实例介绍
【实例简介】PCI运动控制卡开发
【实例截图】
【核心代码】
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
namespace Demo
{
public partial class Form1 : Form
{
public Form1()
{
InitializeComponent();
}
#region 全局参数声明代码部分
CtrlCard g_CtrlCard = new CtrlCard(); //驱动类全局参数
Int32 m_addmode = 0;//默认运动模式为T型
const Int32 MAXAXI = 4;//最大轴号
const Int32 MaxOUT = 31;//最大输出端口号
const Int32 MaxIN = 34;//最大输入端口号
static bool manual = false;//默认为禁用手轮
Int32 g_AxiNo = 1;//默认参数界面为X轴
Int32 g_ZeroAxi = 1;//单轴回零轴号
bool m_StopFlag = false;
Int32 m_dir = 0;
//基本运动参数
int[] m_nStartv = new int[MAXAXI], m_nSpeed = new int[MAXAXI], m_nAcc = new int[MAXAXI], m_nRatio = new int[MAXAXI], m_nDec = new int[MAXAXI], m_nPulse = new int[MAXAXI];
//复合运动参数
int[] m_nStartv1 = new int[MAXAXI], m_nSpeed1 = new int[MAXAXI], m_nVAcc = new int[MAXAXI];
double[] m_nTAcc = new double[MAXAXI];
int m_moveMode = 0;
//特殊运动界面
int[] m_SpePulse = new int[MAXAXI];
int m_reg = 0;
int m_relation = 0;
int m_mainAxiKeep = 0;
int m_SignalStatus = 0;
int m_mainAxiStatus = 0;
public struct SelectInfo
{
public Int32[] selectAxi;//被选中的轴号
public Int32 AxiNo;//被选中的轴数
public Int32 MinAxi;//被选中的最小轴号
}
SelectInfo m_SelectInfo;//轴选择信息结构体
struct Para//系统参数结构体
{
public Int32 m_pulsemode;//脉冲模式
public Int32 m_Lmtdp;//正负限位有效电平
public Int32 m_Stop0effective;//stop0是否有效
public Int32 m_Stop0dp;//stop0有效电平
public Int32 m_Stop1effective;//stop1是否有效
public Int32 m_Stop1dp;//stop1有效电平
public Int32 m_Stop2effective;//stop2是否有效
public Int32 m_Stop2dp;//stop2有效电平
public Int32 m_Alarmeffective;//stop2是否有效
public Int32 m_Alarmdp;//stop2有效电平
public Int32 m_Circleeffective;//可变环形是否有效
public Int32 m_Inposeffective;//到位信号是否有效
public Int32 m_Inposdp;//到位信号有效电平
}
Para[] m_para = new Para[MAXAXI];//默认四个轴
public struct Zero//系统参数结构体
{
public Int32 m_dir;
public Int32 m_stop0;
public Int32 m_lmt;
public Int32 m_stop1;
public Int32 m_bkRange;
public Int32 m_ZRange;
public Int32 m_Off;
public Int32 m_StartV;
public Int32 m_SearchV;
public Int32 m_Speed;
public Int32 m_Acc;
public Int32 m_ZSpeed;
}
Zero[] m_ZeroPara = new Zero[MAXAXI];//默认四个轴
#endregion
#region 基本界面代码部分
//界面初始化
private void Form1_Load(object sender, EventArgs e)
{
StartV_X.Text = "1000";
StartV_Y.Text = "1000";
StartV_Z.Text = "1000";
StartV_A.Text = "1000";
Speed_X.Text = "3000";
Speed_Y.Text = "3000";
Speed_Z.Text = "3000";
Speed_A.Text = "3000";
Acc_X.Text = "1500";
Acc_Y.Text = "1500";
Acc_Z.Text = "1500";
Acc_A.Text = "1500";
Dec_X.Text = "1500";
Dec_Y.Text = "1500";
Dec_Z.Text = "1500";
Dec_A.Text = "1500";
PulseX.Text = "10000";
PulseY.Text = "10000";
PulseZ.Text = "10000";
PulseA.Text = "10000";
StartV_X1.Text = "1000";
StartV_Y1.Text = "1000";
StartV_Z1.Text = "1000";
StartV_A1.Text = "1000";
Speed_X1.Text = "3000";
Speed_Y1.Text = "3000";
Speed_Z1.Text = "3000";
Speed_A1.Text = "3000";
TAccX.Text = "0.1";
TAccY.Text = "0.1";
TAccZ.Text = "0.1";
TAccA.Text = "0.1";
VAccX.Text = "300";
VAccY.Text = "300";
VAccZ.Text = "300";
VAccA.Text = "300";
for (int i = 0; i < MAXAXI; i )//保存
{
m_para[i].m_Stop0effective = 1;
m_para[i].m_Stop0dp = 0;
//回零参数
m_ZeroPara[i].m_dir = 0;
m_ZeroPara[i].m_stop0 = 0;
m_ZeroPara[i].m_lmt = 0;
m_ZeroPara[i].m_stop1 = -1;
m_ZeroPara[i].m_bkRange = 2000;
m_ZeroPara[i].m_ZRange = 400;
m_ZeroPara[i].m_Off = 200;
m_ZeroPara[i].m_StartV = 100;
m_ZeroPara[i].m_SearchV = 500;
m_ZeroPara[i].m_Speed = 200;
m_ZeroPara[i].m_Acc = 100;
m_ZeroPara[i].m_ZSpeed = 2000;
m_nRatio[i] = 5;
}
this.ActiveControl = this.Title;//设置焦点
Int32 cardno = g_CtrlCard.Init_Board();
if (cardno <= 0)
{
MessageBox.Show("控制卡初始化失败!", "提示");
if (cardno == 0)
{
MessageBox.Show("没有安装ADT8948A1卡!", "提示");
}
if (cardno == -1)
{
MessageBox.Show("没有安装端口驱动程序!", "提示");
}
if (cardno == -2)
{
MessageBox.Show("PCI桥故障!", "提示");
}
}
else
{
MessageBox.Show("运动控制卡可以使用!", "提示");
//获取运动控制卡数量
ToolStripStatusLabel2.Text = Convert.ToString(cardno);
//获取库函数版本号
Int32 LibVer;
LibVer = Demo.adt8948A1m.adt8948_get_lib_vision(out LibVer);
ToolStripStatusLabel3.Text = Convert.ToString(LibVer);
//默认联动选中
Pmove.Checked = true;
//插入卡号索引
for (int i = 0; i < cardno; i )
{
CardIndex.Items.Insert(i, Convert.ToString(i));
}
CardIndex.Text = "0";
Motion1.Checked = true;
relative.Checked = true;
}
//默认四个运动轴都被选中
CheckAll.Checked = true;
CheckAll.Text = "反选";
CheckAxiX.Checked = true;
CheckAxiY.Checked = true;
CheckAxiZ.Checked = true;
CheckAxiA.Checked = true;
}
//全选
private void CheckAll_CheckedChanged(object sender, EventArgs e)
{
if (CheckAll.Checked)
{
CheckAll.Text = "反选";
CheckAxiX.Checked = true;
CheckAxiY.Checked = true;
CheckAxiZ.Checked = true;
CheckAxiA.Checked = true;
}
else
{
CheckAll.Text = "全选";
CheckAxiX.Checked = false;
CheckAxiY.Checked = false;
CheckAxiZ.Checked = false;
CheckAxiA.Checked = false;
}
}
//立即停止
private void BtnStop_Click(object sender, EventArgs e)
{
m_StopFlag = true;
for (int i = 1; i <= MAXAXI; i )
{
g_CtrlCard.StopRun(i, 0);
}
}
//减速停止
private void BtnDecStop_Click(object sender, EventArgs e)
{
m_StopFlag = true;
for (int i = 1; i <= MAXAXI; i )
{
g_CtrlCard.StopRun(i, 1);
}
}
//位置清零
private void BtnClear_Click(object sender, EventArgs e)
{
for (int i = 1; i <= MAXAXI; i )
{
g_CtrlCard.Setup_Pos(i, 0, 0);
g_CtrlCard.Setup_Pos(i, 0, 1);
}
}
//卡号切换
private void CardIndex_SelectedIndexChanged(object sender, EventArgs e)
{
CtrlCard.g_cardIndex = Convert.ToInt32(CardIndex.Text);
}
//固定线速度
private void BtnVector_CheckedChanged(object sender, EventArgs e)
{
if(BtnVector.Checked == true)
{
g_CtrlCard.Setup_VectorSpeed(1); //采用固定线速度
}
else
{
g_CtrlCard.Setup_VectorSpeed(1);
}
}
//主定时器
private void Timer1_Tick(object sender, EventArgs e)
{
Int32 log = 0, act = 0, spd = 0;
Int32 i = 0, Value = 0;
Label[] Log = { LogPosX, LogPosY, LogPosZ, LogPosA };
Label[] Act = { ActPosX, ActPosY, ActPosZ, ActPosA };
Label[] Speed = { RunSpeedX, RunSpeedY, RunSpeedZ, RunSpeedA };
//检测限位、stop0和stop1信号
CheckBox[] lmt1 = { LNT1X, LNT1Y, LNT1Z, LNT1A };
CheckBox[] lmt2 = { LNT2X, LNT2Y, LNT2Z, LNT2A };
CheckBox[] Stop0 = { Stop0X, Stop0Y, Stop0Z, Stop0A };
CheckBox[] Stop1 = { Stop1X, Stop1Y, Stop1Z, Stop1A };
CheckBox[] Stop2 = { Stop2X, Stop2Y, Stop2Z, Stop2A };
Label[] StopInfo = { StopInfoX, StopInfoY, StopInfoZ, StopInfoA };
for (i = 0; i < MAXAXI; i )
{
g_CtrlCard.Get_CurrentInf(i 1, out log, out act, out spd);
adt8948A1m.adt8948_get_stopdata(CtrlCard.g_cardIndex, i 1, out Value);
Log[i].Text = Convert.ToString(log);//逻辑位置
Act[i].Text = Convert.ToString(act);//实际位置
Speed[i].Text = Convert.ToString(spd*m_nRatio[i]);//运行速度
StopInfo[i].Text = Convert.ToString(Value);//运行速度
if (g_CtrlCard.Read_Input((i - 1) * 6) == 0)//正限位
{
lmt1[i].Checked = true;
}
else
{
lmt1[i].Checked = false;
}
if (g_CtrlCard.Read_Input((i - 1) * 6 1) == 0)//负限位
{
lmt2[i].Checked = true;
}
else
{
lmt2[i].Checked = false;
}
if (g_CtrlCard.Read_Input((i - 1) * 6 2) == 0)//stop0
{
Stop0[i].Checked = true;
}
else
{
Stop0[i].Checked = false;
}
if (g_CtrlCard.Read_Input((i - 1) * 6 3) == 0)//stop1
{
Stop1[i].Checked = true;
}
else
{
Stop1[i].Checked = false;
}
if (g_CtrlCard.Read_Input((i - 1) * 6 4) == 0)//stop2
{
Stop2[i].Checked = true;
}
else
{
Stop2[i].Checked = false;
}
}
}
//刷新轴的选中状态
public void RefreshSelectInfo()
{
m_nStartv[0] = Convert.ToInt32(this.StartV_X.Text);
m_nStartv[1] = Convert.ToInt32(this.StartV_Y.Text);
m_nStartv[2] = Convert.ToInt32(this.StartV_Z.Text);
m_nStartv[3] = Convert.ToInt32(this.StartV_A.Text);
m_nSpeed[0] = Convert.ToInt32(this.Speed_X.Text);
m_nSpeed[1] = Convert.ToInt32(this.Speed_Y.Text);
m_nSpeed[2] = Convert.ToInt32(this.Speed_Z.Text);
m_nSpeed[3] = Convert.ToInt32(this.Speed_A.Text);
m_nAcc[0] = Convert.ToInt32(this.Acc_X.Text);
m_nAcc[1] = Convert.ToInt32(this.Acc_Y.Text);
m_nAcc[2] = Convert.ToInt32(this.Acc_Z.Text);
m_nAcc[3] = Convert.ToInt32(this.Acc_A.Text);
m_nDec[0] = Convert.ToInt32(this.Dec_X.Text);
m_nDec[1] = Convert.ToInt32(this.Dec_Y.Text);
m_nDec[2] = Convert.ToInt32(this.Dec_Z.Text);
m_nDec[3] = Convert.ToInt32(this.Dec_A.Text);
m_nPulse[0] = Convert.ToInt32(this.PulseX.Text);
m_nPulse[1] = Convert.ToInt32(this.PulseY.Text);
m_nPulse[2] = Convert.ToInt32(this.PulseZ.Text);
m_nPulse[3] = Convert.ToInt32(this.PulseA.Text);
if (AddMode1.Checked == true)
{
m_addmode = 0;
}
if (AddMode2.Checked == true)
{
m_addmode = 1;
}
if (AddMode3.Checked == true)
{
m_addmode = 2;
}
//初始状态没有轴被选中
m_SelectInfo.AxiNo = 0;
m_SelectInfo.selectAxi = new Int32[MAXAXI];
if (CheckAxiX.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 1;
}
if (CheckAxiY.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 2;
}
if (CheckAxiZ.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 3;
}
if (CheckAxiA.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 4;
}
//获取最小轴号信息
m_SelectInfo.MinAxi = 100;
for (int i = 0; i < m_SelectInfo.AxiNo; i )
{
if (m_SelectInfo.selectAxi[i] < m_SelectInfo.MinAxi)
{
m_SelectInfo.MinAxi = m_SelectInfo.selectAxi[i];
}
}
}
//启用手轮
private void CheckManual_CheckedChanged(object sender, EventArgs e)
{
if (!manual)//禁用手轮驱动
{
CheckManual.Text = "启用手动驱动";
manual = true;
for (int i = 1; i <= MAXAXI; i )
{
Demo.adt8948A1m.adt8948_manual_disable(CtrlCard.g_cardIndex, i);
}
}
else//启用手轮驱动
{
CheckManual.Text = "禁用手动驱动";
manual = false;
if (m_bManualContinue.Checked == true)//手动连续
{
ManulCmove();
}
else
{
ManulPmove();
}
}
}
//手轮驱动函数
public void ManulPmove()
{
RefreshSelectInfo();
if (CheckAxiX.Checked == true)
{
g_CtrlCard.Setup_Speed(1, m_nStartv[0], m_nSpeed[0], m_nAcc[0], m_nDec[0], m_nRatio[0],m_addmode);//设置速度
g_CtrlCard.Manu_Pmove(1, m_nPulse[0]);//发送脉冲
}
if (CheckAxiY.Checked == true)
{
g_CtrlCard.Setup_Speed(2, m_nStartv[1], m_nSpeed[1], m_nAcc[1], m_nDec[1], m_nRatio[1], m_addmode);//设置速度
g_CtrlCard.Manu_Pmove(2, m_nPulse[1]);//发送脉冲
}
if (CheckAxiZ.Checked == true)
{
g_CtrlCard.Setup_Speed(3, m_nStartv[2], m_nSpeed[2], m_nAcc[2], m_nDec[2], m_nRatio[2], m_addmode);//设置速度
g_CtrlCard.Manu_Pmove(3, m_nPulse[2]);//发送脉冲
}
if (CheckAxiA.Checked == true)
{
g_CtrlCard.Setup_Speed(4, m_nStartv[3], m_nSpeed[3], m_nAcc[3], m_nDec[3], m_nRatio[3], m_addmode);//设置速度
g_CtrlCard.Manu_Pmove(4, m_nPulse[3]);//发送脉冲
}
}
//手轮连续运动函数
public void ManulCmove()
{
RefreshSelectInfo();
if (CheckAxiX.Checked == true)
{
g_CtrlCard.Setup_Speed(1, m_nStartv[0], m_nSpeed[0], m_nAcc[0], m_nDec[0], m_nRatio[0], m_addmode);//设置速度
g_CtrlCard.Manu_Continue(1);//连续运动
}
if (CheckAxiY.Checked == true)
{
g_CtrlCard.Setup_Speed(2, m_nStartv[1], m_nSpeed[1], m_nAcc[1], m_nDec[1], m_nRatio[1], m_addmode);//设置速度
g_CtrlCard.Manu_Continue(2);//连续运动
}
if (CheckAxiZ.Checked == true)
{
g_CtrlCard.Setup_Speed(3, m_nStartv[2], m_nSpeed[2], m_nAcc[2], m_nDec[2], m_nRatio[2], m_addmode);//设置速度
g_CtrlCard.Manu_Continue(3);//连续运动
}
if (CheckAxiA.Checked == true)
{
g_CtrlCard.Setup_Speed(4, m_nStartv[3], m_nSpeed[3], m_nAcc[3], m_nDec[3], m_nRatio[3], m_addmode);//设置速度
g_CtrlCard.Manu_Continue(4);//连续运动
}
}
//启动
private void Start_Click(object sender, EventArgs e)
{
if (Pmove.Checked == true)
{
Motion_Pmove();//联动
}
if (Cmove.Checked == true)
{
Motion_Cmove();//连续运动
}
if (LineInp.Checked == true)
{
Motion_LineInp();//插补
}
if (ArcInp.Checked == true)
{
Motion_ArcInp();//圆弧插补
}
if (CInp.Checked == true)
{
Motion_CInp();//连续插补
}
}
//联动函数
public void Motion_Pmove()
{
RefreshSelectInfo();
if (CheckAxiX.Checked == true)
{
g_CtrlCard.Setup_Speed(1, m_nStartv[0], m_nSpeed[0], m_nAcc[0], m_nDec[0], m_nRatio[0], m_addmode);//设置速度
g_CtrlCard.Axis_Pmove(1, m_nPulse[0]);//发送脉冲
}
if (CheckAxiY.Checked == true)
{
g_CtrlCard.Setup_Speed(2, m_nStartv[1], m_nSpeed[1], m_nAcc[1], m_nDec[1], m_nRatio[1], m_addmode);//设置速度
g_CtrlCard.Axis_Pmove(2, m_nPulse[1]);//发送脉冲
}
if (CheckAxiZ.Checked == true)
{
g_CtrlCard.Setup_Speed(3, m_nStartv[2], m_nSpeed[2], m_nAcc[2], m_nDec[2], m_nRatio[2], m_addmode);//设置速度
g_CtrlCard.Axis_Pmove(3, m_nPulse[2]);//发送脉冲
}
if (CheckAxiA.Checked == true)
{
g_CtrlCard.Setup_Speed(4, m_nStartv[3], m_nSpeed[3], m_nAcc[3], m_nDec[3], m_nRatio[3], m_addmode);//设置速度
g_CtrlCard.Axis_Pmove(4, m_nPulse[3]);//发送脉冲
}
}
//连续运动函数
public void Motion_Cmove()
{
RefreshSelectInfo();
if (CheckAxiX.Checked == true)
{
g_CtrlCard.Setup_Speed(1, m_nStartv[0], m_nSpeed[0], m_nAcc[0], m_nDec[0], m_nRatio[0], m_addmode);//设置速度
g_CtrlCard.Axis_Cmove(1, 0);//连续运动
}
if (CheckAxiY.Checked == true)
{
g_CtrlCard.Setup_Speed(2, m_nStartv[1], m_nSpeed[1], m_nAcc[1], m_nDec[1], m_nRatio[1], m_addmode);//设置速度
g_CtrlCard.Axis_Cmove(2, 0);//连续运动
}
if (CheckAxiZ.Checked == true)
{
g_CtrlCard.Setup_Speed(3, m_nStartv[2], m_nSpeed[2], m_nAcc[2], m_nDec[2], m_nRatio[2], m_addmode);//设置速度
g_CtrlCard.Axis_Cmove(3, 0);//连续运动
}
if (CheckAxiA.Checked == true)
{
g_CtrlCard.Setup_Speed(4, m_nStartv[3], m_nSpeed[3], m_nAcc[3], m_nDec[3], m_nRatio[3], m_addmode);//设置速度
g_CtrlCard.Axis_Cmove(4, 0);//连续运动
}
}
//直线插补函数
public void Motion_LineInp()
{
RefreshSelectInfo();
Int32 axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Setup_Speed(axi, m_nStartv[axi - 1], m_nSpeed[axi - 1], m_nAcc[axi - 1], m_nDec[axi - 1], m_nRatio[axi - 1], m_addmode);//设置速度
g_CtrlCard.Interp_Move2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_nPulse[0], m_nPulse[1]);
break;
case 3:
g_CtrlCard.Setup_Speed(axi, m_nStartv[axi - 1], m_nSpeed[axi - 1], m_nAcc[axi - 1], m_nDec[axi - 1], m_nRatio[axi - 1], m_addmode);//设置速度
g_CtrlCard.Interp_Move3(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_nPulse[0], m_nPulse[1], m_nPulse[2]);
break;
default:
MessageBox.Show("请选择正确的插补轴！", "提示");
break;
}
}
//圆弧插补函数
public void Motion_ArcInp()
{
RefreshSelectInfo();
Int32 Value;
//在这里说明：圆弧插补只能用手动的直线加/减速驱动，不能使用S曲线加/减速驱动以及自动减速
if (m_addmode == 2)
{
MessageBox.Show("不能选择S曲线加减速类型！", "提示");
return;
}
Int32 axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Setup_Speed(axi, m_nStartv[axi - 1], m_nSpeed[axi - 1], m_nAcc[axi - 1], m_nDec[axi - 1], m_nRatio[axi - 1], m_addmode);//设置速度
if(m_nStartv[axi - 1] < m_nSpeed[axi - 1])
{
g_CtrlCard.Set_DecMode(axi, 0, 1); //中间的0：对称加减速 后面的1：说明是手动减速
}
//两轴圆弧加速度的脉冲数：先算出短轴每象限的脉冲数，这样乘8就能算出整个圆的脉冲数
Value = Convert.ToInt32((System.Math.Sqrt(m_nPulse[0] * m_nPulse[0] m_nPulse[1] * m_nPulse[1]) / 1.414) * 8);
g_CtrlCard.Set_DecPos(axi, Value, m_nStartv[axi - 1], m_nSpeed[axi - 1], m_nAcc[axi - 1]);
g_CtrlCard.Interp_Arc(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], 0, 0, m_nPulse[0], m_nPulse[1]); //顺时针CW圆弧插补函数（0, 0,）表示圆弧插补的终点位置，后面是圆心位置
break;
default:
MessageBox.Show("请选择正确的插补轴！", "提示");
break;
}
}
//连续插补函数
public void Motion_CInp()
{
RefreshSelectInfo();
Int32 nstate1, nstate2, axi;
if (m_addmode == 2)
{
MessageBox.Show("不能选择S曲线加减速类型！", "提示");
return;
}
axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Setup_Speed(axi, m_nStartv[axi - 1], m_nSpeed[axi - 1], m_nAcc[axi - 1], m_nDec[axi - 1], m_nRatio[axi - 1], m_addmode);//设置速度
g_CtrlCard.Set_DecMode(axi, 0, 1); //中间的0：对称加减速 后面的1：说明是手动减速
g_CtrlCard.Set_DecPos(axi, m_nPulse[axi - 1] / 4, m_nStartv[axi - 1], m_nSpeed[axi - 1], m_nAcc[axi - 1]);
g_CtrlCard.ForbidDec();
//-----------------第一段----------------
g_CtrlCard.Interp_Move2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_nPulse[0] / 4, m_nPulse[1] / 4);
while (true)
{
if (m_StopFlag)
{
m_StopFlag = false;
return;
}
g_CtrlCard.Get_ErrorInf(m_SelectInfo.selectAxi[0], out nstate1); //nstate1错误状态的指针 为0时就说明没有错误
if (nstate1 != 0)
{
goto err;
}
g_CtrlCard.Get_AllowInpStatus(out nstate2); // nstate2: 0:不允许写入 1：允许写入
if (nstate2 != 0)
{
break;
}
System.Threading.Thread.Sleep(1000);
Application.DoEvents();
}
//-----------------第二段----------------
g_CtrlCard.Interp_Move2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_nPulse[0] / 4, m_nPulse[1] / 4);
while (true)
{
if (m_StopFlag)
{
m_StopFlag = false;
return;
}
g_CtrlCard.Get_ErrorInf(m_SelectInfo.selectAxi[0], out nstate1); //nstate1错误状态的指针 为0时就说明没有错误
if (nstate1 != 0)
{
goto err;
}
g_CtrlCard.Get_AllowInpStatus(out nstate2); // nstate2: 0:不允许写入 1：允许写入
if (nstate2 != 0)
{
break;
}
Application.DoEvents();
}
//-----------------第三段----------------
g_CtrlCard.Interp_Move2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_nPulse[0] / 4, m_nPulse[1] / 4);
while (true)
{
if (m_StopFlag)
{
m_StopFlag = false;
return;
}
g_CtrlCard.Get_ErrorInf(m_SelectInfo.selectAxi[0], out nstate1); //nstate1错误状态的指针 为0时就说明没有错误
if (nstate1 != 0)
{
goto err;
}
g_CtrlCard.Get_AllowInpStatus(out nstate2); // nstate2: 0:不允许写入 1：允许写入
if (nstate2 != 0)
{
break;
}
Application.DoEvents();
}
//-------------最后一段------------------
g_CtrlCard.AllowDec();
g_CtrlCard.Interp_Move2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_nPulse[0] / 4, m_nPulse[1] / 4);
while (true)
{
if (m_StopFlag)
{
m_StopFlag = false;
return;
}
g_CtrlCard.Get_ErrorInf(m_SelectInfo.selectAxi[0], out nstate1); //nstate1错误状态的指针 为0时就说明没有错误
if (nstate1 != 0)
{
goto err;
}
g_CtrlCard.Get_AllowInpStatus(out nstate2); // nstate2: 0:不允许写入 1：允许写入
if (nstate2 != 0)
{
return;
}
Application.DoEvents();
}
err:
MessageBox.Show("error", "提示");
break;
default:
MessageBox.Show("请选择正确的插补轴！", "提示");
break;
}
}
#endregion
#region 复合界面代码部分
//复合运动
private void BtnStart2_Click(object sender, EventArgs e)
{
if (Motion1.Checked == true) //单轴运动
{
if (relative.Checked)//相对运动
{
Axi_RelativeMove();
}
else//绝对运动
{
Axi_AbsMove();
}
}
if (Motion2.Checked == true) //插补运动
{
if (relative.Checked)//相对运动
{
Inp_RelativeMove();
}
else//绝对运动
{
Inp_AbsMove();
}
}
if (Motion3.Checked == true) //圆弧插补运动
{
if (relative.Checked)//相对运动
{
Arc_RelativeMove();
}
else//绝对运动
{
Arc_AbsMove();
}
}
}
//刷新复合运动的参数
public void RefreshPara1()
{
m_nStartv1[0] = Convert.ToInt32(this.StartV_X1.Text);
m_nStartv1[1] = Convert.ToInt32(this.StartV_Y1.Text);
m_nStartv1[2] = Convert.ToInt32(this.StartV_Z1.Text);
m_nStartv1[3] = Convert.ToInt32(this.StartV_A1.Text);
m_nSpeed1[0] = Convert.ToInt32(this.Speed_X1.Text);
m_nSpeed1[1] = Convert.ToInt32(this.Speed_Y1.Text);
m_nSpeed1[2] = Convert.ToInt32(this.Speed_Z1.Text);
m_nSpeed1[3] = Convert.ToInt32(this.Speed_A1.Text);
m_nTAcc[0] = Convert.ToDouble(this.TAccX.Text);
m_nTAcc[1] = Convert.ToDouble(this.TAccY.Text);
m_nTAcc[2] = Convert.ToDouble(this.TAccZ.Text);
m_nTAcc[3] = Convert.ToDouble(this.TAccA.Text);
m_nVAcc[0] = Convert.ToInt32(this.VAccX.Text);
m_nVAcc[1] = Convert.ToInt32(this.VAccY.Text);
m_nVAcc[2] = Convert.ToInt32(this.VAccZ.Text);
m_nVAcc[3] = Convert.ToInt32(this.VAccA.Text);
m_nPulse[0] = Convert.ToInt32(this.PulseX.Text);
m_nPulse[1] = Convert.ToInt32(this.PulseY.Text);
m_nPulse[2] = Convert.ToInt32(this.PulseZ.Text);
m_nPulse[3] = Convert.ToInt32(this.PulseA.Text);
if (Style1.Checked == true)
{
m_moveMode = 0;
}
if (Style2.Checked == true)
{
m_moveMode = 1;
}
if (Dir1.Checked == true)
{
m_dir = 0;
}
if (Dir2.Checked == true)
{
m_dir = 1;
}
//初始状态没有轴被选中
m_SelectInfo.AxiNo = 0;
m_SelectInfo.selectAxi = new Int32[MAXAXI];
if (CheckAxiX.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 1;
}
if (CheckAxiY.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 2;
}
if (CheckAxiZ.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 3;
}
if (CheckAxiA.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 4;
}
//获取最小轴号信息
m_SelectInfo.MinAxi = 100;
for (int i = 0; i < m_SelectInfo.AxiNo; i )
{
if (m_SelectInfo.selectAxi[i] < m_SelectInfo.MinAxi)
{
m_SelectInfo.MinAxi = m_SelectInfo.selectAxi[i];
}
}
}
//单轴相对运动函数
public void Axi_RelativeMove()
{
RefreshPara1();
if (CheckAxiX.Checked == true)
{
g_CtrlCard.Symmetry_RelativeMove(1, m_nPulse[0], m_nStartv1[0], m_nSpeed1[0], m_nTAcc[0], m_nVAcc[0], m_moveMode);
}
if (CheckAxiY.Checked == true)
{
g_CtrlCard.Symmetry_RelativeMove(2, m_nPulse[1], m_nStartv1[1], m_nSpeed1[1], m_nTAcc[1], m_nVAcc[1], m_moveMode);
}
if (CheckAxiZ.Checked == true)
{
g_CtrlCard.Symmetry_RelativeMove(3, m_nPulse[2], m_nStartv1[2], m_nSpeed1[2], m_nTAcc[2], m_nVAcc[2], m_moveMode);
}
if (CheckAxiA.Checked == true)
{
g_CtrlCard.Symmetry_RelativeMove(4, m_nPulse[3], m_nStartv1[3], m_nSpeed1[3], m_nTAcc[3], m_nVAcc[3], m_moveMode);
}
}
//单轴绝对运动函数
public void Axi_AbsMove()
{
RefreshPara1();
if (CheckAxiX.Checked == true)
{
g_CtrlCard.Symmetry_AbsoluteMove(1, m_nPulse[0], m_nStartv1[0], m_nSpeed1[0], m_nTAcc[0], m_nVAcc[0], m_moveMode);
}
if (CheckAxiY.Checked == true)
{
g_CtrlCard.Symmetry_AbsoluteMove(2, m_nPulse[1], m_nStartv1[1], m_nSpeed1[1], m_nTAcc[1], m_nVAcc[1], m_moveMode);
}
if (CheckAxiZ.Checked == true)
{
g_CtrlCard.Symmetry_AbsoluteMove(3, m_nPulse[2], m_nStartv1[2], m_nSpeed1[2], m_nTAcc[2], m_nVAcc[2], m_moveMode);
}
if (CheckAxiA.Checked == true)
{
g_CtrlCard.Symmetry_AbsoluteMove(4, m_nPulse[3], m_nStartv1[3], m_nSpeed1[3], m_nTAcc[3], m_nVAcc[3], m_moveMode);
}
}
//插补相对运动函数
public void Inp_RelativeMove()
{
RefreshPara1();
Int32 axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2://两轴插补
g_CtrlCard.Symmetry_RelativeLine2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_nPulse[0], m_nPulse[1], m_nStartv1[axi - 1], m_nSpeed1[axi - 1], m_nTAcc[axi - 1], m_nVAcc[axi - 1], m_moveMode);
break;
case 3://三轴插补
g_CtrlCard.Symmetry_RelativeLine3(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_nPulse[0], m_nPulse[1], m_nPulse[2], m_nStartv1[axi - 1], m_nSpeed1[axi - 1], m_nTAcc[axi - 1], m_nVAcc[axi - 1], m_moveMode);
break;
default:
MessageBox.Show("请选择正确的插补轴！", "提示");
break;
}
}
//插补绝对运动函数
public void Inp_AbsMove()
{
RefreshPara1();
Int32 axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2://两轴插补
g_CtrlCard.Symmetry_AbsoluteLine2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_nPulse[0], m_nPulse[1], m_nStartv1[axi - 1], m_nSpeed1[axi - 1], m_nTAcc[axi - 1], m_nVAcc[axi - 1], m_moveMode);
break;
case 3://三轴插补
g_CtrlCard.Symmetry_AbsoluteLine3(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_nPulse[0], m_nPulse[1], m_nPulse[2], m_nStartv1[axi - 1], m_nSpeed1[axi - 1], m_nTAcc[axi - 1], m_nVAcc[axi - 1], m_moveMode);
break;
default:
MessageBox.Show("请选择正确的插补轴！");
break;
}
}
//圆弧相对运动
public void Arc_RelativeMove()
{
RefreshPara1();
Int32 axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2://两轴插补
g_CtrlCard.Symmetry_Relativearc(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1],0, 0, m_nPulse[0], m_nPulse[1], m_dir,m_nStartv1[axi - 1], m_nSpeed1[axi - 1], m_nTAcc[axi - 1], m_nVAcc[axi - 1], m_moveMode);
break;
default:
MessageBox.Show("请选择正确的插补轴！");
break;
}
}
//圆弧绝对运动
public void Arc_AbsMove()
{
RefreshPara1();
Int32 axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2://两轴插补
g_CtrlCard.Symmetry_AbsoluteArc(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], 0, 0, m_nPulse[0], m_nPulse[1], m_dir, m_nStartv1[axi - 1], m_nSpeed1[axi - 1], m_nTAcc[axi - 1], m_nVAcc[axi - 1], m_moveMode);
break;
default:
MessageBox.Show("请选择正确的插补轴！");
break;
}
}
#endregion
#region IO界面代码部分
//输出全关
private void BtnAllClose_Click(object sender, EventArgs e)
{
CheckBox[] TOutput ={ OUT0, OUT1, OUT2, OUT3, OUT4, OUT5, OUT6, OUT7, OUT8, OUT9, OUT10, OUT11, OUT12, OUT13, OUT14, OUT15, OUT16, OUT17, OUT18, OUT19, OUT20, OUT21, OUT22, OUT23, OUT24, OUT25, OUT26, OUT27, OUT28, OUT29, OUT30, OUT31 };
int i;
for (i = 0; i <= MaxOUT; i )
{
TOutput[i].Checked = false;
g_CtrlCard.Write_Output(i, 0); //关闭输出
}
}
//输出全开
private void BtnAllOpen_Click(object sender, EventArgs e)
{
CheckBox[] TOutput ={ OUT0, OUT1, OUT2, OUT3, OUT4, OUT5, OUT6, OUT7, OUT8, OUT9, OUT10, OUT11, OUT12, OUT13, OUT14, OUT15, OUT16, OUT17, OUT18, OUT19, OUT20, OUT21, OUT22, OUT23, OUT24, OUT25, OUT26, OUT27, OUT28, OUT29, OUT30, OUT31 };
int i;
for (i = 0; i <= MaxOUT; i )
{
TOutput[i].Checked = true;
g_CtrlCard.Write_Output(i, 1); //打开输出
}
}
//输入检测函数
public void CheckInput()
{
CheckBox[] TInput = { INO, IN1, IN2, IN3, IN4, IN5, IN6, IN7, IN8, IN9, IN10, IN11, IN12, IN13, IN14, IN15, IN16, IN17, IN18, IN19, IN20, IN21, IN22, IN23, IN24, IN25, IN26, IN27, IN28, IN29, IN30, IN31, IN32, IN33, IN34 };
int Value, i;
for (i = 0; i <= MaxIN; i )
{
Value = g_CtrlCard.Read_Input(i); //读取输入点
if (Value == 0)
{
TInput[i].Checked = true;
}
else
{
TInput[i].Checked = false;
}
}
}
//输出检测函数
public void CheckOutput()
{
CheckBox[] TOutput ={ OUT0, OUT1, OUT2, OUT3, OUT4, OUT5, OUT6, OUT7, OUT8, OUT9, OUT10, OUT11, OUT12, OUT13, OUT14, OUT15, OUT16, OUT17, OUT18, OUT19, OUT20, OUT21, OUT22, OUT23, OUT24, OUT25, OUT26, OUT27, OUT28, OUT29, OUT30, OUT31 };
int i;
for (i = 0; i <= MaxOUT; i )
{
if (TOutput[i].Checked == true)
{
g_CtrlCard.Write_Output(i, 1);
}
else
{
g_CtrlCard.Write_Output(i, 0);
}
}
}
//IO定时器
private void Timer2_Tick(object sender, EventArgs e)
{
CheckOutput();
CheckInput();
}
//进入IO界面时打开IO计时器
private void TabPage6_Enter(object sender, EventArgs e)
{
Timer2.Enabled = true;
}
//离开IO界面的时候关闭IO计时器
private void TabPage6_Leave(object sender, EventArgs e)
{
Timer2.Enabled = false;
}
#endregion
#region 位置锁存界面代码部分
private void BtnLockMode_Click(object sender, EventArgs e)
{
for (int i = 1; i <= MAXAXI; i )
{
g_CtrlCard.Setup_LockPosition(i, Convert.ToInt32((RLAct.Checked)), Convert.ToInt32((RLHigh.Checked)));
}
MessageBox.Show("设置成功！", "提示");
}
private void BtnLockPos_Click(object sender, EventArgs e)
{
int status = 0;
int[] pos = new int[MAXAXI];
if (RLSignalX.Checked == true)
{
g_CtrlCard.Get_LockStatus(1, out status);
}
if (RLSignalY.Checked == true)
{
g_CtrlCard.Get_LockStatus(2, out status);
}
if (RLSignalZ.Checked == true)
{
g_CtrlCard.Get_LockStatus(3, out status);
}
if (RLSignalA.Checked == true)
{
g_CtrlCard.Get_LockStatus(4, out status);
}
for (int i = 1; i <= MAXAXI; i )
{
if (status == 1)
{
g_CtrlCard.Get_LockPosition(i, out pos[i - 1]);
}
}
MessageBox.Show("锁存的位置 " " X:" Convert.ToString(pos[0]) " Y:" Convert.ToString(pos[1]) " Z:" Convert.ToString(pos[2]) " A:" Convert.ToString(pos[3]));
}
#endregion
#region 参数界面代码部分
//更新参数
public void RefreshParaSet()
{
if (pulseMode1.Checked)
{
m_para[g_AxiNo - 1].m_pulsemode = 0;//脉冲 脉冲
}
else
{
m_para[g_AxiNo - 1].m_pulsemode = 1;//脉冲 方向
}
if (LimitP1.Checked)
{
m_para[g_AxiNo - 1].m_Lmtdp = 0;//限位低电平有效
}
else
{
m_para[g_AxiNo - 1].m_Lmtdp = 1;//限位高电平有效
}
if (Stop01.Checked)
{
m_para[g_AxiNo - 1].m_Stop0effective = 0;//Stop0无效
}
else
{
m_para[g_AxiNo - 1].m_Stop0effective = 1;//Stop0有效
}
if (Stop02.Checked)
{
m_para[g_AxiNo - 1].m_Stop0dp = 0;//Stop0低电平有效
}
if (Stop03.Checked)
{
m_para[g_AxiNo - 1].m_Stop0dp = 1;//Stop0高电平有效
}
if (Stop11.Checked)
{
m_para[g_AxiNo - 1].m_Stop1effective = 0;//Stop1无效
}
else
{
m_para[g_AxiNo - 1].m_Stop1effective = 1;//Stop1有效
}
if (Stop12.Checked)
{
m_para[g_AxiNo - 1].m_Stop1dp = 0;//Stop1低电平有效
}
if (Stop13.Checked)
{
m_para[g_AxiNo - 1].m_Stop1dp = 1;//Stop1高电平有效
}
if (Stop21.Checked)
{
m_para[g_AxiNo - 1].m_Stop2effective = 0;//Stop2无效
}
else
{
m_para[g_AxiNo - 1].m_Stop2effective = 1;//Stop2有效
}
if (Stop22.Checked)
{
m_para[g_AxiNo - 1].m_Stop2dp = 0;//Stop2低电平有效
}
if (Stop23.Checked)
{
m_para[g_AxiNo - 1].m_Stop2dp = 1;//Stop2高电平有效
}
if (Circle1.Checked)
{
m_para[g_AxiNo - 1].m_Circleeffective = 0;//可变环形无效
}
else
{
m_para[g_AxiNo - 1].m_Circleeffective = 1;//可变环形有效
}
if (Inpos1.Checked)
{
m_para[g_AxiNo - 1].m_Inposeffective = 0;//到位信号无效
}
else
{
m_para[g_AxiNo - 1].m_Inposeffective = 1;//到位信号有效
}
if (Inpos2.Checked)
{
m_para[g_AxiNo - 1].m_Inposdp = 0;//到位信号低电平有效
}
if (Inpos3.Checked)
{
m_para[g_AxiNo - 1].m_Inposdp = 1;//到位信号高电平有效
}
if (Alarm1.Checked)
{
m_para[g_AxiNo - 1].m_Alarmeffective = 0;//报警信号无效
}
else
{
m_para[g_AxiNo - 1].m_Alarmeffective = 1;//报警信号有效
}
if (Alarm2.Checked)
{
m_para[g_AxiNo - 1].m_Alarmdp = 0;//报警信号低电平有效
}
if (Alarm3.Checked)
{
m_para[g_AxiNo - 1].m_Alarmdp = 1;//报警信号高电平有效
}
m_nRatio[g_AxiNo - 1] = Convert.ToInt32(BeiLv.Text);
}
public void LoadParaEx()
{
if (m_para[g_AxiNo - 1].m_pulsemode == 1)
{
pulseMode2.Checked = true;
}
else
{
pulseMode1.Checked = true;
}
if (m_para[g_AxiNo - 1].m_Lmtdp == 0)
{
LimitP1.Checked = true;
}
else
{
LimitP2.Checked = true;
}
if (m_para[g_AxiNo - 1].m_Stop0effective == 0)
{
Stop01.Checked = true;
}
else
{
if (m_para[g_AxiNo - 1].m_Stop0dp == 0)
{
Stop02.Checked = true;
}
else
{
Stop03.Checked = true;
}
}
if (m_para[g_AxiNo - 1].m_Stop1effective == 0)
{
Stop11.Checked = true;
}
else
{
if (m_para[g_AxiNo - 1].m_Stop1dp == 0)
{
Stop12.Checked = true;
}
else
{
Stop13.Checked = true;
}
}
if (m_para[g_AxiNo - 1].m_Stop2effective == 0)
{
Stop21.Checked = true;
}
else
{
if (m_para[g_AxiNo - 1].m_Stop2dp == 0)
{
Stop22.Checked = true;
}
else
{
Stop23.Checked = true;
}
}
if (m_para[g_AxiNo - 1].m_Circleeffective == 0)
{
Circle1.Checked = true;
}
else
{
Circle2.Checked = true;
}
if (m_para[g_AxiNo - 1].m_Inposeffective == 0)
{
Inpos1.Checked = true;
}
else
{
if (m_para[g_AxiNo - 1].m_Inposdp == 0)
{
Inpos2.Checked = true;
}
else
{
Inpos3.Checked = true;
}
}
if (m_para[g_AxiNo - 1].m_Alarmeffective == 0)
{
Alarm1.Checked = true;
}
else
{
if (m_para[g_AxiNo - 1].m_Alarmdp == 0)
{
Alarm2.Checked = true;
}
else
{
Alarm3.Checked = true;
}
}
BeiLv.Text = Convert.ToString(m_nRatio[g_AxiNo - 1]);
}
private void BtnSure_Click(object sender, EventArgs e)
{
RefreshParaSet();
g_CtrlCard.Setup_PulseMode(g_AxiNo, m_para[g_AxiNo - 1].m_pulsemode);
g_CtrlCard.Setup_LimitMode(g_AxiNo, 0, m_para[g_AxiNo - 1].m_Lmtdp);
g_CtrlCard.Setup_Stop0Mode(g_AxiNo, m_para[g_AxiNo - 1].m_Stop0effective, m_para[g_AxiNo - 1].m_Stop0dp);
g_CtrlCard.Setup_Stop1Mode(g_AxiNo, m_para[g_AxiNo - 1].m_Stop1effective, m_para[g_AxiNo - 1].m_Stop1dp);
g_CtrlCard.Setup_Stop2Mode(g_AxiNo, m_para[g_AxiNo - 1].m_Stop2effective, m_para[g_AxiNo - 1].m_Stop2dp);
g_CtrlCard.Setup_AlarmMode(g_AxiNo, m_para[g_AxiNo - 1].m_Alarmeffective, m_para[g_AxiNo - 1].m_Alarmdp);
g_CtrlCard.SetCircle_Mode(g_AxiNo, m_para[g_AxiNo - 1].m_Circleeffective);
g_CtrlCard.Inpos_Mode(g_AxiNo, m_para[g_AxiNo - 1].m_Inposeffective, m_para[g_AxiNo - 1].m_Inposdp);
adt8948A1m.adt8948_set_range(CtrlCard.g_cardIndex, g_AxiNo, 8000000 / m_nRatio[g_AxiNo - 1]);
MessageBox.Show("设置成功！", "提示");
}
//索引轴改变
private void AxiIndex_SelectedIndexChanged(object sender, EventArgs e)
{
if (AxiIndex.Text == "X轴")
{
g_AxiNo = 1;
LoadParaEx();
}
if (AxiIndex.Text == "Y轴")
{
g_AxiNo = 2;
LoadParaEx();
}
if (AxiIndex.Text == "Z轴")
{
g_AxiNo = 3;
LoadParaEx();
}
if (AxiIndex.Text == "A轴")
{
g_AxiNo = 4;
LoadParaEx();
}
}
//进入Tab5界面就刷新当前参数
private void TabPage5_Enter(object sender, EventArgs e)
{
LoadParaEx();
}
#endregion
#region 特殊运动界面代码部分
//参数刷新
public void RefreshParaSpe()
{
m_SpePulse[0] = Convert.ToInt32(this.EPX.Text);
m_SpePulse[1] = Convert.ToInt32(this.EPY.Text);
m_SpePulse[2] = Convert.ToInt32(this.EPZ.Text);
m_SpePulse[3] = Convert.ToInt32(this.EPA.Text);
if (Rcomp1.Checked == true)
{
m_reg = 0;
}
if (Rcomp2.Checked == true)
{
m_reg = 1;
}
if (RBig.Checked == true)
{
m_relation = 0;
}
if (RSmall.Checked == true)
{
m_relation = 1;
}
if (RMainStop.Checked == true)
{
m_mainAxiKeep = 0;
}
if (RMainKeep.Checked == true)
{
m_mainAxiKeep = 1;
}
if (RMoveKeep.Checked == true)
{
m_SignalStatus = 0;
}
if (RMovePulse.Checked == true)
{
m_SignalStatus = 1;
}
if (RMStop.Checked == true)
{
m_mainAxiStatus = 0;
}
if (RMKeep.Checked == true)
{
m_mainAxiStatus = 1;
}
//初始状态没有轴被选中
m_SelectInfo.AxiNo = 0;
m_SelectInfo.selectAxi = new Int32[MAXAXI];
if (m_bX.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 1;
}
if (m_bY.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 2;
}
if (m_bZ.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 3;
}
if (m_bA.Checked == true)
{
m_SelectInfo.AxiNo = 1;
m_SelectInfo.selectAxi[m_SelectInfo.AxiNo - 1] = 4;
}
//获取最小轴号信息
m_SelectInfo.MinAxi = 100;
for (int i = 0; i < m_SelectInfo.AxiNo; i )
{
if (m_SelectInfo.selectAxi[i] < m_SelectInfo.MinAxi)
{
m_SelectInfo.MinAxi = m_SelectInfo.selectAxi[i];
}
}
}
//位置比较运动
private void BtnCmpMove_Click(object sender, EventArgs e)
{
//刷新各运动参数
RefreshParaSpe();
Int32 axi;
axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Setup_Pmove1(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SpePulse[0], m_SpePulse[1], m_reg, m_relation);
break;
case 3:
g_CtrlCard.Setup_Pmove2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_SpePulse[0], m_SpePulse[1], m_SpePulse[2], m_reg, m_relation);
break;
case 4:
g_CtrlCard.Setup_Pmove3(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_SelectInfo.selectAxi[3], m_SpePulse[0], m_SpePulse[1], m_SpePulse[2], m_SpePulse[3], m_reg, m_relation);
break;
}
}
//位置比较停止
private void BtnCmpStop_Click(object sender, EventArgs e)
{
RefreshParaSpe();
//刷新各运动参数
RefreshParaSpe();
Int32 axi;
axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Setup_Stop1(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SpePulse[0], m_reg, m_relation, m_mainAxiKeep);
break;
case 3:
g_CtrlCard.Setup_Stop2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_SpePulse[0], m_reg, m_relation, m_mainAxiKeep);
break;
case 4:
g_CtrlCard.Setup_Stop3(m_SelectInfo.selectAxi[0], m_SpePulse[0], m_reg, m_relation, m_mainAxiKeep);
break;
}
}
//信号式随动
private void BtnInMove_Click(object sender, EventArgs e)
{
//刷新各运动参数
RefreshParaSpe();
Int32 axi;
axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Set_InMove1(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SpePulse[0], m_SpePulse[1],0, m_SignalStatus);
break;
case 3:
g_CtrlCard.Set_InMove2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_SpePulse[0], m_SpePulse[1], m_SpePulse[2], 0, m_SignalStatus);
break;
case 4:
g_CtrlCard.Set_InMove3(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_SelectInfo.selectAxi[3], m_SpePulse[0], m_SpePulse[1], m_SpePulse[2], m_SpePulse[3], 0, m_SignalStatus);
break;
}
}
//信号式随停
private void BtnInStop_Click(object sender, EventArgs e)
{
RefreshParaSpe();
//刷新各运动参数
RefreshParaSpe();
Int32 axi;
axi = m_SelectInfo.MinAxi;
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Set_InStop1(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], 0, m_mainAxiStatus);
break;
case 3:
g_CtrlCard.Set_InStop2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], 0, m_mainAxiStatus);
break;
case 4:
g_CtrlCard.Set_InStop3(m_SelectInfo.selectAxi[0], 0, m_mainAxiStatus);
break;
}
}
//步进单步命令
private void BtnStepCmd_Click(object sender, EventArgs e)
{
g_CtrlCard.Inp_StepMove();
}
//步进插补
private void BtnInpStep_Click(object sender, EventArgs e)
{
//刷新各运动参数
RefreshParaSpe();
Int32 axi;
axi = m_SelectInfo.MinAxi;
if (CSignalMode.Checked == true)
{
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Inp_Signal2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SpePulse[0], m_SpePulse[1]);
break;
case 3:
g_CtrlCard.Inp_Signal3(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_SpePulse[0], m_SpePulse[1], m_SpePulse[2]);
break;
default:
MessageBox.Show("请选择正确的插补轴！");
break;
}
}
else
{
switch (m_SelectInfo.AxiNo)
{
case 2:
g_CtrlCard.Inp_Command2(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SpePulse[0], m_SpePulse[1]);
break;
case 3:
g_CtrlCard.Inp_Command3(m_SelectInfo.selectAxi[0], m_SelectInfo.selectAxi[1], m_SelectInfo.selectAxi[2], m_SpePulse[0], m_SpePulse[1], m_SpePulse[2]);
break;
default:
MessageBox.Show("请选择正确的插补轴！");
break;
}
}
}
//步进插补停止
private void BtnStepStop_Click(object sender, EventArgs e)
{
for(int i=1;i<MAXAXI 1;i )
{
g_CtrlCard.Inp_Stop(i);
}
}
#endregion
#region 回原点界面代码部分
//改变轴号后加载数据
public void LoadZeroParaEx()
{
if (m_ZeroPara[g_ZeroAxi - 1].m_dir == 1)//方向
{
ZeroDir2.Checked = true;
}
else
{
ZeroDir1.Checked = true;
}
if (m_ZeroPara[g_ZeroAxi - 1].m_stop0 == 1)//stop0
{
ZeroStop02.Checked = true;
}
else
{
ZeroStop01.Checked = true;
}
if (m_ZeroPara[g_ZeroAxi - 1].m_lmt == 1)//Lmt
{
ZeroLmt2.Checked = true;
}
else
{
ZeroLmt1.Checked = true;
}
if (m_ZeroPara[g_ZeroAxi - 1].m_stop1 == -1)//stop1
{
ZeroStop11.Checked = true;
}
else if (m_ZeroPara[g_ZeroAxi - 1].m_stop1 == 0)
{
ZeroStop12.Checked = true;
}
else
{
ZeroStop13.Checked = true;
}
ZeroAcc.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_Acc);
ZeroStartV.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_StartV);
ZeroSearchV.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_SearchV);
ZeroHomeSpeed.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_Speed);
ZeroZspeed.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_ZSpeed);
ZeroBackRange.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_bkRange);
ZeroZRange.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_ZRange);
ZeroOff.Text = Convert.ToString(m_ZeroPara[g_ZeroAxi - 1].m_Off);
}
//回零轴号切换
private void ZeroAxi_SelectedIndexChanged(object sender, EventArgs e)
{
if (ZeroAxi.Text == "X轴")
{
g_ZeroAxi = 1;
LoadZeroParaEx();
}
if (ZeroAxi.Text == "Y轴")
{
g_ZeroAxi = 2;
LoadZeroParaEx();
}
if (ZeroAxi.Text == "Z轴")
{
g_ZeroAxi = 3;
LoadZeroParaEx();
}
if (ZeroAxi.Text == "A轴")
{
g_ZeroAxi = 4;
LoadZeroParaEx();
}
}
//当前轴参数生效
private void button1_Click(object sender, EventArgs e)
{
if (ZeroDir1.Checked)
{
m_ZeroPara[g_ZeroAxi - 1].m_dir = 0;//负向
}
else
{
m_ZeroPara[g_ZeroAxi - 1].m_dir = 1;//正向
}
if (ZeroStop01.Checked)
{
m_ZeroPara[g_ZeroAxi - 1].m_stop0 = 0;//低电平有效
}
else
{
m_ZeroPara[g_ZeroAxi - 1].m_stop0 = 1;//高电平有效
}
if (ZeroLmt1.Checked)
{
m_ZeroPara[g_ZeroAxi - 1].m_lmt = 0;//低电平停止
}
else
{
m_ZeroPara[g_ZeroAxi - 1].m_lmt = 1;//高电平停止
}
if (ZeroStop11.Checked)
{
m_ZeroPara[g_ZeroAxi - 1].m_stop1 = -1;//无效
}
if (ZeroStop12.Checked)
{
m_ZeroPara[g_ZeroAxi - 1].m_stop1 = 0;//低电平有效
}
if (ZeroStop13.Checked)
{
m_ZeroPara[g_ZeroAxi - 1].m_stop1 = 1;//高电平有效
}
m_ZeroPara[g_ZeroAxi - 1].m_Acc = Convert.ToInt32(ZeroAcc.Text);
m_ZeroPara[g_ZeroAxi - 1].m_StartV = Convert.ToInt32(ZeroStartV.Text);
m_ZeroPara[g_ZeroAxi - 1].m_SearchV = Convert.ToInt32(ZeroSearchV.Text);
m_ZeroPara[g_ZeroAxi - 1].m_Speed = Convert.ToInt32(ZeroHomeSpeed.Text);
m_ZeroPara[g_ZeroAxi - 1].m_ZSpeed = Convert.ToInt32(ZeroZspeed.Text);
m_ZeroPara[g_ZeroAxi - 1].m_bkRange = Convert.ToInt32(ZeroBackRange.Text);
m_ZeroPara[g_ZeroAxi - 1].m_ZRange = Convert.ToInt32(ZeroZRange.Text);
m_ZeroPara[g_ZeroAxi - 1].m_Off = Convert.ToInt32(ZeroOff.Text);
MessageBox.Show("当前轴参数生效!", "提示");
}
//单轴回零
private void btn_AxiZero_Click(object sender, EventArgs e)
{
Int32 retnX = -1;
retnX = adt8948A1m.adt8948_SetHomeMode_Ex(CtrlCard.g_cardIndex, g_ZeroAxi, m_ZeroPara[g_ZeroAxi - 1].m_dir, m_ZeroPara[g_ZeroAxi - 1].m_stop0, m_ZeroPara[g_ZeroAxi - 1].m_lmt, m_ZeroPara[g_ZeroAxi - 1].m_stop1, m_ZeroPara[g_ZeroAxi - 1].m_bkRange, m_ZeroPara[g_ZeroAxi - 1].m_ZRange, m_ZeroPara[g_ZeroAxi - 1].m_Off);//设置回零模式
retnX = adt8948A1m.adt8948_SetHomeSpeed_Ex(CtrlCard.g_cardIndex, g_ZeroAxi, m_ZeroPara[g_ZeroAxi - 1].m_StartV, m_ZeroPara[g_ZeroAxi - 1].m_SearchV, m_ZeroPara[g_ZeroAxi - 1].m_Speed, m_ZeroPara[g_ZeroAxi - 1].m_Acc, m_ZeroPara[g_ZeroAxi - 1].m_ZSpeed); //设置回零速度
retnX = adt8948A1m.adt8948_HomeProcess_Ex(CtrlCard.g_cardIndex, g_ZeroAxi); //启动回零
if (retnX < 0 || retnX > 20)
{
MessageBox.Show("回零失败!", "提示");
}
while (true)
{
Application.DoEvents();
retnX = adt8948A1m.adt8948_GetHomeStatus_Ex(CtrlCard.g_cardIndex, g_ZeroAxi);
Return0Status.Text = "回原点状态：" Convert.ToString(retnX);
if (retnX < 0 || retnX > 20)
{
MessageBox.Show("回零失败!", "提示");
return;
}
if (retnX == 0)
{
MessageBox.Show("回零成功!", "提示");
return;
}
}
}
//所有轴回零
private void btn_AllZero_Click(object sender, EventArgs e)
{
Int32 retnX = -1, retnY = -1, retnZ = -1, retnA = -1;
retnX = adt8948A1m.adt8948_SetHomeMode_Ex(CtrlCard.g_cardIndex, 1, m_ZeroPara[0].m_dir, m_ZeroPara[0].m_stop0, m_ZeroPara[0].m_lmt, m_ZeroPara[0].m_stop1, m_ZeroPara[0].m_bkRange, m_ZeroPara[0].m_ZRange, m_ZeroPara[0].m_Off);//设置回零模式
retnX = adt8948A1m.adt8948_SetHomeSpeed_Ex(CtrlCard.g_cardIndex, 1, m_ZeroPara[0].m_StartV, m_ZeroPara[0].m_SearchV, m_ZeroPara[0].m_Speed, m_ZeroPara[0].m_Acc, m_ZeroPara[0].m_ZSpeed); //设置回零速度
retnY = adt8948A1m.adt8948_SetHomeMode_Ex(CtrlCard.g_cardIndex, 2, m_ZeroPara[1].m_dir, m_ZeroPara[1].m_stop0, m_ZeroPara[1].m_lmt, m_ZeroPara[1].m_stop1, m_ZeroPara[1].m_bkRange, m_ZeroPara[1].m_ZRange, m_ZeroPara[1].m_Off);//设置回零模式
retnY = adt8948A1m.adt8948_SetHomeSpeed_Ex(CtrlCard.g_cardIndex, 2, m_ZeroPara[1].m_StartV, m_ZeroPara[1].m_SearchV, m_ZeroPara[1].m_Speed, m_ZeroPara[1].m_Acc, m_ZeroPara[1].m_ZSpeed); //设置回零速度
retnZ = adt8948A1m.adt8948_SetHomeMode_Ex(CtrlCard.g_cardIndex, 3, m_ZeroPara[2].m_dir, m_ZeroPara[2].m_stop0, m_ZeroPara[2].m_lmt, m_ZeroPara[2].m_stop1, m_ZeroPara[2].m_bkRange, m_ZeroPara[2].m_ZRange, m_ZeroPara[2].m_Off);//设置回零模式
retnZ = adt8948A1m.adt8948_SetHomeSpeed_Ex(CtrlCard.g_cardIndex, 3, m_ZeroPara[2].m_StartV, m_ZeroPara[2].m_SearchV, m_ZeroPara[2].m_Speed, m_ZeroPara[2].m_Acc, m_ZeroPara[2].m_ZSpeed); //设置回零速度
retnA = adt8948A1m.adt8948_SetHomeMode_Ex(CtrlCard.g_cardIndex, 4, m_ZeroPara[3].m_dir, m_ZeroPara[3].m_stop0, m_ZeroPara[3].m_lmt, m_ZeroPara[3].m_stop1, m_ZeroPara[3].m_bkRange, m_ZeroPara[3].m_ZRange, m_ZeroPara[3].m_Off);//设置回零模式
retnA = adt8948A1m.adt8948_SetHomeSpeed_Ex(CtrlCard.g_cardIndex, 4, m_ZeroPara[3].m_StartV, m_ZeroPara[3].m_SearchV, m_ZeroPara[3].m_Speed, m_ZeroPara[3].m_Acc, m_ZeroPara[3].m_ZSpeed); //设置回零速度
retnX = adt8948A1m.adt8948_HomeProcess_Ex(CtrlCard.g_cardIndex, 1); //启动回零
retnY = adt8948A1m.adt8948_HomeProcess_Ex(CtrlCard.g_cardIndex, 2); //启动回零
retnZ = adt8948A1m.adt8948_HomeProcess_Ex(CtrlCard.g_cardIndex, 3); //启动回零
retnA = adt8948A1m.adt8948_HomeProcess_Ex(CtrlCard.g_cardIndex, 4); //启动回零
if (retnX < 0 || retnX > 20)
{
MessageBox.Show("回零失败!", "提示");
return;
}
if (retnY < 0 || retnY > 20)
{
MessageBox.Show("回零失败!", "提示");
return;
}
if (retnZ < 0 || retnZ > 20)
{
MessageBox.Show("回零失败!", "提示");
return;
}
if (retnA < 0 || retnA > 20)
{
MessageBox.Show("回零失败!", "提示");
return;
}
while (true)
{
Application.DoEvents();
retnX = adt8948A1m.adt8948_GetHomeStatus_Ex(CtrlCard.g_cardIndex, 1);
retnX = adt8948A1m.adt8948_GetHomeStatus_Ex(CtrlCard.g_cardIndex, 2);
retnX = adt8948A1m.adt8948_GetHomeStatus_Ex(CtrlCard.g_cardIndex, 3);
retnX = adt8948A1m.adt8948_GetHomeStatus_Ex(CtrlCard.g_cardIndex, 4);
//Return0Status.Text = "回原点状态：" Convert.ToString(retnX);
if (retnX == 0 && retnY == 0 && retnZ == 0 && retnA == 0)
{
MessageBox.Show("回零成功!", "提示");
return;
}
else if (retnX < 0 || retnX > 20)
{
MessageBox.Show("X回零失败!", "提示");
return;
}
else if (retnY < 0 || retnY > 20)
{
MessageBox.Show("Y回零失败!", "提示");
return;
}
else if (retnZ < 0 || retnZ > 20)
{
MessageBox.Show("Z回零失败!", "提示");
return;
}
else if (retnY < 0 || retnY > 20)
{
MessageBox.Show("A回零失败!", "提示");
return;
}
}
}
//进入界面时的操作
private void tabPage13_Enter(object sender, EventArgs e)
{
LoadZeroParaEx();
}
#endregion
//关闭界面时保存参数
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
}
}//End Form1
}//End Demo
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