/// <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);
}
/// <summary>
/// 停止电机
/// </summary>
/// <param name="Motor"></param>
/// <param name="ForceStope"></param>
/// <returns></returns>
public bool StopMotor(Electromotor Motor)
{
var result = SetCoilOff(Motor.StartCoil.Addr);
Motor.IsStarted = false;
return(result);
}
public static bool StartMotor(Electromotor Motor, AbstractComm Comm)
{
var result = Motor.IsStarted || Comm.SetCoilOn(Motor.StartCoil.Addr);
Motor.IsStarted = result;
return(result);
}
/// <summary>
/// 移到指定位置,移动前关闭反馈完成信号
/// </summary>
/// <param name="Motor">马达</param>
/// <param name="Distance">运动位置</param>
/// <param name="mask">掩码，如果不为null,要在调用前关闭程序中完成信号</param>
/// <param name="OnlyStart">是否仅仅起动，不等待完成</param>
/// <param name="Start">如果电机启动线圈没有打开，是否马上起动电机</param>
/// <param name="gap">电机反向运动时的间隙</param>
/// <returns></returns>
public bool MoveMotor(Electromotor Motor, decimal?Distance, bool OnlyStart = false, bool Start = true, decimal gap = 0m, bool MinValueIsZero = true, bool IsSignal = true)
{
Constants.PauseResetEvent.WaitOne();
if (Constants.UserAbort)
{
return(false);
}
if (!Distance.HasValue)
{
return(false);
}
if (MinValueIsZero && Distance.Value < 0)
{
Distance = 0;
}
var realdis = Distance.Value + gap;
Motor.CurrentDistance = realdis;
int distance = Convert.ToInt32(Distance.Value * Convert.ToDecimal(Motor.Factor.SetValue));
bool result = true;
//信号
if (IsSignal)
{
//加速测试代码
if (Start)
{
result = SetCoilOff(Motor.DoneCoil.Addr);
result = result && StartMotor(Motor);
}
result = result && SetRegister(Motor.Distance.Addr, distance);
}
return(result);
}
/// <summary>
/// 设置电机启动线圈ON
/// </summary>
/// <param name="Motor"></param>
/// <returns></returns>
public bool StartMotor(Electromotor Motor, bool ForceStart = false)
{
var result = SetCoilOn(Motor.StartCoil.Addr);// (Motor.IsStarted && !ForceStart) || SetCoilOn(Motor.StartCoil.Addr);
Motor.IsStarted = result;
return(result);
}
/// <summary>
/// 移到指定位置,移动前关闭反馈完成信号
/// </summary>
/// <param name="Motor">马达</param>
/// <param name="Distance">运动位置</param>
/// <param name="mask">掩码，如果不为null,要在调用前关闭程序中完成信号</param>
/// <param name="OnlyStart">是否仅仅起动，不等待完成</param>
/// <param name="Start">如果电机启动线圈没有打开，是否马上起动电机</param>
/// <param name="gap">电机反向运动时的间隙</param>
/// <returns></returns>
public bool MoveMotorBegin(Electromotor Motor)
{
var result = SetCoilOff(Motor.DoneCoil.Addr);
result = result && StartMotor(Motor);
return(result);
}
public OtherPart()
{
IpAddress = "10.139.1.2";
Port = 502;
ScanMotor = new Electromotor();
SampleRackCoils = new PLCParameter <bool> [Constants.SampleRackCount];
for (byte i = 0; i < Constants.SampleRackCount; i++)
{
SampleRackCoils[i] = new PLCParameter <bool>();
}
DoorCoil = new PLCParameter <bool>();
this.CameraLightCoil = new PLCParameter <bool>();
this.CameraFLightCoil = new PLCParameter <bool>();
this.HandStopCoil = new PLCParameter <bool>();
this.EmergencyStopCoil = new PLCParameter <bool>();
this.ErrorCode = new PLCParameter <short>();
this.LightAlarmCoil = new PLCParameter <bool>();
this.LightCoil = new PLCParameter <bool>();
this.PauseCoil = new PLCParameter <bool>();
this.PLCLightAlarmCoil = new PLCParameter <bool>();
this.PLCVoiceAlarmCoil = new PLCParameter <bool>();
this.StartSwitchCoil = new PLCParameter <bool>();
this.StopCode = new PLCParameter <short>();
this.TestSelfSwitchCoil = new PLCParameter <bool>();
this.VoiceAlarmCoil = new PLCParameter <bool>();
this.AvoidanceTotal = new PLCParameter <int>();
this.AvoidanceSpace = new PLCParameter <int>();
}
/// <summary>
/// 破孔器
/// </summary>
public Piercer(bool Init)
{
if (Init)
{
YMotor = new Electromotor();
ZMotor = new Electromotor();
}
}
/// <summary>
/// 移到指定位置,移动前关闭反馈完成信号
/// </summary>
/// <param name="Motor">马达</param>
/// <param name="Distance">运动位置</param>
/// <param name="mask">掩码，如果不为null,要在调用前关闭程序中完成信号</param>
/// <param name="OnlyStart">是否仅仅起动，不等待完成</param>
/// <param name="Start">如果电机启动线圈没有打开，是否马上起动电机</param>
/// <param name="gap">电机反向运动时的间隙</param>
/// <returns></returns>
public bool MoveMotorBegin(Electromotor Motor)
{
//关闭完成信号
bool result = this.SetDoneCoilOff(Motor.DoneCoil.Addr);
result = result && StartMotor(Motor);
return(result);
}
public Injector(byte count)
{
XMotor = new Electromotor();
TMotor = new Electromotor();
Entercloses = new Enterclose[count];
for (byte i = 0; i < count; i++)
{
Entercloses[i] = new Enterclose(i);
}
}
public static void LoadMotor(Electromotor Motor, AbstractComm Comm)
{
LoadPLC <Boolean>(Motor.InitCoil, Comm);
LoadPLC <Boolean>(Motor.StartCoil, Comm);
LoadPLC <bool>(Motor.DoneCoil, Comm);
LoadPLC <bool>(Motor.Zero, Comm);
LoadPLC <float>(Motor.Distance, typeof(Int32), Motor.Factor.SetValue, Comm);
//LoadPLC<float>(Motor.Factor, Comm);
LoadPLC <float>(Motor.Maximum, Comm);
LoadPLC <Int32>(Motor.Speed, Comm);
}
/// <summary>
/// 设置电机启动线圈ON
/// </summary>
/// <param name="Motor"></param>
/// <returns></returns>
public bool StartMotor(Electromotor Motor, bool is_wait = true)
{
//加速测试代码
var result = true;
if (Motor.IsStarted == false)
{
result = SetCoilOn(Motor.StartCoil.Addr, is_wait);
}
Motor.IsStarted = result;
return(result);
}
/// <summary>
/// 初始化电机
/// </summary>
/// <param name="Motor"></param>
/// <returns></returns>
public bool InitMotor(Electromotor Motor, bool OnlyStart = false)
{
Constants.UserAbort = false;
var result = StopMotor(Motor);
result = result && SetCoilOff(Motor.DoneCoil.Addr);
result = result && SetCoilOn(Motor.InitCoil.Addr);
Motor.CurrentDistance = 0m;
Motor.IsBack = true;
Motor.IsStarted = false;
return(result);
}
/// <summary>
/// 移到指定位置,移动前关闭反馈完成信号
/// </summary>
/// <param name="Motor">马达</param>
/// <param name="Distance">运动位置</param>
/// <param name="mask">掩码，如果不为null,要在调用前关闭程序中完成信号</param>
/// <param name="OnlyStart">是否仅仅起动，不等待完成</param>
/// <param name="Start">如果电机启动线圈没有打开，是否马上起动电机</param>
/// <param name="gap">电机反向运动时的间隙</param>
/// <returns></returns>
public bool MoveMotorEnd(Electromotor Motor, decimal?Distance, decimal gap = 0m)
{
if (!Distance.HasValue)
{
return(false);
}
bool result = true;
var realdis = Distance.Value + gap;
Motor.CurrentDistance = realdis;
int distance = Convert.ToInt32(Distance.Value * Convert.ToDecimal(Motor.Factor.SetValue));
result = this.SetRegister(Motor.Distance.Addr, distance);
return(result);
}
public static bool StopMotor(Electromotor Motor, AbstractComm Comm, bool ForceStope = false)
{
var result = true;
if (ForceStope)
{
result = result && Comm.SetCoilOff(Motor.StartCoil.Addr);
}
else
{
result = result && (!Motor.IsStarted || Comm.SetCoilOff(Motor.StartCoil.Addr));
}
Motor.IsStarted = false;
return(result);
}
/// <summary>
/// 停止电机
/// </summary>
/// <param name="Motor"></param>
/// <param name="ForceStope"></param>
/// <returns></returns>
public bool StopMotor(Electromotor Motor, bool ForceStop = false)
{
var result = true;
if (ForceStop)
{
result = result && SetCoilOff(Motor.StartCoil.Addr);
}
else
{
result = result && (!Motor.IsStarted || SetCoilOff(Motor.StartCoil.Addr));
}
Motor.IsStarted = false;
return(result);
}
public void SetMotor(Electromotor Motor)
{
Set2PCB(Motor.Maximum, typeof(Int32), Motor.Factor.SetValue);
Thread.Sleep(50);
Set2PCB(Motor.Speed);
Thread.Sleep(50);
Set2PCB(Motor.InitSpeed);
Thread.Sleep(50);
Set2PCB(Motor.InitDistance);
Thread.Sleep(50);
Set2PCB(Motor.InitTime);
Thread.Sleep(50);
Set2PCB(Motor.DistanceTime);
Thread.Sleep(50);
Set2PCB(Motor.PressureTime);
Thread.Sleep(50);
Set2PCB(Motor.PressureSwitch);
Thread.Sleep(50);
Set2PCB(Motor.StopCoil);
Thread.Sleep(50);
}
/// <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 InitMotorForNoZero(Electromotor Motor, bool OnlyStart = false)
{
bool result = true;
result = result && SetRegister(Motor.InitSpeed.Addr, Motor.InitSpeed.SetValue);
result = result && MoveMotor(Motor, 1m * Convert.ToDecimal(Motor.InitDistance.SetValue), null, OnlyStart, true, 0, false);
ReadRegister(Motor.DoneCoil.Addr, 0b111, 1, (int valuei, bool valueb) => {
MoveMotor(Motor, 0, null, OnlyStart, true, 0, false);
ReadRegister(Motor.DoneCoil.Addr, 0b111, 1, (int a, bool b) => {
Motor.IsBack = true;
result = result && StopMotor(Motor, true);
Motor.IsStarted = false;
result = result && SetRegister(Motor.Distance.Addr, 0);
result = result && SetRegister(Motor.RealDistance.Addr, 0);
result = result && SetRegister(Motor.Speed.Addr, Motor.Speed.SetValue);
Motor.CurrentDistance = 0m;
});
});
//result =result && this.MoveMotor(Motor, 1m*Convert.ToDecimal( Motor.InitDistance.SetValue),null,OnlyStart,true,0,false);
//result = result && this.MoveMotor(Motor, 0, null, OnlyStart, true, 0, false);
return(result);
}
public void ReadMotor(Electromotor Motor)
{
Read2PLC(Motor.Maximum);
Thread.Sleep(50);
Read2PLC(Motor.Speed);
Thread.Sleep(50);
Read2PLC(Motor.InitSpeed);
Thread.Sleep(50);
Read2PLC(Motor.InitDistance);
Thread.Sleep(50);
Read2PLC(Motor.InitTime);
Thread.Sleep(50);
Read2PLC(Motor.DistanceTime);
Thread.Sleep(50);
Read2PLC(Motor.PressureTime);
Thread.Sleep(50);
Read2PLC(Motor.PressureSwitch);
Thread.Sleep(50);
Read2PLC(Motor.StopCoil);
Thread.Sleep(50);
Read2PLC(Motor.StartAfter);
Thread.Sleep(50);
}
private void CopyStatus(Electromotor sorce, Electromotor target)
{
target.CurrentDistance = sorce.CurrentDistance;
target.IsBack = sorce.IsBack;
target.IsStarted = sorce.IsStarted;
}
public bool ChangeSpeed(Electromotor motor, int speed)
{
var res = SetRegister(motor.Speed.Addr, speed);
return(res);
}
public static void SetMotor(Electromotor Motor, AbstractComm Comm)
{
Set2PLC(Motor.Maximum, typeof(Int32), Motor.Factor.SetValue, Comm);
Set2PLC(Motor.Speed, Comm);
}
public bool ChangeSpeed(Electromotor motor, int speed, AbstractComm Comm)
{
var res = Comm.SetRegister(motor.Speed.Addr, speed);
return(res);
}
