负载率功能修改

HuichuanLibrary/FrmHuiChuanTest.cs

@@ -38,7 +38,7 @@ namespace HuichuanLibrary
             DILabelList.Add(lblDI13);
             DILabelList.Add(lblDI13);
             DILabelList.Add(lblDI14);
             DILabelList.Add(lblDI14);
             DILabelList.Add(lblDI15);
             DILabelList.Add(lblDI15);
-           for(int i = 0; i < DILabelList.Count; i++)
+            for (int i = 0; i < DILabelList.Count; i++)
             {
             {
                 DILabelList[i].Text = "DI_" + i;
                 DILabelList[i].Text = "DI_" + i;
             }
             }
@@ -87,7 +87,7 @@ namespace HuichuanLibrary
             FormStatus(false);
             FormStatus(false);
             timerIO.Start();
             timerIO.Start();
             timerMain.Start();
             timerMain.Start();
-            lblAdSts.Text ="状态说明：\r\n"+
+            lblAdSts.Text = "状态说明：\r\n" +
                 "Bit0 ,负载电压故障，0：正常，1：未接入外部电源\r\n" +
                 "Bit0 ,负载电压故障，0：正常，1：未接入外部电源\r\n" +
                 "Bit1 ,模拟芯片连接错误，0：正常，1：数字版与模拟板通讯错误\r\n" +
                 "Bit1 ,模拟芯片连接错误，0：正常，1：数字版与模拟板通讯错误\r\n" +
                 "Bit2:通道故障\r\n" +
                 "Bit2:通道故障\r\n" +
@@ -99,7 +99,77 @@ namespace HuichuanLibrary
 
 
 
 
             HCLogUtil.logBox = richTextBox1;
             HCLogUtil.logBox = richTextBox1;
+
+            axisTimer = new System.Timers.Timer();
+            axisTimer.Interval = 200;
+            axisTimer.AutoReset = true;
+            axisTimer.Enabled = false;
+            axisTimer.Elapsed += AxisTimer_Elapsed;
+
+            txtMaxFuzai.Text = MaxFuZai.ToString();
+            groupBox12.Text = "最大负载率=" + MaxFuZai;
+        }
+
+        private void AxisTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            
+            //200毫秒检测一次运动轴，如果负载率超过指定值，直接停止
+            //如果停止运动，从集合移除；
+            List<short> axiss = new List<short>(moveAxisNoList);
+            foreach (short axisNo in axiss)
+            {
+                AxisSts sts = HCBoardManager.GetAxisSts(axisNo);
+                if (sts.ServoOn <= 0)
+                {
+                    HCLogUtil.error($"AxisTimer_Elapsed 轴号{axisNo} 伺服已关闭，removeMoveAxis");
+                    removeMoveAxis(axisNo);
+                }
+                //判断是否再运动中
+                if (sts.BUSY <= 0)
+                {
+                    HCLogUtil.error($"AxisTimer_Elapsed 轴号{axisNo} 已停止运动，removeMoveAxis");
+                    removeMoveAxis(axisNo);
+                }
+                float currFuzai = HCBoardManager.GetAxisLoadRate(axisNo);
+                if (currFuzai > MaxFuZai)
+                {
+                    HCLogUtil.error($"AxisTimer_Elapsed 轴号{axisNo} 当前负载率{currFuzai}大于最大负载率{MaxFuZai}，停止运动，removeMoveAxis");
+                    HCBoardManager.AxisStop(axisNo);
+                    removeMoveAxis(axisNo);
+                }
+            }
+
+        }
+        private void removeMoveAxis(short axisNo)
+        {
+            try
+            {
+                HCLogUtil.info($"removeMoveAxis{axisNo}");
+                moveAxisNoList.Remove(axisNo);
+            }
+            catch(Exception ex)
+            {
+
+            }
+        }
+        private void addMoveAxis(short axisNo)
+        {
+            try
+            {
+                if (!moveAxisNoList.Contains(axisNo))
+                {
+                    HCLogUtil.info($"addMoveAxis{axisNo}");
+                    moveAxisNoList.Add(axisNo);
+                }
             }
             }
+            catch (Exception ex)
+            {
+
+            }
+        }
+        private List<short> moveAxisNoList = new List<short>();
+        private System.Timers.Timer axisTimer;
+        private float MaxFuZai = 10;
         private void btnInitBoard_Click(object sender, EventArgs e)
         private void btnInitBoard_Click(object sender, EventArgs e)
         {
         {
             bool result = HCBoardManager.OpenCard(1);
             bool result = HCBoardManager.OpenCard(1);
@@ -242,6 +312,12 @@ namespace HuichuanLibrary
 
 
             double ptpPos = Convert.ToDouble(txtPtpPos.Text); 
             double ptpPos = Convert.ToDouble(txtPtpPos.Text); 
             HCBoardManager.AbsMove(axisNo,  ptpPos, ptpVel, ptpAcc, ptpDec);
             HCBoardManager.AbsMove(axisNo,  ptpPos, ptpVel, ptpAcc, ptpDec);
+            addMoveAxis(axisNo);
+            if (!axisTimer.Enabled)
+            {
+                HCLogUtil.info("启动axisTimer");
+                axisTimer.Start();
+            }
         }
         }
 
 
         private void btnRelMove_Click(object sender, EventArgs e)
         private void btnRelMove_Click(object sender, EventArgs e)
@@ -255,6 +331,12 @@ namespace HuichuanLibrary
 
 
             double ptpPos = Convert.ToDouble(txtPtpPos.Text);
             double ptpPos = Convert.ToDouble(txtPtpPos.Text);
             HCBoardManager.RelMove(axisNo, ptpPos, ptpVel, ptpAcc, ptpDec);
             HCBoardManager.RelMove(axisNo, ptpPos, ptpVel, ptpAcc, ptpDec);
+            addMoveAxis(axisNo);
+            if (!axisTimer.Enabled)
+            {
+                HCLogUtil.info("启动axisTimer");
+                axisTimer.Start();
+            }
         }
         }
         private void btnAxisStop_Click(object sender, EventArgs e)
         private void btnAxisStop_Click(object sender, EventArgs e)
         {
         {
@@ -298,8 +380,15 @@ namespace HuichuanLibrary
         {
         {
            if (value.Equals(1))
            if (value.Equals(1))
             {
             {
+                if (lbl.Text.Equals("ALM"))
+                {
+                    lbl.BackColor = Color.Red;
+                }
+                else
+                {
                     lbl.BackColor = Color.Lime;
                     lbl.BackColor = Color.Lime;
                 }
                 }
+            }
             else if (value.Equals(0))
             else if (value.Equals(0))
             {
             {
                 lbl.BackColor = Color.LightGray; 
                 lbl.BackColor = Color.LightGray; 
@@ -674,7 +763,7 @@ namespace HuichuanLibrary
         private void btnSearch_Click(object sender, EventArgs e)
         private void btnSearch_Click(object sender, EventArgs e)
         {
         {
             short axisNo = GetAxisNo();
             short axisNo = GetAxisNo();
-            //txtFuzai.Text = HCBoardManager.GetAxisLoadRate(axisNo).ToString();
+            txtFuzai.Text = HCBoardManager.GetAxisLoadRate(axisNo).ToString();
         }
         }
 
 
         private void btnSearchNj_Click(object sender, EventArgs e)
         private void btnSearchNj_Click(object sender, EventArgs e)
@@ -682,5 +771,30 @@ namespace HuichuanLibrary
             short axisNo = GetAxisNo();
             short axisNo = GetAxisNo();
             txtNuiju.Text = HCBoardManager.GetAxActTorq(axisNo).ToString();
             txtNuiju.Text = HCBoardManager.GetAxActTorq(axisNo).ToString();
         }
         }
+
+        private void btnSaveMaxFuzai_Click(object sender, EventArgs e)
+        {
+            float v = 0;
+            try
+            {
+                v = (float)Convert.ToDecimal(txtMaxFuzai.Text);
+
+            }
+            catch (Exception ex)
+            {
+
+            }
+            if (v > 0)
+            {
+                MaxFuZai = v;
+                MessageBox.Show("已设置最大负载率=" + MaxFuZai);
+            }
+            else
+            {
+
+                MessageBox.Show("设置失败");
+            }
+            groupBox12.Text = "最大负载率=" + MaxFuZai;
+        }
     }
     }
 }
 }

HuichuanLibrary/HCBoardManager_Axis.cs

@@ -905,7 +905,7 @@ namespace HuichuanLibrary
         /// </summary>
         /// </summary>
         /// <param name="axisNo"></param>
         /// <param name="axisNo"></param>
         /// <returns></returns>
         /// <returns></returns>
-        public static string GetAxisLoadRate(short axisNo)
+        public static float GetAxisLoadRate(short axisNo)
         {
         {
             short pPhyStation_Id = 0;
             short pPhyStation_Id = 0;
             short pPhySlot_id = 0;
             short pPhySlot_id = 0;
@@ -913,6 +913,7 @@ namespace HuichuanLibrary
 
 
             ushort index = 0x200b;
             ushort index = 0x200b;
             ushort subindex = 13;
             ushort subindex = 13;
+            //扭矩 3；
             uint targetsize = 2;
             uint targetsize = 2;
             int datasize = 2;
             int datasize = 2;
             uint resultSize = 0;
             uint resultSize = 0;
@@ -931,14 +932,15 @@ namespace HuichuanLibrary
                 }
                 }
                 int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                 int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
 
 
-                HCLogUtil.info($"axisNo={axisNo}，pPhyStation_Id={pPhyStation_Id}，index={index},subindex= {subindex}，abortCode ={abortCode},resultSize={resultSize}, str={str},value={value}" );
-                return value.ToString();
+                float v = (float)value / 2560;
+                HCLogUtil.info($"axisNo={axisNo}，pPhyStation_Id={pPhyStation_Id}，index={index},subindex= {subindex}，abortCode ={abortCode},resultSize={resultSize}, str={str},value={value},v={v}" );
+                return v;
             }
             }
             else
             else
             {
             {
                 HCLogUtil.info($"axisNo={axisNo}，pPhyStation_Id={pPhyStation_Id}，index={index},subindex= {subindex}，abortCode ={abortCode},resultSize={resultSize},");
                 HCLogUtil.info($"axisNo={axisNo}，pPhyStation_Id={pPhyStation_Id}，index={index},subindex= {subindex}，abortCode ={abortCode},resultSize={resultSize},");
             }
             }
-            return "";
+            return 0;
         }
         }
 
 
         /// <summary>
         /// <summary>