/// <summary>
/// 抬起（松开）点动按钮时触发，停止定速运动
/// </summary>
private void Move_MouseUp(object sender, MouseEventArgs e)
{
if (m_handle == (IntPtr)(0))
{
MessageBox.Show("未连接控制器！");
return;
}
Button btn = (Button)sender;
if (btn.Name == ("xMovePlus_btn") || btn.Name == ("xMoveRev_btn"))
{
SMC6X.SMCDecelStop(m_handle, 0);
}
else if (btn.Name == ("yMovePlus_btn") || btn.Name == ("yMoveRev_btn"))
{
SMC6X.SMCDecelStop(m_handle, 1);
}
else if (btn.Name == ("zMovePlus_btn") || btn.Name == ("zMoveRev_btn"))
{
SMC6X.SMCDecelStop(m_handle, 2);
}
else if (btn.Name == ("uMovePlus_btn") || btn.Name == ("uMoveRev_btn"))
{
SMC6X.SMCDecelStop(m_handle, 3);
}
}
private void OnTick(object sender, EventArgs e)
{
Int32 pos = 0;
SMC6X.SMCGetPositionPulses(m_handle, 0, ref pos);
POSX.Text = Convert.ToString(pos);
}
/// <summary>
/// 连接或断开控制器
/// </summary>
private void Connect_btn_Click(object sender, EventArgs e)
{
if (m_handle == (IntPtr)(0))
{
int iret = -1;
string ipStr = ip_tbx.Text;
if (!IsIP(ipStr))
{
state_lab.Text = "IP地址无效";
return;
}
state_lab.Text = "正在连接";
iret = SMC6X.SMCOpenEth(ipStr, ref m_handle); //连接网络
if (0 != iret)
{
state_lab.Text = "连接失败";
MessageBox.Show("连接失败");
return;
}
state_lab.Text = "已连接";
timer1.Start();
connect_btn.Text = "断开连接";
}
else
{
SMC6X.SMCClose(m_handle);
m_handle = (IntPtr)(0);
connect_btn.Text = "连接设备";
state_lab.Text = "未连接";
timer1.Stop();
}
}
/// <summary>
/// 设置手动操作速度按钮，设置手动速度
/// </summary>
private void SetSpeed_btn_Click(object sender, EventArgs e)
{
Int32 speed = 0;
try
{
speed = Convert.ToInt32(setSpeed_tbx.Text);
}
catch
{
MessageBox.Show("不是有效的数字", "设置信息");
return;
}
SMC6X.SMCSetLocateSpeed(m_handle, 0, speed); //设置运动速度，1000 Pulse/s;
//SMC6X.SMCSetLocateAcceleration(m_handle, 0, 20); //设置运动加速度，2000 Pulse/s2;
MessageBox.Show("设置成功");
}
private void PMove_Click(object sender, EventArgs e)
{
if (m_handle == (IntPtr)(0))
{
MessageBox.Show("请先连接控制器！");
return;
}
Button btn = (Button)sender;
SMC6X.SMCSetLocateSpeed(m_handle, 0, 1000); //设置运动速度，1000 Pulse/s;
SMC6X.SMCSetLocateAcceleration(m_handle, 0, 2000); //设置运动加速度，2000 Pulse/s2;
if (btn.Name == ("PMovePlus"))
{
SMC6X.SMCPMovePluses(m_handle, 0, 10000, 0); //向正方向运动10000个脉冲；
}
else if (btn.Name == ("PMoveReverse"))
{
SMC6X.SMCPMovePluses(m_handle, 0, -10000, 0); //向负方向运动10000个脉冲；
}
}
/// <summary>
/// 点击暂停按钮触发，暂停运行当前程序，再次点击继续运行
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Pause_btn_Click(object sender, EventArgs e)
{
if (m_handle == (IntPtr)(0))
{
MessageBox.Show("未连接控制器！");
return;
}
if (isruning)
{
SMC6X.SMCPause(m_handle);
pause_btn.Text = "继续";
isruning = false;
}
else
{
SMC6X.SMCContinueRun(m_handle);
pause_btn.Text = "暂停";
isruning = true;
}
}
/// <summary>
/// 点击按钮触发，进行语法检查
/// </summary>
private void Check_btn_Click(object sender, EventArgs e)
{
if (m_handle == (IntPtr)(0))
{
MessageBox.Show("未连接控制器！");
return;
}
Byte errorMassage = 0;
int iresult = -1;
iresult = SMC6X.SMCCheckProgramSyntax(gcode_richtbx.Text, ref errorMassage);
if (iresult == 0)
{
MessageBox.Show("语法正确", "检查信息");
}
else
{
MessageBox.Show("存在语法错误", "检查信息");
return;
}
}
/// <summary>
/// 点动按钮按下（未抬起）时触发，控制某轴点动，定速运动
/// </summary>
private void Move_MouseDown(object sender, MouseEventArgs e)
{
if (m_handle == (IntPtr)(0))
{
MessageBox.Show("未连接控制器！");
return;
}
Button btn = (Button)sender;
switch (btn.Name)
{
case "xMovePlus_btn":
SMC6X.SMCVMove(m_handle, 0, 1); break;
case "xMoveRev_btn":
SMC6X.SMCVMove(m_handle, 0, 0); break;
case "yMovePlus_btn":
SMC6X.SMCVMove(m_handle, 1, 1); break;
case "yMoveRev_btn":
SMC6X.SMCVMove(m_handle, 1, 0); break;
case "zMovePlus_btn":
SMC6X.SMCVMove(m_handle, 2, 1); break;
case "zMoveRev_btn":
SMC6X.SMCVMove(m_handle, 2, 0); break;
case "uMovePlus_btn":
SMC6X.SMCVMove(m_handle, 3, 1); break;
case "uMoveRev_btn":
SMC6X.SMCVMove(m_handle, 3, 0); break;
default: break;
}
}
/// <summary>
/// timer定时器响应函数
/// </summary>
private void Timer1_Tick(object sender, EventArgs e)
{
double last_x = cur_pos[0], last_y = cur_pos[1];
for (Byte axis = 0; axis < 4; axis++)
{
SMC6X.SMCGetPosition(m_handle, axis, ref cur_pos[axis]);
}
xMachCoor_tbx.Text = cur_pos[0].ToString("F2");
yMachCoor_tbx.Text = cur_pos[1].ToString("F2");
zMachCoor_tbx.Text = cur_pos[2].ToString("F2");
uMachCoor_tbx.Text = cur_pos[3].ToString("F2");
for (Byte axis = 0; axis < 4; axis++)
{
SMC6X.SMCGetCurSpeed(m_handle, axis, ref cur_speed[axis]);
}
xSpeed_tbx.Text = Convert.ToString(cur_speed[0]);
ySpeed_tbx.Text = Convert.ToString(cur_speed[1]);
zSpeed_tbx.Text = Convert.ToString(cur_speed[2]);
uSpeed_tbx.Text = Convert.ToString(cur_speed[3]);
if (isruning)
{
int num = 0;
SMC6X.SMCGetCurRunningLine(m_handle, ref num);
lineNum_lab.Text = num.ToString();
}
if (cur_pos[0] != last_x || cur_pos[1] != last_y)
{
pointList.Clear();
trailList.Add(cur_pos[0], cur_pos[1]);
pointList.Add(cur_pos[0], cur_pos[1]);
zedGraph1.GraphPane.AxisChange(); // 在数据变化时绘制图形
zedGraph1.Invalidate(); //刷新
}
}
IntPtr m_handle; //连接标识
private void OnLink(object sender, EventArgs e)
{
Button btn = (Button)sender;
int iret = -1;
if (btn.Name == "LinkEth")
{
string ipStr = "192.168.1.11";
iret = SMC6X.SMCOpenEth(ipStr, ref m_handle); //连接网络
}
else if (btn.Name == "LinkCom")
{
iret = SMC6X.SMCOpenCom(1, ref m_handle); //连接网络
}
if (0 != iret)
{
MessageBox.Show("连接失败");
return;
}
timer2.Start();
}
/// <summary>
/// 点击运行按钮触发，将程序下载到RAM并运行
/// </summary>
private void Run_btn_Click(object sender, EventArgs e)
{
if (m_handle == (IntPtr)(0))
{
MessageBox.Show("未连接控制器！");
return;
}
Byte errorMassage = 0;
int iresult = 1;
iresult = SMC6X.SMCCheckProgramSyntax(gcode_richtbx.Text, ref errorMassage);
if (iresult != 0)
{
MessageBox.Show("存在语法错误", "检查信息");
return;
}
iresult = SMC6X.SMCDownMemProgramToRamAndRun(m_handle, gcode_richtbx.Text, gcode_richtbx.TextLength);
if (iresult != 0)
{
MessageBox.Show("下载运行失败", "运行信息");
}
isruning = true;
}
private void CloseConnect_Click(object sender, EventArgs e)
{
SMC6X.SMCClose(m_handle);
m_handle = (IntPtr)(0);
}
private void Stop_Click(object sender, EventArgs e)
{
SMC6X.SMCDecelStop(m_handle, 0);
}
/// <summary>
/// 运动控制相关按钮，分别实现回零、设零点、定位、修改坐标、停止运动功能
/// </summary>
private void MoveControl_Click(object sender, EventArgs e)
{
if (m_handle == (IntPtr)(0))
{
MessageBox.Show("未连接控制器！");
return;
}
Button btn = (Button)sender;
switch (btn.Name)
{
case "backZero_btn":
SMC6X.SMCHomeMove(m_handle, 2);
SMC6X.SMCHomeMove(m_handle, 0);
SMC6X.SMCHomeMove(m_handle, 1);
break;
case "setZero_btn":
for (byte i = 0; i < 3; i++)
{
SMC6X.SMCSetPosition(m_handle, i, 0.0);
}
break;
case "gotoCoor_btn":
double[] gotocoor = new double[4];
try
{
gotocoor[0] = Convert.ToDouble(xGotoCoor_tbx.Text);
gotocoor[1] = Convert.ToDouble(yGotoCoor_tbx.Text);
gotocoor[2] = Convert.ToDouble(zGotoCoor_tbx.Text);
gotocoor[3] = Convert.ToDouble(uGotoCoor_tbx.Text);
}
catch
{
MessageBox.Show("无效数字");
return;
}
for (byte i = 0; i < 3; i++)
{
SMC6X.SMCPMove(m_handle, i, gotocoor[i], 1);
}
break;
case "setCoor_btn":
double[] setcoor = new double[4];
try
{
setcoor[0] = Convert.ToDouble(xSetCoor_tbx.Text);
setcoor[1] = Convert.ToDouble(ySetCoor_tbx.Text);
setcoor[2] = Convert.ToDouble(zSetCoor_tbx.Text);
setcoor[3] = Convert.ToDouble(uSetCoor_tbx.Text);
}
catch
{
MessageBox.Show("无效数字");
return;
}
for (byte i = 0; i < 3; i++)
{
SMC6X.SMCSetPosition(m_handle, i, setcoor[i]);
}
break;
case "stop_btn":
SMC6X.SMCEmgStop(m_handle);
isruning = false;
//SMCDecelStop 减速停止
//SMCImdStop 立即停止
//SMCEmgStop 紧急停止
break;
default: break;
}
}
