/// <summary>
/// 获取单卡 正极限输入状态
/// </summary>
/// <param name="card"></param>
/// <param name="pValue"></param>
/// <returns></returns>
public short _SR_GetLimitPInput(short card, short axisNum, out bool pValue)
{
pValue = false;
if (tag_CardCount < 1 || card >= tag_CardCount)
{
return(-1);
}
uint status = LTDMC.dmc_axis_io_status((ushort)tag_cardids[card], (ushort)axisNum);
if (card == 0 && axisNum == 0)
{
}
int bit = (int)Math.Pow(2, 1);
if ((status & bit) == bit)
{
pValue = true;
}
else
{
pValue = false;
}
return(0);
}
//获取对应感应器信号
public void Getsing(ref bool[] sing)
{
uint IoState = LTDMC.dmc_axis_io_status(_CardID, axis);
if ((IoState & 2) == 2)//检测正限位信号
{
sing[0] = true;
}
else
{
sing[0] = false;
}
if ((IoState & 4) == 4)//检测负限位信号
{
sing[1] = true;
}
else
{
sing[1] = false;
}
if ((IoState & 16) == 16)//检测原点信号
{
sing[2] = true;
}
else
{
sing[2] = false;
}
}
private void AnalyseMotionIOStatus(ushort channel)
{
//轴 IO
m_axisIO[channel] = LTDMC.dmc_axis_io_status(m_cardNo, channel);
uint value = m_axisIO[channel];
//报警
if ((value & 0x1) > 0)
{
m_axisError[channel] = true;
if (m_axisError[channel] ^ m_oldAxisError[channel])//^ 异或运算符，只有一个true结果才为true
{
m_logFile.AppendText("轴伺服驱动器报警，请断电重启！");
}
}
else
{
m_axisError[channel] = false;
}
m_oldAxisError[channel] = m_axisError[channel];
//正限位
if ((value & 0x2) > 0)
{
m_posTrigger[channel] = true;
if (m_posTrigger[channel] ^ m_oldPosTrigger[channel])
{
m_logFile.AppendText("轴正限位触发报警！");
}
}
else
{
m_posTrigger[channel] = false;
}
m_oldPosTrigger[channel] = m_posTrigger[channel];
//负限位
if ((value & 0x4) > 0)
{
m_negTrigger[channel] = true;
if (m_negTrigger[channel] ^ m_oldNegTrigger[channel])
{
m_logFile.AppendText("轴负限位触发报警！");
}
}
else
{
m_negTrigger[channel] = false;
}
m_oldNegTrigger[channel] = m_negTrigger[channel];
}
public void DoState()
{
uint rdy = 0;
uint alm = 0;
uint plt = 0;
uint nlt = 0;
uint org = 0;
for (int axis = 0; axis < define_motion.wd_axis_count; axis++)
{
//位置
mAxisPlace[axis] = LTDMC.dmc_get_position(pAxis[axis].AxisCard, pAxis[axis].AxisCode);
//当前状态
uint mask = pAxis[axis].AxisMask;
if (LTDMC.dmc_check_done(pAxis[axis].AxisCard, pAxis[axis].AxisCode) != 0)
{
rdy |= mask; //轴已经停止。检测指定轴的运动状态,返回值： 0 指定轴正在运行， 1 指定轴已停止
}
//轴运动状态
uint st = LTDMC.dmc_axis_io_status(pAxis[axis].AxisCard, pAxis[axis].AxisCode);//读取指定轴有关运动信号的状态
if ((st & LTDMC.state_axis.state_org) > 0)
{
org |= mask;
}
if ((st & LTDMC.state_axis.alarm_eln) > 0)
{
nlt |= mask;
}
if ((st & LTDMC.state_axis.alarm_elp) > 0)
{
plt |= mask;
}
if ((st & LTDMC.state_axis.state_alm) > 0)
{
alm |= mask;
}
list.Add(new AxisStatus()
{
IoReady = rdy,
IoAlarm = alm,
IoOrgin = org,
IoNegLt = nlt,
IoPosLt = plt
});
}
}
private void set_alm_Click_1(object sender, EventArgs e)//设置alm信号的有效电平为高电平
{
UInt16 enable, alm_logic, alm_action;
for (UInt16 i = 0; i < 4; i++)
{
CardNo = 0;
axis = i;
enable = 1;
alm_logic = 1;
alm_action = 0;
LTDMC.dmc_axis_io_status(0, i);
LTDMC.dmc_set_alm_mode(CardNo, axis, enable, alm_logic, alm_action);
}
}
/// <summary>
/// 获取急停 原点输入状态
/// </summary>
/// <param name="card"></param>
/// <param name="pValue">原点状态值，按位取</param>
/// <returns></returns>
public short _SR_GetStopInput(short card, short axisNum, out bool pValue)
{
uint status = LTDMC.dmc_axis_io_status((ushort)tag_cardids[card], (ushort)axisNum);
int bit = (int)Math.Pow(2, 3);
if ((status & bit) == bit)
{
pValue = true;
}
else
{
pValue = false;
}
return(0);
}
public static void AxisReadStatus(ushort CardNo, ushort Axis, ref bool[] AxisStatusSignal)
{
//0:ALM:伺服報警,on报警为1
//1:EL+:正硬限位，正极限on为1
//2:EL_:负硬限位，负极限on为1
//3:EMG:急停信号,急停on为1
//4:ORG:原點信號，原点 on为1
//6:SL+:軟正限位
//7:SL-:軟負限位
uint AxisStatusResult = LTDMC.dmc_axis_io_status(CardNo, Axis);
for (int count = 0; count < 8; count++)
{
AxisStatusSignal[count] = (((AxisStatusResult >> count) & 1) == 1) ? (true) : (false);
}
}
/// <summary>
/// 获取单卡 正极限输入状态
/// </summary>
/// <param name="card"></param>
/// <param name="pValue"></param>
/// <returns></returns>
public short _SR_GetLimitPInput(short card, short axisNum, out bool pValue)
{
short shrResult;
uint status = LTDMC.dmc_axis_io_status((ushort)tag_cardids[card], (ushort)axisNum);
if (card == 0 && axisNum == 0)
{
int i = 0;
}
int bit = (int)Math.Pow(2, 1);
if ((status & bit) == bit)
{
pValue = true;
}
else
{
pValue = false;
}
return(0);
}
public bool IsAxisAstp(int index, int axis)
{
var sts = LTDMC.dmc_axis_io_status((ushort)Id, (ushort)axis);
return((sts & (1 << 3)) > 0);
}
public bool IsAxisOrg(int motionId, int axis)
{
var sts = LTDMC.dmc_axis_io_status((ushort)Id, (ushort)axis);
return((sts & (1 << 4)) > 0);
}
public bool LimitPel(int motionDevIndex, int axis)
{
var sts = LTDMC.dmc_axis_io_status((ushort)DevIndex, (ushort)axis);
return((sts & (1 << 1)) > 0);
}
public bool AxisIsAlarm(int index, int axis)
{
var sts = LTDMC.dmc_axis_io_status((ushort)DevIndex, (ushort)axis);
return((sts & (1 << 0)) > 0);
}
public bool AxisSingalEMG(int index, int axis)
{
var sts = LTDMC.dmc_axis_io_status((ushort)DevIndex, (ushort)axis);
return((sts & (1 << 3)) > 0);
}
public bool IsAxisMel(int index, int axis)
{
var sts = LTDMC.dmc_axis_io_status((ushort)DeviceId, (ushort)axis);
return((sts & (1 << 2)) > 0);
}
public uint Getsing()
{
return(LTDMC.dmc_axis_io_status(_CardID, axis));
}
public bool IsAxisPel(int motionDeviceId, int axis)
{
var sts = LTDMC.dmc_axis_io_status((ushort)DeviceId, (ushort)axis);
return((sts & (1 << 1)) > 0);
}
/// <summary>
/// 读取轴状态
/// </summary>
public void DoState()
{
bool rdy = false;
bool alm = false;
bool plt = false;
bool nlt = false;
bool org = false;
//int place = 0;
AxisStateList.Clear();
for (int axis = 0; axis < define_AxisNum.wd_axis_count; axis++)
{
//位置
AxisPlace[axis] = LTDMC.dmc_get_position(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode);
//当前状态
//轴已经停止。检测指定轴的运动状态,返回值： 0 指定轴正在运行， 1 指定轴已停止
if (LTDMC.dmc_check_done(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode) == 0)
{
rdy = true;
}
else
{
rdy = false;
}
//轴运动状态
uint st = LTDMC.dmc_axis_io_status(AxisInfoList[axis].AxisCard, AxisInfoList[axis].AxisCode);//读取指定轴有关运动信号的状态
if ((st & LTDMC.state_axis.state_org) > 0)
{
org = true;
}
else
{
org = false;
}
if ((st & LTDMC.state_axis.alarm_eln) > 0)
{
nlt = true;
}
else
{
nlt = false;
}
if ((st & LTDMC.state_axis.alarm_elp) > 0)
{
plt = true;
}
else
{
plt = false;
}
if ((st & LTDMC.state_axis.state_alm) > 0)
{
alm = true;
}
else
{
alm = false;
}
AxisStateList.Add(new define_AxisState()
{
isReady = rdy,
isAlarm = alm,
isOrgin = org,
isNegLt = nlt,
isPosLt = plt,
});
}
}
// 更新状态位
private void UpdateDMC3400Status()
{
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 0) & 0x02))
{
el1.Image = m_redImg.Clone() as Image;
}
else
{
el1.Image = m_greenImg.Clone() as Image;
}
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 1) & 0x02))
{
el2.Image = m_redImg.Clone() as Image;
}
else
{
el2.Image = m_greenImg.Clone() as Image;
}
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 2) & 0x02))
{
el3.Image = m_redImg.Clone() as Image;
}
else
{
el3.Image = m_greenImg.Clone() as Image;
}
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 3) & 0x02))
{
el4.Image = m_redImg.Clone() as Image;
}
else
{
el4.Image = m_greenImg.Clone() as Image;
}
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 0) & 0x04))
{
el5.Image = m_redImg.Clone() as Image;
}
else
{
el5.Image = m_greenImg.Clone() as Image;
}
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 1) & 0x04))
{
el6.Image = m_redImg.Clone() as Image;
}
else
{
el6.Image = m_greenImg.Clone() as Image;
}
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 2) & 0x04))
{
el7.Image = m_redImg.Clone() as Image;
}
else
{
el7.Image = m_greenImg.Clone() as Image;
}
if (Convert.ToBoolean(LTDMC.dmc_axis_io_status(m_dmc3400ACard.m_cardNo, 3) & 0x04))
{
el8.Image = m_redImg.Clone() as Image;
}
else
{
el8.Image = m_greenImg.Clone() as Image;
}
}