private static void line(object a1) //public static void XY_move(double x_p,double y_p,double z_p, double Vel,double AccDec)
{
int i = 0;
Global.Cdefault l_data = a1 as Global.Cdefault;
l_data.Aposition[0] = l_data.Aposition[0] * Global.X.dEquiv;
l_data.Aposition[1] = l_data.Aposition[1] * Global.Y.dEquiv;
l_data.Aposition[2] = l_data.Aposition[2] * Global.Z.dEquiv;
Global.Ccard1.Vector(l_data);
var res = Global.Ccard1.dmc_check_done_multicoor();
while (res != 1) //stop :1 run : 0
{
res = Global.Ccard1.dmc_check_done_multicoor();
i++;
// textBox1.Text = "直线运动前检测" + i;
Application.DoEvents();
}
Global.Ccard1.dmc_line_unit(l_data);
Thread.Sleep(0);
var res1 = Global.Ccard1.dmc_check_done_multicoor();
while (res1 != 1)
{
i++;
res1 = Global.Ccard1.dmc_check_done_multicoor();
Application.DoEvents();
}
}
private static void MovePoint(object a) //public static void XY_move(double x_p,double y_p,double z_p, double Vel,double AccDec)
{
int xy_code = 0;
//创建传参 拆包
Global.Cdefault data = a as Global.Cdefault;
Global.Z.dMaxVel = data.vel;
Global.X.dMaxVel = data.vel;
Global.Y.dMaxVel = data.vel;
Global.Z.Pmove(0, data.vel, data.Ade, 1);
Global.Z.ORG();
// Thread.Sleep(0);
while (Global.Z.IsRun) //检测完成
{
// Thread.Sleep(1000);
Application.DoEvents();
}
while (Global.X.IsRun | Global.Y.IsRun) //检测完成
{
// Thread.Sleep(1000);
Application.DoEvents();
}
//double[] target = { data.x_position, data.y_position, data.z_position }; // 拆出位置
Global.X.Pmove(data.Aposition[0], data.vel, data.Ade, 1); //发命令
Global.Y.Pmove(data.Aposition[1], data.vel, data.Ade, 1);
Thread.Sleep(1);
while (Global.X.IsRun | Global.Y.IsRun) //检测完成
{
// Thread.Sleep(1000);
Application.DoEvents();
}
Global.Z.Pmove(data.Aposition[2], data.vel, data.Ade, 1);
Thread.Sleep(1);
while (Global.Z.IsRun)
{
// Thread.Sleep(1000);
// Application.DoEvents();
}
}
private static void Arc(object a) //public static void XY_move(double x_p,double y_p,double z_p, double Vel,double AccDec)
{
short Arc_co = 0;
int i = 0;
Global.Cdefault data = a as Global.Cdefault;
double[] mid = { data.Aposition[0] * Global.X.dEquiv, data.Aposition[1] * Global.Y.dEquiv, data.Aposition[2] * Global.Z.dEquiv };
double[] target = { data.Bposition[0] * Global.X.dEquiv, data.Bposition[1] * Global.Y.dEquiv, data.Bposition[2] * Global.Y.dEquiv };;
ushort AxisNum = 3;
int cricle = -1; //圈数：
#region
// 负数：表示此时执行的为空间圆弧插补
// 该值的绝对减 1表示空间圆弧的圈数。如， 表示空间圆弧的圈数。如， -1即表示 0圈 空间圆弧， -2即表示 1圈空间圆弧…
// 自然数：表示此时执行的为圆柱螺旋线插补
// 该值表示螺旋线的圈数。如， 0即表示 0圈螺旋线插补， 1即表示 1圈螺旋线插补…
// posi_mode 运动模式， 0：
//相对坐标模式， 1：
#endregion
while (LTDMC.dmc_check_done_multicoor(Global.Ccard1.CarNum, 0) == 0)
{
i++;
Application.DoEvents();
}
//卡号 轴数 轴号 目标位置， 圈数 模式0：相对 1：绝对
Arc_co = LTDMC.dmc_arc_move_3points_unit(Global.Ccard1.CarNum, 0, AxisNum, new ushort[] { Global.X.axis, Global.Y.axis, Global.Z.axis }, target, mid, cricle, 1);
i = 0;
Thread.Sleep(1);
while (LTDMC.dmc_check_done_multicoor(Global.Ccard1.CarNum, 0) == 0)
{
i++;
Application.DoEvents();
}
}
public static void MotionFun(object ot)
{
double X_position;
double Y_position;
double Z_position;
double Vel;
double ade;
Global.Cdefault pa = ot as Global.Cdefault;
int Tsetup = pa.setup;
string[,] data = pa.table;
Global.Cdefault data1 = new Global.Cdefault();
Global.Cdefault line_data = new Global.Cdefault();
Global.Cdefault Arc_data = new Global.Cdefault();
try
{
switch (data[Tsetup, 1])// 读取指定轴状态机
{
case "Disabled":
break;
case "Point":
X_position = Convert.ToDouble(data[Tsetup, 2]);
Y_position = Convert.ToDouble(data[Tsetup, 3]);
Z_position = Convert.ToDouble(data[Tsetup, 4]);
Vel = Convert.ToDouble(data[Tsetup, 5]);
ade = Convert.ToDouble(data[Tsetup, 6]);
data1.Aposition = new double[3];
data1.Aposition[0] = X_position;
data1.Aposition[1] = Y_position;
data1.Aposition[2] = Z_position;
data1.vel = Vel;
data1.Ade = ade;
// mess_textBox.AppendText(DateTime.Now.ToString("HH:mm:ss :") + "Call MotionStartpoint" + "\n");
Task task = Task.Run(() => {
MovePoint(data1);
});
task.Wait();
break;
case "Wait":
int dela = Convert.ToInt16(data[Tsetup, 9]);
// mess_textBox.AppendText(DateTime.Now.ToString("HH:mm:ss :") + "Call Delay" + "\n");
Thread.Sleep(dela);
break;
case "Line":
X_position = Convert.ToDouble(data[Tsetup, 2]);
Y_position = Convert.ToDouble(data[Tsetup, 3]);
Z_position = Convert.ToDouble(data[Tsetup, 4]);
Vel = Convert.ToDouble(data[Tsetup, 5]);
ade = Convert.ToDouble(data[Tsetup, 6]);
line_data.Aposition = new double[3] {
X_position, Y_position, Z_position
};
line_data.vel = Vel;
line_data.Ade = ade;
// mess_textBox.AppendText(DateTime.Now.ToString("HH:mm:ss :") + "Call LineMotion" + "\n");
Task task1 = Task.Run(() => {
line(line_data);
});
task1.Wait();
break;
case "Arc_Mid":
X_position = Convert.ToDouble(data[Tsetup, 2]);
Y_position = Convert.ToDouble(data[Tsetup, 3]);
Z_position = Convert.ToDouble(data[Tsetup, 4]);
Vel = Convert.ToDouble(data[Tsetup, 5]);
ade = Convert.ToDouble(data[Tsetup, 6]);
Arc_data.Aposition = new double[3] {
X_position, Y_position, Z_position
};
Arc_data.vel = Vel;
Arc_data.Ade = ade;
double X_mid_position = Convert.ToDouble(data[Tsetup + 1, 2]);
double Y_mid_position = Convert.ToDouble(data[Tsetup + 1, 3]);
double Z_mid_position = Convert.ToDouble(data[Tsetup + 1, 4]);
// mess_textBox.AppendText(DateTime.Now.ToString("HH:mm:ss :") + "Call ArcMotion" + "\n");
Arc_data.Bposition = new double[3] {
X_mid_position, Y_mid_position, Z_mid_position
};
//ActionThread = new Thread(new ParameterizedThreadStart(Arc));
//ActionThread.Start(a);
//ActionThread.Join();
Arc(Arc_data);
break;
case "Dipensing":
if (!pa.tryRun) //不带料模式
{
double Q = Convert.ToDouble(data[Tsetup, 7]);
double time = Convert.ToDouble(data[Tsetup, 8]);
Global.Pumpdata.Calculation(Q, time, Global.A.Position);
if (ts != null)
{
if (Global.Pumpdata.IsReset)
{
ReDispensing();
ts = Task.Run(() =>
{
Dispensing(Global.Pumpdata);
});
}
if (!ts.IsCompleted)
{
ts.Wait();
Dispensing(Global.Pumpdata);
}
}
ts = Task.Run(() =>
{
Dispensing(Global.Pumpdata);
});
}
break;
case "Dipensed":
if (!pa.tryRun)
{
if (ts != null)
{
ts.Wait();
}
}
break;
case "ReDispensing":
if (!pa.tryRun)
{
if (!ts.IsCompleted)
{
ts.Wait();
}
ts = Task.Run(() =>
{
ReDispensing();
});
}
break;
default:
break;
}
;
}
catch (Exception ex)
{
Global.frmMain.PushMess(ex.ToString());
}
}
public void Vector(Global.Cdefault l_data)
{
LTDMC.dmc_set_vector_profile_unit(CarNum, 0, 10, l_data.vel, l_data.Ade, l_data.Ade, 0);
}
public void dmc_line_unit(Global.Cdefault l_data)
{
LTDMC.dmc_line_unit(CarNum, 0, 3, new ushort[] { 0, 1, 2 }, l_data.Aposition, 1);
}
