protected override void RunLoopInWork()
{
int errCode = 0;
//bool isHomeDone = false;
//errCode = _md.IsHomeDone(_ci.ChannelIndex, out isHomeDone);
//if (errCode != 0)
//{
// ActionErrorInfo = "获取HomeDone状态失败!" + _md.GetErrorInfo(errCode);
// ExitWork(WorkExitCode.Error, "获取HomeDone 状态失败!");
//}
//if (isHomeDone)
//{
// ActionErrorInfo = "Success";
// ExitWork(WorkExitCode.Normal, "Success");
//}
// 其他状态检查
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
ActionErrorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
ExitWork(WorkExitCode.Error, "获取轴状态失败!");
}
if (axisStatus[_md.MSID_ALM])
{
ActionErrorInfo = "轴已报警!";
ExitWork(WorkExitCode.Error, "轴已报警!");
}
if (axisStatus[_md.MSID_EMG])
{
ActionErrorInfo = "轴已急停!";
ExitWork(WorkExitCode.Error, "轴已急停!");
}
if (axisStatus[_md.MSID_SVO])
{
ActionErrorInfo = "轴伺服已断电!";
ExitWork(WorkExitCode.Error, "轴伺服已断电!");
}
if (axisStatus[_md.MSID_MDN]) //等待归零完成，这一句去掉
{
ActionErrorInfo = "Success";
ExitWork(WorkExitCode.Normal, "Success");
}
if (TimeoutMilliSeconds >= 0)
{
TimeSpan ts = DateTime.Now - _startTime;
if (ts.TotalMilliseconds >= TimeoutMilliSeconds)
{
ActionErrorInfo = "超时";
ExitWork(WorkExitCode.Error, "超时");
}
}
}
/// <summary>
/// 检查轴是否满足运动条件
/// </summary>
/// <param name="axisID"></param>
/// <returns></returns>
bool _IsAxisCanMove(int axisID)
{
if (null == _module)
{
MessageBox.Show("操作失败,运动模块未设置/空值");
return(false);
}
if (!_module.IsOpen)
{
MessageBox.Show("操作失败,运动模块未开启");
return(false);
}
if (axisID >= _module.AxisCount)
{
MessageBox.Show("操作失败,轴序号 = " + axisID + " 超出限制:0~" + (_module.AxisCount - 1));
return(false);
}
bool[] motionStatus;
int err = _module.GetMotionStatus(axisID, out motionStatus);
if (err != 0)
{
MessageBox.Show("操作失败,轴序号:" + axisID + " 状态未知!");
return(false);
}
if (!motionStatus[_module.MSID_SVO])
{
MessageBox.Show("操作失败,轴序号:" + axisID + " 伺服未使能!");
return(false);
}
if (motionStatus[_module.MSID_ALM])
{
MessageBox.Show("操作失败,轴序号:" + axisID + " 伺服已报警!");
return(false);
}
if (_module.MSID_MDN >= 0)
{
if (!motionStatus[_module.MSID_MDN])
{
MessageBox.Show("操作失败,轴序号:" + axisID + " 运动未完成!");
return(false);
}
}
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
_isRunning = true;
string axisID = GetMethodInputValue(PN_AxisID) as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
int timeoutMilSeconds = (int)GetMethodInputValue(PN_TimeoutMilliSeconds);
int cycleMilliSeconds = (int)GetInitParamValue(PN_CycleMilliSeconds);;
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, axisID);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (!axisStatus[_md.MSID_SVO])
{
errorInfo = "轴伺服已断电!";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
if (axisStatus[_md.MSID_MDN])
{
ActionErrorInfo = "Success";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Success);
return(true);
}
if (timeoutMilSeconds >= 0)
{
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= timeoutMilSeconds)
{
errorInfo = "超时未等到轴:\" " + axisID + "\"归零完成 ";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.Timeout);
return(true);
}
}
Thread.Sleep(cycleMilliSeconds);
}
else if (1 == _workCmd)//当前为暂停状态
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
double tgtPos = 0;
int errCode = _md.GetCmdPos(_ci.ChannelIndex, out tgtPos);
if (0 != errCode)
{
errorInfo = "恢复运行时获取目标位置失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errCode = _md.AbsMove(_ci.ChannelIndex, tgtPos);
if (0 != errCode)
{
errorInfo = "恢复轴P2P运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
int errCode = 0;
errCode = _md.StopAxis(_ci.ChannelIndex);
if (0 != errCode)
{
errorInfo = "停止轴归零运动失败:" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
return(false);
}
else
{
Thread.Sleep(cycleMilliSeconds);
continue;
}
}
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
double dPos = Convert.ToDouble(GetInitParamValue("目标位置"));
bool IsAbsMove = Convert.ToBoolean(GetInitParamValue("绝对位置模式"));
if (IsAbsMove)
{
err = md.AbsMove(ci.ChannelIndex, dPos);
}
else
{
err = md.RelMove(ci.ChannelIndex, dPos);
}
if (err != 0)
{
errorInfo = (IsAbsMove?"绝对":"相对") + "位置运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
bool isPositive = (bool)GetInitParamValue("正向移动");
double velocity = Convert.ToDouble(GetInitParamValue("移动速度"));
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int errCode = md.VelMove(ci.ChannelIndex, velocity, isPositive);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected override bool ActionGenuine(out string errorInfo)
{
string[] axisIDList = GetInitParamValue("轴ID列表") as string[];
double[] dPosList = GetMethodInputValue("目标位置列表") as double[];
bool IsAbsMove = (bool)GetMethodInputValue("绝对位置模式");
if (axisIDList == null || dPosList == null)
{
errorInfo = "轴ID列表长度或者目标位置列表长度为空";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
int[] iaxisIDList = new int[axisIDList.Length];
if (axisIDList.Length <= 0)
{
errorInfo = "轴ID列表长度<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (dPosList.Length <= 0)
{
errorInfo = "目标位置列表<=0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (axisIDList.Length != dPosList.Length)
{
errorInfo = "轴ID列表长度为" + axisIDList.ToString() + "与目标列表长度" + dPosList.Length.ToString() + "不一致。";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFInitializable dev = null;
IJFInitializable devbuff = null;
JFDevCellInfo ci = null;
List <JFDevCellInfo> cibuffList = new List <JFDevCellInfo>();
for (int m = 0; m < axisIDList.Length; m++)
{
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisIDList[m]))
{
errorInfo = "参数项:\"轴ID\" = " + axisIDList[m] + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisIDList[m], out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
iaxisIDList[m] = ci.ChannelIndex;
if (devbuff != null)
{
if (devbuff != dev)
{
errorInfo = "轴ID列表中的所有轴并不来源于同一个设备";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
}
devbuff = dev;
if (cibuffList.Contains(ci))
{
errorInfo = "轴ID列表中存在重复的轴名称";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
cibuffList.Add(ci);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "开始运动前检测轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!AxisStatus[md.MSID_MDN])
{
errorInfo = "轴当前运动未完成";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (IsAbsMove)
{
err = md.AbsLine(iaxisIDList, dPosList);
}
else
{
err = md.RelLine(iaxisIDList, dPosList);
}
if (err != 0)
{
errorInfo = (IsAbsMove ? "绝对" : "相对") + "直线插补运动失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
protected bool JFMotionDone(string AxisName, out string errorInfo, int delaytime)
{
errorInfo = "";
JFDevChannel axisChn = new JFDevChannel(JFDevCellType.Axis, AxisName);
if (!axisChn.CheckAvalid(out errorInfo))
{
_workCmd = 0;
_isRunning = false;
return(false);
}
IJFDevice_MotionDaq _dev = null;
IJFModule_Motion _md = null;
JFDevCellInfo _ci = null;
_dev = axisChn.Device() as IJFDevice_MotionDaq;
_ci = axisChn.CellInfo();
_md = _dev.GetMc(_ci.ModuleIndex);
DateTime startTime = DateTime.Now;
while (true)
{
if (0 == _workCmd) //正常工作
{
int errCode = 0;
bool[] axisStatus;
errCode = _md.GetMotionStatus(_ci.ChannelIndex, out axisStatus);
if (errCode != 0)
{
errorInfo = "获取轴状态失败!" + _md.GetErrorInfo(errCode);
_workCmd = 0;
_isRunning = false;
return(false);
}
if (axisStatus[_md.MSID_ALM])
{
errorInfo = "轴已报警!";
_workCmd = 0;
_isRunning = false;
return(false);
}
if (_md.MSID_EMG > -1 && axisStatus[_md.MSID_EMG])
{
errorInfo = "轴已急停!";
_workCmd = 0;
_isRunning = false;
return(false);
}
//if (!axisStatus[_md.MSID_SVO])
//{
// errorInfo = "轴伺服已断电!";
// _workCmd = 0;
// _isRunning = false;
// SetOutputParamValue(ON_Result, JFWorkCmdResult.ActionError);
// return false;
//}
if (axisStatus[_md.MSID_MDN])
{
ActionErrorInfo = "Success";
_workCmd = 0;
_isRunning = false;
return(true);
}
TimeSpan ts = DateTime.Now - startTime;
if (ts.TotalMilliseconds >= delaytime)
{
errorInfo = "超时未等到轴:\" " + AxisName + "\"动作完成 ";
_workCmd = 0;
_isRunning = false;
return(false);
}
Thread.Sleep(10);
}
else if (1 == _workCmd)//当前为暂停状态
{
_station.StopAxis(LeftClampName);
_station.StopAxis(LeftPushName);
_isRunning = false;
_workCmd = 0;
continue;
}
else if (2 == _workCmd)//当前为恢复状态
{
_workCmd = 0;
continue;
}
else if (-1 == _workCmd)//指令退出
{
_station.StopAxis(LeftClampName);
_station.StopAxis(LeftPushName);
errorInfo = "收到退出指令";
_workCmd = 0;
_isRunning = false;
return(false);
}
else
{
Thread.Sleep(10);
continue;
}
}
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\"的值:\"" + axisID + "\"在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
bool[] AxisStatus = null;
int err = md.GetMotionStatus(ci.ChannelIndex, out AxisStatus);
if (err != 0)
{
errorInfo = "归0前获取轴状态失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if(md.IsSVO)
if (!AxisStatus[md.MSID_SVO])
{
errorInfo = "轴伺服未上电";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (AxisStatus[md.MSID_ALM])
{
errorInfo = "轴伺服已报警";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
//if (!AxisStatus[md.MSID_MDN])
//{
// errorInfo = "轴当前运动未完成";
// SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
// return false;
//}
err = md.Home(ci.ChannelIndex);
if (err != 0)
{
errorInfo = "调用SDK失败:" + md.GetErrorInfo(err);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
