816 lines
35 KiB
C#
816 lines
35 KiB
C#
using Advantech.Motion;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.IO;
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using System.Linq;
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using System.Reflection;
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using System.Security.Cryptography;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Timers;
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namespace ProductionControl.Device
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{
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public class Axis : IDisposable
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{
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public enum AxisStateType
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{
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[Description("轴状态")]
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AxisState = 0,
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[Description("轴运动状态")]
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AxisMotionState = 1,
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[Description("轴IO状态")]
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AxisIOState = 2,
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}
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public Action<int, AxisStateType, uint> axisStateEvent;
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public enum AxisPosType
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{
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[Description("命令位置")]
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CmdPos = 0,
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[Description("反馈位置")]
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ActualPos = 1,
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}
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public Action<int, AxisPosType, double> axisPosEvent;
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/// <summary> 使用
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/// 轴状态(AxisState 0-14) 单一值，无需按位取
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/// STA_AxDisable -- 轴被禁用，用户可打开并激活
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/// STA_AxReady ---- 轴已准备就绪，等待新的命令 *
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/// STA_Stopping ---- 轴停止
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/// STA_AxErrorStop --- 出现错误，轴停止
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/// STA_AxHoming ---- 轴正在执行返回原点运动
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/// STA_AxPtpMotion ---- 轴正在执行PTP 运动
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/// STA_AxContiMotion ---- 轴正在执行连续运动
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/// STA_AxSyncMotion --- 轴在一个群组中，群组正在执行插补运动；或轴是一个从轴，正在执行Ecam/E-gear/Gantry 运动。
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/// STA_AX_EXT_JOG -- 轴由外部信号控制。当外部信号激活时，轴将执行JOG 模式运动。
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/// STA_AX_EXT_MPG --- 轴由外部信号控制。当外部信号激活时，轴将执行MPG 模式运动
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/// </summary>
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//public Action<int, int> axisStateEvent;
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/// <summary>
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/// 轴运动状态 使用
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/// 位 说明
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/// Stop ---- 停止
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/// WaitERC---- 等待ERC 完成
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/// InFA ---- 处于特定速度中 = FA
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/// InFL ---- 处于低速中 = FL
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/// InACC ---- 加速中
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/// InFH ---- 处于最大速度中 = FH
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/// InDEC ---- 减速中
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/// WaitINP---- 到位等待
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/// </summary>
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//public Action<int, int> axisMotionStateEvent;
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/// <summary>
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/// 轴IO状态 (Ax_Motion_IO) 使用
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/// RDY---- RDY 针脚输入
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/// ALM ---- 报警信号输入 *
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/// LMT+ ---- 限位开关+ *
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/// LMT- ---- 限位开关- *
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/// ORG---- 原始开关 *
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/// DIR ---- DIR 输出
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/// EMG ---- 紧急信号输入
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/// INP ---- 到位信号输入
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/// SVON ---- 伺服开启（OUT6） *
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/// ALRM ---- 报警复位输出状态
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/// SLMT+ ---- 软件限位+
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/// SLMT- ---- 软件限位-
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/// CMP----- 比较信号（OUT5）
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/// </summary>
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//public Action<int, bool, bool, bool, bool> axisIOStateEvent;
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/// <summary>
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/// 告警(级别1 2 3)
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/// </summary>
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public Action<int, string> warningEvent;
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/// <summary>
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/// Log输出，(0-info,1-warning 2-error)
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/// </summary>
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public Action<int, string> log;
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/// <summary>
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/// 设备列表（多张PCI板卡）
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/// </summary>
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public List<DEV_LIST> DevList { get; private set; }
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/// <summary>
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/// 设备数量
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/// </summary>
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//private uint deviceCount = 0;
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/// <summary>
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/// 设备号，用于打开设备（非索引）
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/// </summary>
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//public uint DeviceNum { get; private set; } = 0;
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/// <summary>
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/// 设备句柄
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/// </summary>
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private IntPtr m_DeviceHandle = IntPtr.Zero;
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/// <summary>
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/// 轴数量
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/// </summary>
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private uint m_ulAxisCount = 0;
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private IntPtr[] m_Axishand = new IntPtr[0];
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public double[] CmdPos { get; private set; } = new double[32];//轴命令位置
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public double[] ActualPos { get; private set; } = new double[32];//轴实际(反馈)位置
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public UInt16[] AxState { get; private set; } = new UInt16[32];//轴状态
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public UInt32[] IOStatus { get; private set; } = new UInt32[32];//轴IO状态
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public uint[] AxMotionState { get; private set; } = new uint[32];//轴运动状态
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private uint[] AxEnableEvtArray = new uint[32];
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private uint[] GpEnableEvt = new uint[32];
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/// <summary>
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/// 组
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/// </summary>
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private IntPtr m_GpHand = IntPtr.Zero;
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/// <summary>
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/// 是否打开设备成功
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/// </summary>
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public bool IsInit { get; private set; } = false;
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Thread checkEventThread;
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private System.Timers.Timer timer = new System.Timers.Timer();
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/// <summary>
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/// 获取设备列表
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/// </summary>
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/// <returns></returns>
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/// <exception cref="Exception"></exception>
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//public static List<DEV_LIST> getDevList()
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//{
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// DEV_LIST[] curAvailableDevs = new DEV_LIST[Motion.MAX_DEVICES];
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// uint deviceCount = 0;
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// int Result = Motion.mAcm_GetAvailableDevs(curAvailableDevs, Motion.MAX_DEVICES, ref deviceCount);
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// if (Result != (int)ErrorCode.SUCCESS || curAvailableDevs.Length < 1)
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// throw new Exception("Get Device Numbers Failed With Error Code: [0x" + Convert.ToString(Result, 16) + "] DevCount=" + curAvailableDevs.Length);
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// return curAvailableDevs.ToList().Take((int)deviceCount).ToList();
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//}
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public Axis()
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{
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DEV_LIST[] curAvailableDevs = new DEV_LIST[Motion.MAX_DEVICES];
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uint deviceCount = 0;
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int Result = Motion.mAcm_GetAvailableDevs(curAvailableDevs, Motion.MAX_DEVICES, ref deviceCount);
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if (Result != (int)ErrorCode.SUCCESS || curAvailableDevs.Length < 1)
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throw new Exception("Get Device Numbers Failed With Error Code: [0x" + Convert.ToString(Result, 16) + "] DevCount=" + curAvailableDevs.Length);
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DevList = curAvailableDevs.ToList().Take((int)deviceCount).ToList();
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}
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public void Dispose()
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{
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stop();
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}
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/// <summary>
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/// 打开设备
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/// </summary>
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/// <exception cref="Exception"></exception>
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public void start()
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{
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if (DevList == null || DevList.Count < 1)
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throw new Exception("设备为空！");
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start(DevList[0].DeviceNum);
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}
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public void start(uint DeviceNum)
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{
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if (IsInit) return;
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//打开设备
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uint uResult = Motion.mAcm_DevOpen(DeviceNum, ref m_DeviceHandle);
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if (uResult != (int)ErrorCode.SUCCESS)
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throw new Exception("Open Device Failed With Error Code: [0x" + Convert.ToString(uResult, 16) + "]");
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//读取轴数量
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uResult = Motion.mAcm_GetU32Property(m_DeviceHandle, (uint)PropertyID.FT_DevAxesCount, ref m_ulAxisCount);
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if (uResult != (uint)ErrorCode.SUCCESS)
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throw new Exception("Get Axis Number Failed With Error Code: [0x" + Convert.ToString(uResult, 16) + "]");
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m_Axishand = new IntPtr[m_ulAxisCount];
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//打开轴
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for (int i = 0; i < m_ulAxisCount; i++)
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{
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//打开每个轴并获得每个轴句柄
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uResult = Motion.mAcm_AxOpen(m_DeviceHandle, (UInt16)i, ref m_Axishand[i]);
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if (uResult != (uint)ErrorCode.SUCCESS)
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throw new Exception("Open Axis Failed With Error Code: [0x" + Convert.ToString(uResult, 16) + "]");
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//打开电源使能,1: On
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uResult = Motion.mAcm_AxSetSvOn(m_Axishand[i], 1);
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if (uResult != (uint)ErrorCode.SUCCESS)
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throw new Exception("Servo On Failed With Error Code: [0x" + Convert.ToString(uResult, 16) + "]");
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//每个轴的初始属性(reset 命令位置和实际(反馈)位置)
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//double cmdPosition = new double();
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//cmdPosition = 0;
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//为指定的轴设置命令位置
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//Motion.mAcm_AxSetCmdPosition(m_Axishand[i], cmdPosition);
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//为指定的轴设置实际(反馈)位置
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//Motion.mAcm_AxSetActualPosition(m_Axishand[i], cmdPosition);
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//Event
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AxEnableEvtArray[i] |= (uint)EventType.EVT_AX_MOTION_DONE; //运动完成(减速直至停止)
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AxEnableEvtArray[i] |= (uint)EventType.EVT_AX_VH_START; //轴加速到运行速度时
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AxEnableEvtArray[i] |= (uint)EventType.EVT_AX_VH_END;//轴运行速度结束时，开始减速
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//初次获取轴的运动I/O状态。
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this.refreshAxisState(i);
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}
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//根据加载的文件设置设备的所有配置
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string cfgPath = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location) + "\\DevCfg\\Axis_" + DeviceNum + ".cfg";
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if (File.Exists(cfgPath))
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{
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uResult = Motion.mAcm_DevLoadConfig(m_DeviceHandle, cfgPath);
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if (uResult != (uint)ErrorCode.SUCCESS)
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throw new Exception("Load Config Failed With Error Code: [0x" + Convert.ToString(uResult, 16) + "]");
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}
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uResult = Motion.mAcm_EnableMotionEvent(m_DeviceHandle, AxEnableEvtArray, GpEnableEvt, m_ulAxisCount, 3);
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if (uResult != (uint)ErrorCode.SUCCESS)
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throw new Exception("EnableMotionEvent Filed With Error Code[0x" + Convert.ToString(uResult, 16) + "]");
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IsInit = true;
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timer.Elapsed += Timer_Elapsed;
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timer.Interval = 100;
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timer.Enabled = true;
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//用户应该创建一个新的线程来检查事件状态，例如:CheckEvtThread()函数
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checkEventThread = new Thread(new ThreadStart(checkEvtThread));
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checkEventThread.Start();
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}
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/// <summary>
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/// 关闭设备
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/// </summary>
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/// <exception cref="Exception"></exception>
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public void stop()
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{
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if (!IsInit) return;
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uint i;
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for (i = 0; i < m_ulAxisCount; i++)
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{
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if (AxState[i] == (uint)AxisState.STA_AX_ERROR_STOP)
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{
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log?.Invoke(1, i + "轴处于ErrorStop状态，已重置！");
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//重置轴的状态。如果轴处于ErrorStop状态，则调用此函数后状态将更改为Ready
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Motion.mAcm_AxResetError(m_Axishand[i]);
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}
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// 命令轴减速停止(缓停)
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Motion.mAcm_AxStopDec(m_Axishand[i]);
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//sleep? 关闭电源使能,1: On
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uint uResult = Motion.mAcm_AxSetSvOn(m_Axishand[i], 0);
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if (uResult != (uint)ErrorCode.SUCCESS)
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throw new Exception("Servo On Failed With Error Code: [0x" + Convert.ToString(uResult, 16) + "]");
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}
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//删除组中的所有轴并关闭组句柄
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//Motion.mAcm_GpClose(ref m_GpHand);
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//m_GpHand = IntPtr.Zero;
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for (i = 0; i < m_ulAxisCount; i++)
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{
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//Close Axes
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Motion.mAcm_AxClose(ref m_Axishand[i]);
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}
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timer.Elapsed -= Timer_Elapsed;
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m_ulAxisCount = 0;
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//Close Device
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Motion.mAcm_DevClose(ref m_DeviceHandle);
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m_DeviceHandle = IntPtr.Zero;
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IsInit = false;
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timer.Enabled = false;
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}
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/// <summary>
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/// 缓停,jog时用
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/// </summary>
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public void stopDec(int axisIndex = -1)
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{
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for (int i = 0; i < m_ulAxisCount; i++)
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{
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if (i == axisIndex || axisIndex == -1)
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{
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Motion.mAcm_AxStopDec(m_Axishand[i]);
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}
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}
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}
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/// <summary>
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/// 急停
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/// </summary>
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public void stop(int axisIndex = -1)
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{
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if (!IsInit) return;
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for (int i = 0; i < m_ulAxisCount; i++)
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{
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if (i == axisIndex || axisIndex == -1)
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{
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Motion.mAcm_AxStopEmg(m_Axishand[i]);
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}
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}
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}
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public void resetAxisState(int axisIndex)
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{
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if (!IsInit) return;
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if (AxState[axisIndex] == (uint)AxisState.STA_AX_ERROR_STOP)
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{
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//重置轴的状态。如果轴处于ErrorStop状态，则调用此函数后状态将更改为Ready
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Motion.mAcm_AxResetError(m_Axishand[axisIndex]);
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}
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// 命令轴减速停止(缓停)
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Motion.mAcm_AxStopDec(m_Axishand[axisIndex]);
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}
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/// <summary>
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/// 指定的轴设置命令位置
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/// </summary>
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public void resetCmdPosition(int axisIndex = -1, double position = 0)
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{
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if (!IsInit) return;
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for (int i = 0; i < m_ulAxisCount; i++)
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{
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if (i == axisIndex || axisIndex == -1)
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{
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Motion.mAcm_AxSetCmdPosition(m_Axishand[i], position);
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}
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}
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}
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/// <summary>
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/// 指定的轴设置实际(反馈)位置
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/// </summary>
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public void resetActualPosition(int axisIndex=-1, double position = 0)
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{
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if (!IsInit) return;
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for (int i = 0; i < m_ulAxisCount; i++)
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{
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if (i == axisIndex || axisIndex == -1)
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{
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Motion.mAcm_AxSetActualPosition(m_Axishand[i], position);
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}
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}
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}
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/// <summary>
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/// 获取速度 [vellow,velhigh,acc,dec,Jerk]
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/// </summary>
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/// <param name="axisIndex"></param>
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/// <returns></returns>
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public double[] getAxisVelParam(int axisIndex)
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{
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double[] value=new double[5];
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Motion.mAcm_GetF64Property(m_Axishand[axisIndex], (uint)PropertyID.PAR_AxVelLow, ref value[0]);
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Motion.mAcm_GetF64Property(m_Axishand[axisIndex], (uint)PropertyID.PAR_AxVelHigh, ref value[1]);
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Motion.mAcm_GetF64Property(m_Axishand[axisIndex], (uint)PropertyID.PAR_AxAcc, ref value[2]);
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Motion.mAcm_GetF64Property(m_Axishand[axisIndex], (uint)PropertyID.PAR_AxDec, ref value[3]);
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Motion.mAcm_GetF64Property(m_Axishand[axisIndex], (uint)PropertyID.PAR_AxJerk, ref value[4]);//0-T/S 型曲线
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return value;
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}
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/// <summary>
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/// 速度设置 注：运动的过程中可变速度，加速度和减速度需使用AxChangeVelEx方法
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/// </summary>
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/// <param name="velLow">起始速度</param>
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/// <param name="high">运行速度</param>
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/// <param name="acc">加速度</param>
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/// <param name="dec">减速度</param>
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/// <param name="axisIndex"></param>
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public void setAxisVelParam(double velLow, double high = 0, double acc = 0, double dec = 0, int axisIndex = -1)
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{
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uint result;
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for (int i = 0; i < m_ulAxisCount; i++)
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{
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if (i == axisIndex || axisIndex == -1)
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{
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if ((AxisState)AxState[i] != AxisState.STA_AX_READY)
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continue;
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if (velLow > 0) result = Motion.mAcm_SetF64Property(m_Axishand[i], (uint)PropertyID.PAR_AxVelLow, velLow);
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if (high > 0) result = Motion.mAcm_SetF64Property(m_Axishand[i], (uint)PropertyID.PAR_AxVelHigh, high);
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if (acc > 0) result = Motion.mAcm_SetF64Property(m_Axishand[i], (uint)PropertyID.PAR_AxAcc, acc);
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if (dec > 0) result = Motion.mAcm_SetF64Property(m_Axishand[i], (uint)PropertyID.PAR_AxDec, dec);
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result = Motion.mAcm_SetF64Property(m_Axishand[i], (uint)PropertyID.PAR_AxJerk, 0);//0-T/S 型曲线
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//Ret = Acm_SetF64Property(m_Axishand[0], PAR_AxVelLow, 2000); // 起始速度
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//Ret = Acm_SetF64Property(m_Axishand[0], PAR_AxVelHigh, 8000); // 运行速度
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//Ret = Acm_SetF64Property(m_Axishand[0], PAR_AxAcc, 10000); // 加速度
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//Ret = Acm_SetF64Property(m_Axishand[0], PAR_AxDec, 10000); // 减速度
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//Ret = Acm_SetF64Property(m_Axishand[0], PAR_AxJerk, 0); //0-T/S 型曲线
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}
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}
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}
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/// <summary>
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/// 回HOME
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/// </summary>
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/// <param name="axisIndex"></param>
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/// <param name="homeMode">16种回HOME模式（0-15）</param>
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/// <param name="dir">0-正向 1-负向</param>
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/// <exception cref="Exception"></exception>
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public void home(int axisIndex = -1, uint homeMode = 11, uint dir = 1)
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{
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//研华运动控制卡共提供两个函数执行回Home： Acm_AxHome 和Acm_AxMoveHome
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//调用Acm_AxHome 执行回Home 时，通过PAR_AxVelLow、PAR_AxVelHigh、PAR_AxAcc、 PAR_AxDec、PAR_AxJerk 设置初速度，运行速度、加速度、减速度、速度曲线类型。
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//调用Acm_AxMoveHome 执行回Home 时，通过PAR_AxHomeVelLow、PAR_AxHomeVelHigh、 PAR_AxHomeAcc、PAR_AxHomeDec、PAR_AxHomeJerk 设置初速度，运行速度、加速度、 减速度、速度曲线类型。
|
||
uint result;
|
||
for (int i = 0; i < m_ulAxisCount; i++)
|
||
{
|
||
if (i == axisIndex || axisIndex == -1)
|
||
{
|
||
if ((AxisState)AxState[i] != AxisState.STA_AX_READY)
|
||
continue;
|
||
result = Motion.mAcm_AxHome(m_Axishand[i], homeMode, dir);
|
||
if (result != (uint)ErrorCode.SUCCESS)
|
||
throw new Exception("AxHome Failed With Error Code: [0x" + Convert.ToString(result, 16) + "]");
|
||
}
|
||
}
|
||
}
|
||
/// <summary>
|
||
/// 点到点运动
|
||
/// </summary>
|
||
/// <param name="axisIndex"></param>
|
||
/// <param name="pos">PPU位置，方向为正负值</param>
|
||
/// <param name="isAbs">true:绝对 false:相对</param>
|
||
public bool move_ptp(int axisIndex, double pos, bool isAbs)
|
||
{
|
||
uint result;
|
||
if ((AxisState)AxState[axisIndex] != AxisState.STA_AX_READY)
|
||
return false;
|
||
|
||
if (isAbs) //Start single axis's absolute position motion.
|
||
result = Motion.mAcm_AxMoveAbs(m_Axishand[axisIndex], pos);
|
||
else //Start single axis's relative position motion
|
||
result = Motion.mAcm_AxMoveRel(m_Axishand[axisIndex], pos);
|
||
if (result != (uint)ErrorCode.SUCCESS)
|
||
{
|
||
log?.Invoke(2, "PTP Move Failed With Error Code[0x" + Convert.ToString(result, 16) + "]");
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
#region JOG
|
||
public void openJogMode(int axisIndex)
|
||
{
|
||
if (!IsInit) return;
|
||
if ((AxisState)AxState[axisIndex] != AxisState.STA_AX_READY)
|
||
return;
|
||
|
||
uint result;
|
||
//启用/禁用外置硬盘模式.0: Disabled (stop command) 1: JOG Mode 2: MPG Mode
|
||
result = Motion.mAcm_AxSetExtDrive(m_Axishand[axisIndex], 0);
|
||
result = Motion.mAcm_AxSetExtDrive(m_Axishand[axisIndex], 1);
|
||
if (result != (uint)ErrorCode.SUCCESS)
|
||
throw new Exception("Start external driver Failed With Error Code[0x" + Convert.ToString(result, 16) + "]");
|
||
|
||
//设置外部驱动器的输入引脚
|
||
//0 轴 0(默认值) 仅支持 0
|
||
//1 轴 1(不支持)
|
||
//2 轴 2(不支持)
|
||
//3 轴 3(不支持)
|
||
result = Motion.mAcm_SetU32Property(m_Axishand[axisIndex], (uint)PropertyID.CFG_AxExtMasterSrc, 0);
|
||
if (result != (uint)ErrorCode.SUCCESS)
|
||
throw new Exception("Set Property-AxExtMasterSrc Failed With Error Code[0x" + Convert.ToString(result, 16) + "]");
|
||
|
||
//当启用外部驱动时。此属性允许通过数字输入通道选择驱动轴
|
||
result = Motion.mAcm_SetU32Property(m_Axishand[axisIndex], (uint)PropertyID.CFG_AxExtSelEnable, 1);
|
||
if (result != (uint)ErrorCode.SUCCESS && result != (uint)ErrorCode.PropertyIDNotSupport)//Added for Supporting PCI1245 and PCI1265
|
||
throw new Exception("Set Property-AxExtSelEnable Failed With Error Code[0x" + Convert.ToString(result, 16) + "]");
|
||
|
||
//理论脉冲数
|
||
result = Motion.mAcm_SetU32Property(m_Axishand[axisIndex], (uint)PropertyID.CFG_AxExtPulseNum, 1000);
|
||
if (result != (uint)ErrorCode.SUCCESS && result != (uint)ErrorCode.PropertyIDNotSupport)//Added for Supporting PCI1245 and PCI1265
|
||
throw new Exception("Set Property-CFG_AxExtPulseNum Failed With Error Code[0x" + Convert.ToString(result, 16) + "]");
|
||
}
|
||
public void closeJogMode(int axisIndex = -1)
|
||
{
|
||
if (!IsInit) return;
|
||
|
||
uint result;
|
||
for (int i = 0; i < m_ulAxisCount; i++)
|
||
{
|
||
if (i == axisIndex || axisIndex == -1)
|
||
{
|
||
axisIndex = i;
|
||
if ((AxisState)AxState[axisIndex] == AxisState.STA_AX_EXT_JOG)
|
||
{
|
||
//启用/禁用外置硬盘模式.0: Disabled (stop command) 1: JOG Mode 2: MPG Mode
|
||
result = Motion.mAcm_AxSetExtDrive(m_Axishand[axisIndex], 0);
|
||
//命令轴减速停止
|
||
result = Motion.mAcm_AxStopDec(m_Axishand[axisIndex]);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
/// <summary>
|
||
/// jog运行
|
||
/// </summary>
|
||
/// <param name="axisIndex"></param>
|
||
/// <param name="dic">0：正向，1：负向</param>
|
||
public void jog(int axisIndex, ushort dic)
|
||
{
|
||
//Jog 运动的方向，0：正向，1：负向
|
||
Motion.mAcm_AxJog(m_Axishand[axisIndex], dic);
|
||
}
|
||
#endregion
|
||
|
||
#region Private
|
||
private void Timer_Elapsed(object sender, ElapsedEventArgs e)
|
||
{
|
||
if (!IsInit) return;
|
||
|
||
for (int i = 0; i < m_ulAxisCount; i++)
|
||
refreshAxisState(i);
|
||
}
|
||
private void refreshAxisState(int AxisIndex)
|
||
{
|
||
uint result;
|
||
//获取指定轴的当前命令位置
|
||
if ((uint)ErrorCode.SUCCESS == Motion.mAcm_AxGetCmdPosition(m_Axishand[AxisIndex], ref CmdPos[AxisIndex]))
|
||
axisPosEvent?.Invoke(AxisIndex, AxisPosType.CmdPos, CmdPos[AxisIndex]);
|
||
//获取指定轴的当前实际(反馈)位置
|
||
if ((uint)ErrorCode.SUCCESS == Motion.mAcm_AxGetActualPosition(m_Axishand[AxisIndex], ref ActualPos[AxisIndex]))
|
||
axisPosEvent?.Invoke(AxisIndex, AxisPosType.ActualPos, ActualPos[AxisIndex]);
|
||
|
||
//获取轴的运动I/O状态。
|
||
if ((uint)ErrorCode.SUCCESS == Motion.mAcm_AxGetMotionIO(m_Axishand[AxisIndex], ref IOStatus[AxisIndex]))
|
||
axisStateEvent?.Invoke(AxisIndex, AxisStateType.AxisIOState, IOStatus[AxisIndex]);
|
||
//log?.Invoke(0, $"({AxisIndex}轴)AxisMotionIO = {((Ax_Motion_IO)IOStatus[AxisIndex]).ToString()}");
|
||
//checkMotionIOStatus(AxisIndex, IOStatus[AxisIndex]);
|
||
|
||
//获取Axis的当前状态
|
||
if ((uint)ErrorCode.SUCCESS == Motion.mAcm_AxGetState(m_Axishand[AxisIndex], ref AxState[AxisIndex]))
|
||
axisStateEvent?.Invoke(AxisIndex, AxisStateType.AxisState, AxState[AxisIndex]);
|
||
//log?.Invoke(0, $"({AxisIndex}轴)AxisState = {((AxisState)AxState[AxisIndex]).ToString()}");
|
||
|
||
//获取Axis的当前运动状态
|
||
if ((uint)ErrorCode.SUCCESS == Motion.mAcm_AxGetMotionStatus(m_Axishand[AxisIndex], ref AxMotionState[AxisIndex]))
|
||
axisStateEvent?.Invoke(AxisIndex, AxisStateType.AxisMotionState, AxMotionState[AxisIndex]);
|
||
//log?.Invoke(0, $"({AxisIndex}轴)AxisMotionStatus = {AxMotionState[AxisIndex].ToString()}");
|
||
}
|
||
private bool _ORG, _EL_R, _EL_L, _ALM, _SVON;
|
||
private void checkMotionIOStatus(int axisIndex, uint IOStatus)
|
||
{
|
||
if ((IOStatus & (uint)Ax_Motion_IO.AX_MOTION_IO_ALM) > 0)//报警信号输出
|
||
warningEvent?.Invoke(2, $"轴{axisIndex} 发出告警！！");
|
||
|
||
bool ALM = (IOStatus & (uint)Ax_Motion_IO.AX_MOTION_IO_ALM) > 0;
|
||
bool ORG = (IOStatus & (uint)Ax_Motion_IO.AX_MOTION_IO_ORG) > 0;//ORG
|
||
bool EL_R = (IOStatus & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTP) > 0;//右极限
|
||
bool EL_L = (IOStatus & (uint)Ax_Motion_IO.AX_MOTION_IO_LMTN) > 0;//-EL 左
|
||
bool SVON = (IOStatus & (uint)Ax_Motion_IO.AX_MOTION_IO_SVON) > 0;
|
||
}
|
||
/// <summary>
|
||
/// 轴事件
|
||
/// </summary>
|
||
private void checkEvtThread()
|
||
{
|
||
uint Result;
|
||
UInt32[] AxEvtStatusArray = new UInt32[32];
|
||
UInt32[] GpEvtStatusArray = new UInt32[32];
|
||
UInt32 i;
|
||
while (IsInit)
|
||
{
|
||
//如果你想获得轴或组的事件状态，你应该通过调用 Motion.mAcm_EnableMotionEvent 来启用这些事件
|
||
//AxEvtStatusArray[n]，返回每个轴的中断事件状态，n 表示运动设备的轴个数
|
||
//GpEnableEvtArrayy[n]：返回每个群组的中断事件状态
|
||
//AxArrayElements U32 IN AxEvtStatusArray 中元素个数
|
||
//GpArrayElements U32 IN GpEvtStatusArray 中元素个数
|
||
//Millisecond U32 IN 设定每次Check 事件时的等待时间
|
||
Result = Motion.mAcm_CheckMotionEvent(m_DeviceHandle, AxEvtStatusArray, GpEvtStatusArray, m_ulAxisCount, 4, 4);//3,10
|
||
if (Result == (uint)ErrorCode.SUCCESS)
|
||
{
|
||
for (i = 0; i < m_ulAxisCount; i++)
|
||
{
|
||
if ((AxEvtStatusArray[i] & (uint)EventType.EVT_AX_MOTION_DONE) > 0)
|
||
{
|
||
//m_AxDoneEvtCnt[i]++;
|
||
}
|
||
if ((AxEvtStatusArray[i] & (uint)EventType.EVT_AX_VH_START) > 0)
|
||
{
|
||
//m_AxVHStartCnt[i]++;
|
||
}
|
||
if ((AxEvtStatusArray[i] & (uint)EventType.EVT_AX_VH_END) > 0)
|
||
{
|
||
//m_AxVHEndCnt[i]++;
|
||
}
|
||
|
||
}
|
||
//if (m_GpHand != IntPtr.Zero)
|
||
//{
|
||
// if (textBoxGpID.Text != "")
|
||
// {
|
||
// if ((GpEvtStatusArray[0] & ((uint)EventType.EVT_GP1_MOTION_DONE << Convert.ToByte(textBoxGpID.Text))) > 0)
|
||
// {
|
||
// m_GpDoneEvtCnt++;
|
||
// }
|
||
// if ((GpEvtStatusArray[1] & ((uint)EventType.EVT_GP1_VH_START << Convert.ToByte(textBoxGpID.Text))) > 0)
|
||
// {
|
||
// m_GpVHStartCnt++;
|
||
// }
|
||
// if ((GpEvtStatusArray[2] & ((uint)EventType.EVT_GP1_VH_END << Convert.ToByte(textBoxGpID.Text))) > 0)
|
||
// {
|
||
// m_GpVHEndCnt++;
|
||
// }
|
||
// }
|
||
//}
|
||
}
|
||
}
|
||
}
|
||
|
||
private string getErrInfo(uint errorCode)
|
||
{
|
||
StringBuilder ErrorMsg = new StringBuilder("", 100);
|
||
//Get the error message according to error code returned from API
|
||
Boolean res = Motion.mAcm_GetErrorMessage(errorCode, ErrorMsg, 100);
|
||
if (res) return ErrorMsg.ToString();
|
||
return "获取错误信息失败！";
|
||
}
|
||
#endregion
|
||
|
||
|
||
|
||
/*
|
||
[Category("HLMT")]
|
||
[Description("启用/禁用硬件限制信号.")]
|
||
public HLmtEnable ElEnable
|
||
{
|
||
get
|
||
{
|
||
if ((FtHELMap & 1) == 0)
|
||
{
|
||
return HLmtEnable.NOT_SUPPORT;
|
||
}
|
||
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
uint BufferLength = 4u;
|
||
Motion.mAcm_GetProperty(Handle, 574u, ref m_ElEnable, ref BufferLength);
|
||
return (HLmtEnable)m_ElEnable;
|
||
}
|
||
|
||
return (HLmtEnable)m_ElEnable;
|
||
}
|
||
set
|
||
{
|
||
m_ElEnable = (uint)value;
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
if (m_ElEnable != 2)
|
||
{
|
||
uint bufferLength = 4u;
|
||
result = Motion.mAcm_SetProperty(Handle, 574u, ref m_ElEnable, bufferLength);
|
||
if (result == 0)
|
||
{
|
||
designValue.ElEnable = value;
|
||
}
|
||
else if (result != 2147483658u && result != 2147504130u)
|
||
{
|
||
MessageBox.Show("Set ElEnable=" + ElEnable.ToString() + " failed with Error Code[0x" + Convert.ToString(result, 16) + "]:" + (ErrorCode)result, "Advantech Motion Component", MessageBoxButtons.OK, MessageBoxIcon.Hand, MessageBoxDefaultButton.Button1);
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{
|
||
designValue.ElEnable = value;
|
||
}
|
||
}
|
||
}
|
||
|
||
[Category("HLMT")]
|
||
[Description("启用/禁用此轴的负硬件限制.")]
|
||
public HLmtEnable MelEnable
|
||
{
|
||
get
|
||
{
|
||
if ((FtHELMap & 1) == 0)
|
||
{
|
||
return HLmtEnable.NOT_SUPPORT;
|
||
}
|
||
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
uint BufferLength = 4u;
|
||
Motion.mAcm_GetProperty(Handle, 758u, ref m_MelEnable, ref BufferLength);
|
||
return (HLmtEnable)m_MelEnable;
|
||
}
|
||
|
||
return (HLmtEnable)m_MelEnable;
|
||
}
|
||
set
|
||
{
|
||
m_MelEnable = (uint)value;
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
if (m_MelEnable != 2)
|
||
{
|
||
uint bufferLength = 4u;
|
||
result = Motion.mAcm_SetProperty(Handle, 758u, ref m_MelEnable, bufferLength);
|
||
if (result == 0)
|
||
{
|
||
designValue.MelEnable = value;
|
||
}
|
||
else if (result != 2147483658u && result != 2147504130u)
|
||
{
|
||
MessageBox.Show("Set MelEnable=" + m_MelEnable.ToString() + " failed with Error Code[0x" + Convert.ToString(result, 16) + "]:" + (ErrorCode)result, "Advantech Motion Component", MessageBoxButtons.OK, MessageBoxIcon.Hand, MessageBoxDefaultButton.Button1);
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{
|
||
designValue.MelEnable = value;
|
||
}
|
||
}
|
||
}
|
||
|
||
[Category("HLMT")]
|
||
[Description("启用/禁用此轴的正向硬件限制.")]
|
||
public HLmtEnable PelEnable
|
||
{
|
||
get
|
||
{
|
||
if ((FtHELMap & 1) == 0)
|
||
{
|
||
return HLmtEnable.NOT_SUPPORT;
|
||
}
|
||
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
uint BufferLength = 4u;
|
||
Motion.mAcm_GetProperty(Handle, 757u, ref m_PelEnable, ref BufferLength);
|
||
return (HLmtEnable)m_PelEnable;
|
||
}
|
||
|
||
return (HLmtEnable)m_PelEnable;
|
||
}
|
||
set
|
||
{
|
||
m_PelEnable = (uint)value;
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
if (m_PelEnable != 2)
|
||
{
|
||
uint bufferLength = 4u;
|
||
result = Motion.mAcm_SetProperty(Handle, 757u, ref m_PelEnable, bufferLength);
|
||
if (result == 0)
|
||
{
|
||
designValue.PelEnable = value;
|
||
}
|
||
else if (result != 2147483658u && result != 2147504130u)
|
||
{
|
||
MessageBox.Show("Set PelEnable=" + m_PelEnable.ToString() + " failed with Error Code[0x" + Convert.ToString(result, 16) + "]:" + (ErrorCode)result, "Advantech Motion Component", MessageBoxButtons.OK, MessageBoxIcon.Hand, MessageBoxDefaultButton.Button1);
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{
|
||
designValue.PelEnable = value;
|
||
}
|
||
}
|
||
}
|
||
|
||
[Category("HLMT")]
|
||
[Description("为硬件限位信号设置活动逻辑.")]
|
||
public HLmtLogic ElLogic
|
||
{
|
||
get
|
||
{
|
||
if ((FtHELMap & 2) == 0)
|
||
{
|
||
return HLmtLogic.NOT_SUPPORT;
|
||
}
|
||
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
uint BufferLength = 4u;
|
||
Motion.mAcm_GetProperty(Handle, 575u, ref m_ElLogic, ref BufferLength);
|
||
return (HLmtLogic)m_ElLogic;
|
||
}
|
||
|
||
return (HLmtLogic)m_ElLogic;
|
||
}
|
||
set
|
||
{
|
||
m_ElLogic = (uint)value;
|
||
if (Handle != IntPtr.Zero)
|
||
{
|
||
if (m_ElLogic != 2)
|
||
{
|
||
uint BufferLength = 4u;
|
||
result = Motion.mAcm_SetProperty(Handle, 575u, ref m_ElLogic, BufferLength);
|
||
if (result == 0)
|
||
{
|
||
designValue.ElLogic = value;
|
||
Motion.mAcm_GetProperty(Handle, 704u, ref m_PelLogic, ref BufferLength);
|
||
Motion.mAcm_GetProperty(Handle, 705u, ref m_MelLogic, ref BufferLength);
|
||
}
|
||
else if (result != 2147483658u && result != 2147504130u)
|
||
{
|
||
MessageBox.Show("Set ElLogic=" + m_ElLogic.ToString() + " failed with Error Code[0x" + Convert.ToString(result, 16) + "]:" + (ErrorCode)result, "Advantech Motion Component", MessageBoxButtons.OK, MessageBoxIcon.Hand, MessageBoxDefaultButton.Button1);
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{
|
||
designValue.ElLogic = value;
|
||
}
|
||
}
|
||
}
|
||
*/
|
||
}
|
||
}
|
||
|