private void btPY_MouseDown(object sender, MouseEventArgs e) { if (cbMoveMode.SelectedIndex != 1) //未选中连续模式 { return; } string errInfo; JFDevCellInfo ci = CheckAxisDevInfo(_axisNames[1], out errInfo); if (null == ci) { MessageBox.Show("Y轴正向连续运动失败!配置中没有通道信息,Name = \"" + _axisNames[1] + "\" ErrorInfo:" + errInfo); return; } IJFModule_Motion md = (JFHubCenter.Instance.InitorManager.GetInitor(ci.DeviceID) as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex); int errCode = md.VelMove(ci.ChannelIndex, _dVelParam, true); if (errCode != 0) { MessageBox.Show("Y轴正向连续运动失败!Name = \"" + _axisNames[1] + "\" ErrorInfo:" + errInfo); return; } }
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); }