/// <summary>
/// 轴物理位置转换为脉冲数
/// </summary>
/// <param name="axis">轴</param>
/// <param name="position">轴的物理位置</param>
/// <returns></returns>
public static int TransferPhysicalPositionToPulse(ProCommon.Communal.Axis axis, float position)
{
int pls = 0;
if (axis != null)
{
axis.PulseUnit = axis.PulsePerRound / axis.HelicalPitch;
pls = Convert.ToInt32(axis.PulseUnit * position);
}
return(pls);
}
public ProCommon.Communal.Axis Clone()
{
ProCommon.Communal.Axis destAxis = new ProCommon.Communal.Axis(this.ID);
destAxis.Accel = this.Accel;
destAxis.AlarmClearOutBitNumber = this.AlarmClearOutBitNumber;
destAxis.AlarmClearOutLevel = this.AlarmClearOutLevel;
destAxis.AlarmInBitNumber = this.AlarmInBitNumber;
destAxis.AlarmInLevel = this.AlarmInLevel;
destAxis.DatumCreepSpeed = this.DatumCreepSpeed;
destAxis.CurrentPos = this.CurrentPos;
destAxis.DatumDirection = this.DatumDirection;
destAxis.DatumInBitNumber = this.DatumInBitNumber;
destAxis.DatumInLevel = this.DatumInLevel;
destAxis.DatumMode = this.DatumMode;
destAxis.Decel = this.Decel;
destAxis.FirstPos = this.FirstPos;
destAxis.HardForwarInBitNumber = this.HardForwarInBitNumber;
destAxis.HardForwardInLevel = this.HardForwardInLevel;
destAxis.HardReverseInBitNumber = this.HardReverseInBitNumber;
destAxis.HardReverseInLevel = this.HardReverseInLevel;
destAxis.SoftForwardLimit = this.SoftForwardLimit;
destAxis.SoftReverseLimit = this.SoftReverseLimit;
destAxis.StartSpeed = this.StartSpeed;
destAxis.Name = this.Name;
destAxis.Number = this.Number;
destAxis.PulseOutMode = this.PulseOutMode;
destAxis.PulseUnit = this.PulseUnit;
destAxis.SecondPos = this.SecondPos;
destAxis.ServoOnLevel = this.ServoOnLevel;
destAxis.ServoOnOutBitNumber = this.ServoOnOutBitNumber;
destAxis.RunSpeed = this.RunSpeed;
destAxis.Sramp = this.Sramp;
destAxis.StatusALM = this.StatusALM;
destAxis.StatusOfHardDatum = this.StatusOfHardDatum;
destAxis.StatusOfHardForward = this.StatusOfHardForward;
destAxis.StatusOfHardReverse = this.StatusOfHardReverse;
destAxis.ThirdPos = this.ThirdPos;
destAxis.AxisType = this.AxisType;
destAxis.HelicalPitch = this.HelicalPitch;
destAxis.PulsePerRound = this.PulsePerRound;
destAxis.DatumSpeed = this.DatumSpeed;
destAxis.DatumOffset = this.DatumOffset;
destAxis.AxisLimitMode = this.AxisLimitMode;
return(destAxis);
}
/// <summary>
/// 创建硬件配置时的板卡轴配置
/// [需要根据项目情况重定义]
/// </summary>
/// <param name="axesList"></param>
/// <returns></returns>
private bool CreateAxesInstance(ref ProCommon.Communal.AxisList axesList)
{
bool rt = false;
if (axesList != null)
{
axesList.Clear();
int tmpServoOnPort = 0, tmpALMIn = 0, tmpDatumIn = 0, tmpHFwdIn = 0, tmpHRevIn = 0, tmpALMCLROut = 0;
ProCommon.Communal.Axis axis = null;
for (int i = 0; i < 3; i++)
{
axis = new ProCommon.Communal.Axis("Axis_" + i.ToString("00"));
axis.AxisType = 1;
axis.PulseOutMode = 0;
axis.ServoOnLevel = ProCommon.Communal.ElectricalLevel.Low;
axis.PulseUnit = 100;
switch (i)
{
case 0:
{
axis.Name = "X";
tmpServoOnPort = 16;
tmpALMIn = 40;
tmpDatumIn = 16;
tmpHFwdIn = 20;
tmpHRevIn = 21;
tmpALMCLROut = 17;
axis.HelicalPitch = 10.0f;
axis.PulsePerRound = 4000;
axis.PulseUnit = 400;
}
break;
case 1:
{
axis.Name = "Y";
tmpServoOnPort = 18;
tmpALMIn = 41;
tmpDatumIn = 17;
tmpHFwdIn = 22;
tmpHRevIn = 23;
tmpALMCLROut = 19;
axis.HelicalPitch = 20.0f;
axis.PulsePerRound = 4000;
axis.PulseUnit = 200;
}
break;
case 2:
{
axis.Name = "R";
tmpServoOnPort = 20;
tmpALMIn = 42;
tmpDatumIn = 18;
tmpHFwdIn = 24;
tmpHRevIn = 25;
tmpALMCLROut = 21;
axis.HelicalPitch = 360.0f;
axis.PulsePerRound = 4000;
axis.PulseUnit = 11.11f;
}
break;
case 3:
{
axis.Name = "U";
tmpServoOnPort = 22;
tmpALMIn = 43;
tmpDatumIn = 19;
tmpHFwdIn = 26;
tmpHRevIn = 27;
tmpALMCLROut = 23;
}
break;
case 4:
{
tmpServoOnPort = 24;
tmpALMIn = 44;
tmpDatumIn = 28;
tmpHFwdIn = 32;
tmpHRevIn = 33;
tmpALMCLROut = 25;
}
break;
case 5:
{
tmpServoOnPort = 26;
tmpALMIn = 45;
tmpDatumIn = 29;
tmpHFwdIn = 34;
tmpHRevIn = 35;
tmpALMCLROut = 27;
}
break;
case 6:
{
tmpServoOnPort = 28;
tmpALMIn = 46;
tmpDatumIn = 30;
tmpHFwdIn = 36;
tmpHRevIn = 37;
tmpALMCLROut = 29;
}
break;
case 7:
{
tmpServoOnPort = 30;
tmpALMIn = 47;
tmpDatumIn = 31;
tmpHFwdIn = 38;
tmpHRevIn = 39;
tmpALMCLROut = 31;
}
break;
}
//通用输入或输出口做专用信号
axis.ServoOnOutBitNumber = tmpServoOnPort;
axis.AlarmInBitNumber = tmpALMIn;
axis.AlarmInLevel = ProCommon.Communal.ElectricalLevel.High;
axis.AlarmClearOutBitNumber = tmpALMCLROut;
axis.AlarmClearOutLevel = ProCommon.Communal.ElectricalLevel.Low;
axis.StatusALM = false;
axis.DatumInBitNumber = tmpDatumIn;
axis.DatumInLevel = ProCommon.Communal.ElectricalLevel.Low;
axis.StatusOfHardDatum = false;
axis.HardForwarInBitNumber = tmpHFwdIn;
axis.HardForwardInLevel = ProCommon.Communal.ElectricalLevel.Low;
axis.StatusOfHardForward = false;
axis.HardReverseInBitNumber = tmpHRevIn;
axis.HardReverseInLevel = ProCommon.Communal.ElectricalLevel.Low;
axis.StatusOfHardReverse = false;
axis.DatumDirection = "负向";
axis.DatumMode = 14;
axis.StartSpeed = 50.0f;
axis.RunSpeed = 500.0f;
axis.Accel = 1000.0f;
axis.Decel = 1000.0f;
axis.DatumCreepSpeed = 20.0f;
axis.DatumSpeed = 100.0f;
axis.EndSpeed = 200.0f;
axis.SoftReverseLimit = 0.0f;
axis.SoftForwardLimit = 200.0f;
axis.CurrentPos = 0.0f;
axis.FirstPos = 10.0f;
axis.SecondPos = 50.0f;
axis.ThirdPos = 80.0f;
axesList.Add(axis);
}
rt = true;
}
return(rt);
}
