ToInt32(realdis * Convert.ToDecimal(Motor.Factor.SetValue));
var result = Comm.SetRegister(Motor.Distance.Addr, distance);
if (Start)
{
StartMotor(Motor, Comm);
}
if (!OnlyStart)
{
result = Comm.Doned(30000, true, Motor.DoneCoil);
}
return(result);
}
public bool ChangeSpeed(Electromotor motor, int speed, AbstractComm Comm)
{
var res = Comm.SetRegister(motor.Speed.Addr, speed);
return(res);
}