/// <summary>
/// 单轴运动
/// </summary>
public void Interpolation_Start(decimal PosX, decimal PosY)
{
//设置X轴误差带
Gts_Return = MC.GT_SetAxisBand(1, Program.SystemContainer.SysPara.Axis_X_Band, 4 * Program.SystemContainer.SysPara.Axis_X_Time);//20-0.1um,4*2-250us
LogErr?.Invoke("X轴到位误差带", Gts_Return);
//设置Y轴误差带
Gts_Return = MC.GT_SetAxisBand(2, Program.SystemContainer.SysPara.Axis_Y_Band, 4 * Program.SystemContainer.SysPara.Axis_Y_Time);//20-0.1um,4*2-250us
LogErr?.Invoke("Y轴到位误差带", Gts_Return);
//急停按钮按下终止运行
if (Program.SystemContainer.IO.GlobalEMG)
{
Interpolation_Stop();
return;
}
//二轴单独控制运动
//1、计算二轴规划位置
decimal GoX = (Program.SystemContainer.SysPara.Work.X - PosX) * Program.SystemContainer.SysPara.Gts_Pos_reference;
decimal GoY = (Program.SystemContainer.SysPara.Work.Y - PosY) * Program.SystemContainer.SysPara.Gts_Pos_reference;
//2、设置运行参数
SetAxisPara(1, Program.SystemContainer.SysPara.AxisXAcc, Program.SystemContainer.SysPara.AxisXDcc, Program.SystemContainer.SysPara.AxisXSmoothTime, GoX, Program.SystemContainer.SysPara.AxisXVelocity); //X轴运行参数
SetAxisPara(2, Program.SystemContainer.SysPara.AxisYAcc, Program.SystemContainer.SysPara.AxisYDcc, Program.SystemContainer.SysPara.AxisYSmoothTime, GoY, Program.SystemContainer.SysPara.AxisYVelocity); //Y轴运行参数
//3、启动运动
Gts_Return = MC.GT_Update(1 << (1 - 1)); //启动X轴运动
Gts_Return = MC.GT_Update(1 << (2 - 1)); //启动Y轴运动
//4、等待运动结束
int stsX, stsY;
do
{
//急停按钮按下终止运行
if (Program.SystemContainer.IO.GlobalEMG)
{
Interpolation_Stop();
return;
}
Gts_Return = MC.GT_GetSts(1, out stsX, 1, out pClock); //读取X轴状态
Gts_Return = MC.GT_GetSts(2, out stsY, 1, out pClock); //读取Y轴状态
Thread.Sleep(100);
} while (((stsX & 0x400) != 0) || ((stsY & 0x400) != 0)); //等待两轴规划停止
//到位检测
do
{
//延时
Thread.Sleep(Program.SystemContainer.SysPara.Posed_Time);
} while (!Program.SystemContainer.IO.Axis01_Motor_Posed || !(Program.SystemContainer.IO.Axis02_Motor_Posed));
}
/// <summary>
/// 相对定位
/// </summary>
/// <param name="Axis"></param>
/// <param name="acc"></param>
/// <param name="dcc"></param>
/// <param name="smoothTime"></param>
/// <param name="pos"></param>
/// <param name="vel"></param>
public void Inc(short Axis, decimal acc, decimal dcc, short smoothTime, decimal pos, decimal vel)
{
//定义点位运动参数变量
MC.TTrapPrm trapPrm = new MC.TTrapPrm();
//定义当前位置变量
double prfpos;
//定义时钟
uint pclock;
//定义轴状态
int sts;
//将轴设置为点位运动模式
Gts_Return = MC.GT_PrfTrap(Axis);
LogErr?.Invoke("Motion--将轴设置为点位运动模式", Gts_Return);
//读取点位运动运动参数
Gts_Return = MC.GT_GetTrapPrm(Axis, out trapPrm);
LogErr?.Invoke("Motion--读取轴点位运动运动参数", Gts_Return);
//设置要修改的参数
trapPrm.acc = Convert.ToDouble(acc / Program.SystemContainer.SysPara.Gts_Acc_reference);
trapPrm.dec = Convert.ToDouble(dcc / Program.SystemContainer.SysPara.Gts_Acc_reference);
trapPrm.smoothTime = smoothTime;
//设置点位运动参数
Gts_Return = MC.GT_SetTrapPrm(Axis, ref trapPrm);
LogErr?.Invoke("Motion--读取轴设置点位运动参数", Gts_Return);
//读取当前规划位置
Gts_Return = MC.GT_GetPrfPos(Axis, out prfpos, 1, out pclock);
LogErr?.Invoke("Motion--读取轴当前规划位置", Gts_Return);
//设置目标位置
Gts_Return = MC.GT_SetPos(Axis, Convert.ToInt32(Convert.ToDouble(pos * Program.SystemContainer.SysPara.Gts_Pos_reference) + prfpos));
LogErr?.Invoke("Motion--设置目标位置", Gts_Return);
//设置目标速度
Gts_Return = MC.GT_SetVel(Axis, Convert.ToDouble(vel / Program.SystemContainer.SysPara.Gts_Vel_reference));
LogErr?.Invoke("Motion--设置目标速度", Gts_Return);
//启动轴运动
Gts_Return = MC.GT_Update(1 << (Axis - 1));
LogErr?.Invoke("Motion--启动轴运动", Gts_Return);
do
{
//读取轴状态
Gts_Return = MC.GT_GetSts(Axis, out sts, 1, out pclock);
LogErr?.Invoke("Motion--读取轴状态", Gts_Return);
} while ((sts & 0x400) != 0);//等待Axis规划停止
}
/// <summary>
/// 刷新状态
/// </summary>
public void Refresh_IO(object sender, ElapsedEventArgs e)
{
//读取通用输出的值
Gts_Return = MC.GT_GetDo(12, out Exo_16bit);
//读取通用输入的值
Gts_Return = MC.GT_GetDi(4, out Exi_16bit);
//读取Axis01状态
Gts_Return = MC.GT_GetSts(1, out Axis01_Sta, 1, out Axis01_Clk);
//读取Axis02状态
Gts_Return = MC.GT_GetSts(2, out Axis02_Sta, 1, out Axis02_Clk);
//读取Axis_Home_Sta状态
Gts_Return = MC.GT_GetDi(3, out Axis_Home_Sta);
//读取Axis_Posed_Sta状态
Gts_Return = MC.GT_GetDi(5, out Axis_Posed_Sta);
//读取Axis_Clear_Sta状态
Gts_Return = MC.GT_GetDo(11, out Axis_Clear_Sta);
//读取规划位置
Gts_Return = MC.GT_GetPrfPos(1, out Axis01_prfPos, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetPrfPos(2, out Axis02_prfPos, 1, out Axis02_Clk);
//读取实际位置
Gts_Return = MC.GT_GetAxisEncPos(1, out Axis01_encPos, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetAxisEncPos(2, out Axis02_encPos, 1, out Axis02_Clk);
//读取当前速度
Gts_Return = MC.GT_GetVel(1, out Axis01_vel);
Gts_Return = MC.GT_GetVel(2, out Axis02_vel);
//读取当前加减速
Gts_Return = MC.GT_GetAxisPrfAcc(1, out Axis01_acc, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetAxisPrfAcc(1, out Axis01_dcc, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetAxisPrfAcc(2, out Axis02_acc, 1, out Axis02_Clk);
Gts_Return = MC.GT_GetAxisPrfAcc(2, out Axis02_dcc, 1, out Axis02_Clk);
//读取轴运动模式
Gts_Return = MC.GT_GetPrfMode(1, out Axis01_mode, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetPrfMode(2, out Axis02_mode, 1, out Axis02_Clk);
//刷新数值至相应的IO
//刷新EXI
EXI1 = (Exi_16bit & (1 << 1)) == 0; // 急停开关
EXI2 = (Exi_16bit & (1 << 2)) == 0; // 除尘气缸伸出传感器
EXI3 = (Exi_16bit & (1 << 3)) == 0; // 除尘气缸退回传感器
EXI4 = (Exi_16bit & (1 << 4)) == 0; // 左门禁传感器
EXI5 = (Exi_16bit & (1 << 5)) == 0; // 右门禁传感器
EXI6 = (Exi_16bit & (1 << 6)) == 0; // 启动按钮1
EXI7 = (Exi_16bit & (1 << 7)) == 0; // 启动按钮1
EXI8 = (Exi_16bit & (1 << 8)) == 0; // 真空压力达标
EXI9 = (Exi_16bit & (1 << 9)) == 0; // 安全传感器
//刷新急停按钮状态
if (EXI1 || SoftEMG)//按下，急停触发
{
EMGButton.Variable = 1;
}
else//抬起，急停解除
{
EMGButton.Variable = 0;
}
//输出按钮灯
if (EXI6)
{
Button1_Lamp = 1;
}
else
{
Button1_Lamp = 0;
};
if (EXI7)
{
Button2_Lamp = 1;
}
else
{
Button2_Lamp = 0;
};
//刷新门传感器滤波函数值
DoorSensorCheck.Variable = (EXI4 && EXI5) ? 1 : 0;
//刷新安全传感器
SafeSensorCheck.Variable = EXI9 ? 1 : 0;
//输出照明灯
//if ((!EXI4) || (!EXI5)) { Lamp_control = 1; } else { Lamp_control = 0; };
//刷新EXO
EXO1 = (Exo_16bit & (1 << 1)) == 0; // 三色灯塔黄
EXO2 = (Exo_16bit & (1 << 2)) == 0; // 三色灯塔绿
EXO3 = (Exo_16bit & (1 << 3)) == 0; // 三色灯塔红
EXO4 = (Exo_16bit & (1 << 4)) == 0; // 蜂鸣器
EXO5 = (Exo_16bit & (1 << 5)) == 0; // 除尘气缸伸出
EXO6 = (Exo_16bit & (1 << 6)) == 0; // 除尘气缸退回
EXO7 = (Exo_16bit & (1 << 7)) == 0; // 吹气打开
EXO8 = (Exo_16bit & (1 << 8)) == 0; // 照明灯
EXO9 = (Exo_16bit & (1 << 9)) == 0; // 启动按钮1灯
EXO10 = (Exo_16bit & (1 << 10)) == 0; // 启动按钮2灯
EXO11 = (Exo_16bit & (1 << 11)) == 0; // X轴回零触发
EXO12 = (Exo_16bit & (1 << 12)) == 0; // Y轴回零触发
EXO13 = (Exo_16bit & (1 << 13)) == 0; // 红光开
EXO14 = (Exo_16bit & (1 << 14)) == 0; // 门打开
EXO15 = (Exo_16bit & (1 << 15)) == 0; // 门关闭
//刷新Axis01 状态
Axis01_Limit_Up = (Axis01_Sta & (1 << 5)) != 0; // Axis01轴正限位
Axis01_Limit_Down = (Axis01_Sta & (1 << 6)) != 0; // Axis01轴负限位
Axis01_Home = (Axis_Home_Sta & 0x01) != 0; // Axis01轴原点
Axis01_Alarm = (Axis01_Sta & (1 << 1)) != 0; // Axis01轴报警
Axis01_Alarm_Cl = (Axis_Clear_Sta & 0x01) == 0; //Axis01轴报警清除
Axis01_MC_Err = (Axis01_Sta & (1 << 4)) != 0; // Axis01轴板卡报警(跟随误差越限)
Axis01_EN = (Axis01_Sta & (1 << 9)) != 0; // Axis01轴使能
Axis01_Busy = (Axis01_Sta & (1 << 10)) != 0; // Axis01轴输出中
Axis01_IO_Stop = (Axis01_Sta & (1 << 7)) != 0; // Axis01轴IO停止
Axis01_IO_EMG = (Axis01_Sta & (1 << 8)) != 0; // Axis01轴IO急停
Axis01_Motor_Posed = (Axis_Posed_Sta & 0x01) != 0; // Axis01轴 电机到位
Axis01_Upper_Posed = (Axis01_Sta & (1 << 11)) != 0; // Axis01轴 上位机到位
//刷新Axis02 状态
Axis02_Limit_Up = (Axis02_Sta & (1 << 5)) != 0; // Axis02轴正限位
Axis02_Limit_Down = (Axis02_Sta & (1 << 6)) != 0; // Axis02轴负限位
Axis02_Home = (Axis_Home_Sta & (1 << 1)) != 0; // Axis02轴原点
Axis02_Alarm = (Axis02_Sta & (1 << 1)) != 0; // Axis02轴报警
Axis02_Alarm_Cl = (Axis_Clear_Sta & (1 << 1)) == 0; //Axis02轴报警清除
Axis02_MC_Err = (Axis02_Sta & (1 << 4)) != 0; // Axis02轴板卡报警(跟随误差越限)
Axis02_EN = (Axis02_Sta & (1 << 9)) != 0; // Axis02轴使能
Axis02_Busy = (Axis02_Sta & (1 << 10)) != 0; // Axis02轴输出中
Axis02_IO_Stop = (Axis02_Sta & (1 << 7)) != 0; // Axis02轴IO停止
Axis02_IO_EMG = (Axis02_Sta & (1 << 8)) != 0; // Axis02轴IO急停
Axis02_Motor_Posed = (Axis_Posed_Sta & (1 << 1)) != 0;; // Axis02轴 电机到位
Axis02_Upper_Posed = (Axis02_Sta & (1 << 11)) != 0; // Axis02轴 上位机到位
//轴故障
Axis01_Err_Occur = Axis01_Limit_Up || Axis01_Limit_Down || Axis01_Alarm || Axis01_MC_Err || Axis01_IO_EMG;
Axis02_Err_Occur = Axis02_Limit_Up || Axis02_Limit_Down || Axis02_Alarm || Axis02_MC_Err || Axis02_IO_EMG;
//刷新轴原点状态
Gts_Home_Flag = !Axis01_Err_Occur && Axis01_Home && Program.SystemContainer.GTS_Fun.Axis01_Homed && !Axis02_Err_Occur && Axis02_Home && Program.SystemContainer.GTS_Fun.Axis02_Homed;//任意（轴限位、报警、使能关闭、急停），致使原点标志丢失
//轴1
if (Axis01_Err_Occur && Program.SystemContainer.GTS_Fun.Axis01_Homed)//轴故障发生，同时轴已经回零
{
Axis01_Homed_Status.Variable = 1;
}
else
{
Axis01_Homed_Status.Variable = 0;
}
//轴2
if (Axis02_Err_Occur && Program.SystemContainer.GTS_Fun.Axis02_Homed)//轴故障发生，同时轴已经回零
{
Axis02_Homed_Status.Variable = 1;
}
else
{
Axis02_Homed_Status.Variable = 0;
}
//全局报警
GlobalAlarm = Axis01_Err_Occur || Axis02_Err_Occur;
//全局警告报警处理
if (GlobalAlarm || GlobalWarning)
{
Yellow_lamp = 0; //黄色
Green_lamp = 0; //绿色
Red_lamp = 1; //红色
Beeze_Control = 1;
}
else
{
if (GlobalRunnig)
{
Yellow_lamp = 0; //黄色
Green_lamp = 1; //绿色
Red_lamp = 0; //红色
}
else
{
Yellow_lamp = 1; //黄色
Green_lamp = 0; //绿色
Red_lamp = 0; //红色
}
Beeze_Control = 0;
}
//输出控制 0-输出，1-关闭输出
//Cyc_control, Blow_control, Lamp_control;//定义气缸、吹气、照明控制字
//Yellow_lamp,Green_lamp,Red_lamp,Beeze_Control,Button1_Lamp, Button2_Lamp;//定义灯塔黄、灯塔绿、灯塔红、蜂鸣控制字
//灯塔黄控制
if (Yellow_lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 2, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 2, 1);
}
//灯塔绿控制
if (Green_lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 3, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 3, 1);
}
//灯塔红控制
if (Red_lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 4, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 4, 1);
}
//蜂鸣器控制
if (Beeze_Control == 1)
{
if (Timer_1s_Flag)
{
Gts_Return = MC.GT_SetDoBit(12, 5, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 5, 1);
}
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 5, 1);
}
//气缸控制
if (Cyc_control == 1)//气缸打开
{
Gts_Return = MC.GT_SetDoBit(12, 6, 0);
Gts_Return = MC.GT_SetDoBit(12, 7, 1);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 6, 1);
Gts_Return = MC.GT_SetDoBit(12, 7, 0);
}
//吹气控制
if (Blow_control == 1)//吹气打开
{
Gts_Return = MC.GT_SetDoBit(12, 8, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 8, 1);
}
//照明控制
if (Lamp_control == 1)//照明打开
{
Gts_Return = MC.GT_SetDoBit(12, 9, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 9, 1);
}
//Button1_Lamp, Button2_Lamp;//定义启动按钮1灯、启动按钮2灯控制字
//启动按钮1灯
if (Button1_Lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 10, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 10, 1);
}
//启动按钮2灯
if (Button2_Lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 11, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 11, 1);
}
//轴1回零触发
if (Axis01_Home_Ex0_Control == 1)//轴1回零
{
Gts_Return = MC.GT_SetDoBit(12, 12, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 12, 1);
}
//轴2回零触发
if (Axis02_Home_Ex0_Control == 1)//轴2回零
{
Gts_Return = MC.GT_SetDoBit(12, 13, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 13, 1);
}
//红色激光控制
if (RedLaser_Control == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 14, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 14, 1);
}
//门控制
if (Door_Control == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 15, 0);
Gts_Return = MC.GT_SetDoBit(12, 16, 1);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 15, 1);
Gts_Return = MC.GT_SetDoBit(12, 16, 0);
}
//刷新双启按钮状态
if (EXI4 && EXI5 && EXI6 && EXI7 && Gts_Home_Flag)
{
Start_Button.Variable = 1;
}
else
{
Start_Button.Variable = 0;
}
}
/// <summary>
/// Gts工控卡 上位机Axes回零
/// </summary>
/// <param name="Axis"></param>
/// <returns></returns>
public int Home_Upper_Monitor(short Axis)
{
//命令返回值
short Gts_Return;
short Capture;//捕获状态值
MC.TTrapPrm Home_TrapPrm = new MC.TTrapPrm();
int Axis_Sta; //轴状态
uint Axis_Pclock; //轴时钟
Int32 Axis_Pos; //回零是触发Home开关时的轴位置
double prfPos; //回零运动过程中规划位置
//定义时钟
uint pclock;
//停止轴运动
Gts_Return = MC.GT_Stop(1 << (Axis - 1), 0); //平滑停止轴运动
LogErr?.Invoke("Motion--停止轴运动", Gts_Return);
//清除指定轴报警和限位
Gts_Return = MC.GT_ClrSts(Axis, 1);
LogErr?.Invoke("Axis_Home----GT_ClrSts", Gts_Return);
//回零准备，向正方向前进20mm，后触发回零
//切换到点动模式
Gts_Return = MC.GT_PrfTrap(Axis);
LogErr?.Invoke("Axis_Home----GT_PrfTrap", Gts_Return);
//读取点动模式运动参数
Gts_Return = MC.GT_GetTrapPrm(Axis, out Home_TrapPrm);
LogErr?.Invoke("Axis_Home----GT_GetTrapPrm", Gts_Return);
//设置点动模式运动参数
Home_TrapPrm.acc = Convert.ToDouble(Program.SystemContainer.SysPara.Home_acc / Program.SystemContainer.SysPara.Gts_Acc_reference);
Home_TrapPrm.dec = Convert.ToDouble(Program.SystemContainer.SysPara.Home_dcc / Program.SystemContainer.SysPara.Gts_Acc_reference);
Home_TrapPrm.smoothTime = Program.SystemContainer.SysPara.Home_smoothTime;
//设置点动模式运动参数
Gts_Return = MC.GT_SetTrapPrm(Axis, ref Home_TrapPrm);
LogErr?.Invoke("Axis_Home----GT_SetTrapPrm", Gts_Return);
//设置点动模式目标速度，即回原点速度
Gts_Return = MC.GT_SetVel(Axis, Convert.ToDouble(Program.SystemContainer.SysPara.Home_High_Speed / Program.SystemContainer.SysPara.Gts_Vel_reference));
LogErr?.Invoke("Axis_Home----GT_SetVel", Gts_Return);
//读取当前规划位置
Gts_Return = MC.GT_GetPrfPos(Axis, out prfPos, 1, out pclock);
LogErr?.Invoke("Motion--读取轴当前规划位置", Gts_Return);
//设置点动模式目标位置，即原点准备距离 20mm
Gts_Return = MC.GT_SetPos(Axis, Convert.ToInt32(Convert.ToDouble(20 * Program.SystemContainer.SysPara.Gts_Pos_reference) + prfPos));
LogErr?.Invoke("Motion--设置目标位置", Gts_Return);
//启动运动
Gts_Return = MC.GT_Update(1 << (Axis - 1));
LogErr?.Invoke("Axis_Home----GT_Update", Gts_Return);
do
{
//读取轴状态
Gts_Return = MC.GT_GetSts(Axis, out Axis_Sta, 1, out Axis_Pclock);
} while ((Axis_Sta & 0x400) != 0);
//停止轴运动
Gts_Return = MC.GT_Stop(1 << (Axis - 1), 0); //平滑停止轴运动
LogErr?.Invoke("Motion--停止轴运动", Gts_Return);
//延时一段时间，等待电机稳定
Thread.Sleep(200);//200ms
//触发回零
//启动Home捕捉
Gts_Return = MC.GT_SetCaptureMode(Axis, MC.CAPTURE_HOME);
LogErr?.Invoke("Axis_Home----GT_SetCaptureMode", Gts_Return);
//切换到点动模式
Gts_Return = MC.GT_PrfTrap(Axis);
LogErr?.Invoke("Axis_Home----GT_PrfTrap", Gts_Return);
//读取点动模式运动参数
Gts_Return = MC.GT_GetTrapPrm(Axis, out Home_TrapPrm);
LogErr?.Invoke("Axis_Home----GT_GetTrapPrm", Gts_Return);
//设置点动模式运动参数
Home_TrapPrm.acc = Convert.ToDouble(Program.SystemContainer.SysPara.Home_acc / Program.SystemContainer.SysPara.Gts_Acc_reference);
Home_TrapPrm.dec = Convert.ToDouble(Program.SystemContainer.SysPara.Home_dcc / Program.SystemContainer.SysPara.Gts_Acc_reference);
Home_TrapPrm.smoothTime = Program.SystemContainer.SysPara.Home_smoothTime;
//设置点动模式运动参数
Gts_Return = MC.GT_SetTrapPrm(Axis, ref Home_TrapPrm);
LogErr?.Invoke("Axis_Home----GT_SetTrapPrm", Gts_Return);
//设置点动模式目标速度，即回原点速度
Gts_Return = MC.GT_SetVel(Axis, Convert.ToDouble(Program.SystemContainer.SysPara.Home_High_Speed / Program.SystemContainer.SysPara.Gts_Vel_reference));
LogErr?.Invoke("Axis_Home----GT_SetVel", Gts_Return);
//设置点动模式目标位置，即原点搜索距离
Gts_Return = MC.GT_SetPos(Axis, Convert.ToInt32(Program.SystemContainer.SysPara.Search_Home * Program.SystemContainer.SysPara.Gts_Pos_reference));
LogErr?.Invoke("Axis_Home----GT_SetPos", Gts_Return);
//启动运动
Gts_Return = MC.GT_Update(1 << (Axis - 1));
LogErr?.Invoke("Axis_Home----GT_Update", Gts_Return);
do
{
//读取轴状态
Gts_Return = MC.GT_GetSts(Axis, out Axis_Sta, 1, out Axis_Pclock);
//读取捕获状态
Gts_Return = MC.GT_GetCaptureStatus(Axis, out Capture, out Axis_Pos, 1, out Axis_Pclock);
//读取编码器位置
//Gts_Return = MC.GT_GetEncPos(Axis, out encPos, 1, out Axis_Pclock);
//如果运动停止，返回出错信息
if (0 == (Axis_Sta & 0x400))
{
LogErr?.Invoke("Axis_Home----No Home found!!", 1);
return(1);//整个过程Home信号一直没有触发，返回值为1
}
} while (Capture == 0);
/********************************待评估***********************************/
/*
* //清除捕捉状态
* //Gts_Return = MC.GT_ClearCaptureStatus(Axis);
* //LogErr?.Invoke("Axis_Home----清除捕捉状态", Gts_Return);
*
* //设置捕捉Home 下降沿
* //Gts_Return = MC.GT_SetCaptureSense(Axis, MC.CAPTURE_HOME, 0);
* //LogErr?.Invoke("Axis_Home----设置捕捉Home 下降沿", Gts_Return);
*
* //设定目标位置为捕获位置+偏移量
* Gts_Return = MC.GT_SetPos(Axis, Axis_Pos + Home_OffSet);
* LogErr?.Invoke("Axis_Home----GT_SetPos", Gts_Return);
*
* //在运动状态下更新目标位置
* Gts_Return = MC.GT_Update(1 << (Axis - 1));
* LogErr?.Invoke("Axis_Home----GT_Update", Gts_Return);
*
* do
* {
* //读取轴状态
* Gts_Return = MC.GT_GetSts(Axis, out Axis_Sta, 1, out Axis_Pclock);
* //读取捕获状态
* Gts_Return = MC.GT_GetCaptureStatus(Axis, out Capture, out Axis_Pos, 1, out Axis_Pclock);
* //读取编码器位置
* //Gts_Return = MC.GT_GetEncPos(Axis, out encPos, 1, out Axis_Pclock);
* //如果运动停止，返回出错信息
* if (0 == (Axis_Sta & 0x400))
* {
* LogErr?.Invoke("Axis_Home----No Home found!!", 1);
* //反转回零标志
* Homing_Flag = !Homing_Flag;
* return 1;//整个过程Home信号一直没有触发，返回值为1
* }
* } while (Capture ==0);
*/
/********************************待评估***********************************/
//停止轴运动
Gts_Return = MC.GT_Stop(1 << (Axis - 1), 0); //平滑停止轴运动
LogErr?.Invoke("Motion--停止轴运动", Gts_Return);
//延时一段时间，等待电机稳定
Thread.Sleep(500);//200ms
//位置清零
Gts_Return = MC.GT_ZeroPos(Axis, 1);
LogErr?.Invoke("Axis_Home----GT_ZeroPos", Gts_Return);
/***************************Home_Offset偏置距离 开始********************************************/
if (Program.SystemContainer.SysPara.Home_OffSet != 0)
{
//切换到点动模式
Gts_Return = MC.GT_PrfTrap(Axis);
LogErr?.Invoke("Axis_Home----GT_PrfTrap", Gts_Return);
//读取点动模式运动参数
Gts_Return = MC.GT_GetTrapPrm(Axis, out Home_TrapPrm);
LogErr?.Invoke("Axis_Home----GT_GetTrapPrm", Gts_Return);
//设置点动模式运动参数
Home_TrapPrm.acc = Convert.ToDouble(Program.SystemContainer.SysPara.Home_acc / Program.SystemContainer.SysPara.Gts_Acc_reference);
Home_TrapPrm.dec = Convert.ToDouble(Program.SystemContainer.SysPara.Home_dcc / Program.SystemContainer.SysPara.Gts_Acc_reference);
Home_TrapPrm.smoothTime = Program.SystemContainer.SysPara.Home_smoothTime;
//设置点动模式运动参数
Gts_Return = MC.GT_SetTrapPrm(Axis, ref Home_TrapPrm);
LogErr?.Invoke("Axis_Home----GT_SetTrapPrm", Gts_Return);
//设置点动模式目标速度，即回原点速度
Gts_Return = MC.GT_SetVel(Axis, Convert.ToDouble(Program.SystemContainer.SysPara.Home_High_Speed / Program.SystemContainer.SysPara.Gts_Vel_reference));
LogErr?.Invoke("Axis_Home----GT_SetVel", Gts_Return);
//设置点动模式目标位置，即原点搜索距离
Gts_Return = MC.GT_SetPos(Axis, Convert.ToInt32(Program.SystemContainer.SysPara.Home_OffSet * Program.SystemContainer.SysPara.Gts_Pos_reference));
LogErr?.Invoke("Axis_Home----GT_SetPos", Gts_Return);
//启动运动
Gts_Return = MC.GT_Update(1 << (Axis - 1));
LogErr?.Invoke("Axis_Home----GT_Update", Gts_Return);
do
{
//读取轴状态
Gts_Return = MC.GT_GetSts(Axis, out Axis_Sta, 1, out Axis_Pclock);
//读取规划位置
Gts_Return = MC.GT_GetPrfPos(Axis, out prfPos, 1, out Axis_Pclock);
//读取编码器位置
//Gts_Return = MC.GT_GetEncPos(Axis, out encPos, 1, out Axis_Pclock);
} while ((Axis_Sta & 0x400) != 0);
//检查是否到达 Home_OffSet
if (prfPos != Convert.ToInt32(Program.SystemContainer.SysPara.Home_OffSet * Program.SystemContainer.SysPara.Gts_Pos_reference))
{
LogErr?.Invoke("Axis_Home----Move to Home_OffSet err!!", 1);
return(2);
}
/***************************Home_Offset偏置距离 结束********************************************/
}
//延时一段时间，等待电机稳定
Thread.Sleep(500);//200ms
//位置清零
Gts_Return = MC.GT_ZeroPos(Axis, 1);
LogErr?.Invoke("Axis_Home----GT_ZeroPos", Gts_Return);
return(0);
}
public void Refresh_IO()
{
//读取通用输出的值
Gts_Return = MC.GT_GetDo(12, out Exo_16bit);
Log.Commandhandler("Refresh--MC.GT_GetDo", Gts_Return);
//读取通用输入的值
Gts_Return = MC.GT_GetDi(4, out Exi_16bit);
Log.Commandhandler("Refresh--MC.GT_GetDi", Gts_Return);
//读取Axis01状态
Gts_Return = MC.GT_GetSts(1, out Axis01_Sta, 1, out Axis01_Clk);
Log.Commandhandler("Refresh_Axis01--MC.GT_GetSts", Gts_Return);
//读取Axis02状态
Gts_Return = MC.GT_GetSts(2, out Axis02_Sta, 1, out Axis02_Clk);
Log.Commandhandler("Refresh_Axis02--MC.GT_GetSts", Gts_Return);
//读取Axis_Home_Sta状态
Gts_Return = MC.GT_GetDi(3, out Axis_Home_Sta);
Log.Commandhandler("Refresh_Axis_Home_Sta--MC.GT_GetDi", Gts_Return);
//读取Axis_Posed_Sta状态
Gts_Return = MC.GT_GetDi(5, out Axis_Posed_Sta);
Log.Commandhandler("Refresh_Axis_Posed_Sta--MC.GT_GetDi", Gts_Return);
//读取Axis_Clear_Sta状态
Gts_Return = MC.GT_GetDo(11, out Axis_Clear_Sta);
Log.Commandhandler("Refresh_Axis_Clear_Sta--MC.GT_GetDo", Gts_Return);
//读取规划位置
Gts_Return = MC.GT_GetPrfPos(1, out Axis01_prfPos, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetPrfPos(2, out Axis02_prfPos, 1, out Axis02_Clk);
//读取实际位置
Gts_Return = MC.GT_GetAxisEncPos(1, out Axis01_encPos, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetAxisEncPos(2, out Axis02_encPos, 1, out Axis02_Clk);
//读取当前速度
Gts_Return = MC.GT_GetVel(1, out Axis01_vel);
Gts_Return = MC.GT_GetVel(2, out Axis02_vel);
//读取当前加减速
Gts_Return = MC.GT_GetAxisPrfAcc(1, out Axis01_acc, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetAxisPrfAcc(1, out Axis01_dcc, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetAxisPrfAcc(2, out Axis02_acc, 1, out Axis02_Clk);
Gts_Return = MC.GT_GetAxisPrfAcc(2, out Axis02_dcc, 1, out Axis02_Clk);
//读取轴运动模式
Gts_Return = MC.GT_GetPrfMode(1, out Axis01_mode, 1, out Axis01_Clk);
Gts_Return = MC.GT_GetPrfMode(2, out Axis02_mode, 1, out Axis02_Clk);
//刷新数值至相应的IO
//刷新EXI
EXI1 = (Exi_16bit & (1 << 1)) == 0; // 急停开关
EXI2 = (Exi_16bit & (1 << 2)) == 0; // 除尘气缸伸出传感器
EXI3 = (Exi_16bit & (1 << 3)) == 0; // 除尘气缸退回传感器
EXI4 = (Exi_16bit & (1 << 4)) == 0; // 左门禁传感器
EXI5 = (Exi_16bit & (1 << 5)) == 0; // 右门禁传感器
EXI6 = (Exi_16bit & (1 << 6)) == 0; // 启动按钮1
EXI7 = (Exi_16bit & (1 << 7)) == 0; // 启动按钮1
EXI6 = (Exi_16bit & (1 << 6)) == 0; // 启动按钮1
EXI7 = (Exi_16bit & (1 << 7)) == 0; // 启动按钮1
//输出按钮灯
if (EXI6)
{
Button1_Lamp = 1;
}
else
{
Button1_Lamp = 0;
};
if (EXI7)
{
Button2_Lamp = 1;
}
else
{
Button2_Lamp = 0;
};
//输出照明灯
//if ((!EXI4) || (!EXI5)) { Lamp_control = 1; } else { Lamp_control = 0; };
//刷新EXO
EXO1 = (Exo_16bit & (1 << 1)) == 0; // 三色灯塔黄
EXO2 = (Exo_16bit & (1 << 2)) == 0; // 三色灯塔绿
EXO3 = (Exo_16bit & (1 << 3)) == 0; // 三色灯塔红
EXO4 = (Exo_16bit & (1 << 4)) == 0; // 蜂鸣器
EXO5 = (Exo_16bit & (1 << 5)) == 0; // 除尘气缸伸出
EXO6 = (Exo_16bit & (1 << 6)) == 0; // 除尘气缸退回
EXO7 = (Exo_16bit & (1 << 7)) == 0; // 吹气打开
EXO8 = (Exo_16bit & (1 << 8)) == 0; // 照明灯
EXO9 = (Exo_16bit & (1 << 9)) == 0; // 启动按钮1灯
EXO10 = (Exo_16bit & (1 << 10)) == 0; // 启动按钮2灯
EXO11 = (Exo_16bit & (1 << 11)) == 0; // X轴回零触发
EXO12 = (Exo_16bit & (1 << 12)) == 0; // Y轴回零触发
//刷新Axis01 状态
Axis01_Limit_Up = (Axis01_Sta & (1 << 5)) != 0; // Axis01轴正限位
Axis01_Limit_Down = (Axis01_Sta & (1 << 6)) != 0; // Axis01轴负限位
Axis01_Home = (Axis_Home_Sta & 0x01) != 0; // Axis01轴原点
Axis01_Alarm = (Axis01_Sta & (1 << 1)) != 0; // Axis01轴报警
Axis01_Alarm_Cl = (Axis_Clear_Sta & 0x01) == 0; //Axis01轴报警清除
Axis01_MC_Err = (Axis01_Sta & (1 << 4)) != 0; // Axis01轴板卡报警(跟随误差越限)
Axis01_EN = (Axis01_Sta & (1 << 9)) != 0; // Axis01轴使能
Axis01_Busy = (Axis01_Sta & (1 << 10)) != 0; // Axis01轴输出中
Axis01_IO_Stop = (Axis01_Sta & (1 << 7)) != 0; // Axis01轴IO停止
Axis01_IO_EMG = (Axis01_Sta & (1 << 8)) != 0; // Axis01轴IO急停
Axis01_Motor_Posed = (Axis_Posed_Sta & 0x01) != 0; // Axis01轴 电机到位
Axis01_Upper_Posed = (Axis01_Sta & (1 << 11)) != 0; // Axis01轴 上位机到位
//刷新Axis02 状态
Axis02_Limit_Up = (Axis02_Sta & (1 << 5)) != 0; // Axis02轴正限位
Axis02_Limit_Down = (Axis02_Sta & (1 << 6)) != 0; // Axis02轴负限位
Axis02_Home = (Axis_Home_Sta & (1 << 1)) != 0; // Axis02轴原点
Axis02_Alarm = (Axis02_Sta & (1 << 1)) != 0; // Axis02轴报警
Axis02_Alarm_Cl = (Axis_Clear_Sta & (1 << 1)) == 0; //Axis02轴报警清除
Axis02_MC_Err = (Axis02_Sta & (1 << 4)) != 0; // Axis02轴板卡报警(跟随误差越限)
Axis02_EN = (Axis02_Sta & (1 << 9)) != 0; // Axis02轴使能
Axis02_Busy = (Axis02_Sta & (1 << 10)) != 0; // Axis02轴输出中
Axis02_IO_Stop = (Axis02_Sta & (1 << 7)) != 0; // Axis02轴IO停止
Axis02_IO_EMG = (Axis02_Sta & (1 << 8)) != 0; // Axis02轴IO急停
Axis02_Motor_Posed = (Axis_Posed_Sta & (1 << 1)) != 0;; // Axis02轴 电机到位
Axis02_Upper_Posed = (Axis02_Sta & (1 << 11)) != 0; // Axis02轴 上位机到位
//刷新轴原点状态
if (Gts_Home_Flag)
{
Gts_Home_Flag = !(Axis01_Limit_Up || Axis01_Limit_Down || Axis01_Alarm || Axis01_MC_Err || Axis01_IO_EMG || Axis02_Limit_Up || Axis02_Limit_Down || Axis02_Alarm || Axis02_MC_Err || Axis02_IO_EMG || EXI1);//任意（轴限位、报警、使能关闭、急停），致使原点标志丢失
}
//轴1回零触发
if (Axis01_Home_Ex0_Control == 1)//轴1回零
{
Gts_Return = MC.GT_SetDoBit(12, 12, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 12, 1);
}
//轴2回零触发
if (Axis02_Home_Ex0_Control == 1)//轴2回零
{
Gts_Return = MC.GT_SetDoBit(12, 13, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 13, 1);
}
//输出控制 0-输出，1-关闭输出
//Cyc_control, Blow_control, Lamp_control;//定义气缸、吹气、照明控制字
//气缸控制
if (Cyc_control == 1)//气缸打开
{
Gts_Return = MC.GT_SetDoBit(12, 6, 0);
Gts_Return = MC.GT_SetDoBit(12, 7, 1);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 6, 1);
Gts_Return = MC.GT_SetDoBit(12, 7, 0);
}
//吹气控制
if (Blow_control == 1)//吹气打开
{
Gts_Return = MC.GT_SetDoBit(12, 8, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 8, 1);
}
//照明控制
if (Lamp_control == 1)//照明打开
{
Gts_Return = MC.GT_SetDoBit(12, 9, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 9, 1);
}
//Yellow_lamp,Green_lamp,Red_lamp,Beeze_Control,Button1_Lamp, Button2_Lamp;//定义灯塔黄、灯塔绿、灯塔红、蜂鸣控制字
//灯塔黄控制
if (Yellow_lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 2, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 2, 1);
}
//灯塔绿控制
if (Green_lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 3, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 3, 1);
}
//灯塔红控制
if (Red_lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 4, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 4, 1);
}
//蜂鸣器控制
if (Beeze_Control == 1)
{
if (Timer_1s_Flag)
{
Gts_Return = MC.GT_SetDoBit(12, 5, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 5, 1);
}
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 5, 1);
}
//Button1_Lamp, Button2_Lamp;//定义启动按钮1灯、启动按钮2灯控制字
//启动按钮1灯
if (Button1_Lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 10, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 10, 1);
}
//启动按钮2灯
if (Button2_Lamp == 1)
{
Gts_Return = MC.GT_SetDoBit(12, 11, 0);
}
else
{
Gts_Return = MC.GT_SetDoBit(12, 11, 1);
}
}
