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Commit 7c3ec452 由 LN
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1 个父辈 e5bb4115
内嵌 并排
正在显示 2 个修改的文件 包含 235 行增加 和 6 行删除
HuichuanDLL/HuichuanLibrary.xml
...@@ -25,16 +25,16 @@ ...@@ -25,16 +25,16 @@
<summary> <summary>
初始化配置信息，初始化板卡之前，先初始化配置 初始化配置信息，初始化板卡之前，先初始化配置
</summary> </summary>
<param name="deviceConfigPath"></param> <param name="deviceConfigPath">设备配置文件</param>
<param name="systemConfigPath"></param> <param name="systemConfigPath">系统配置文件</param>
<param name="logName"></param> <param name="logName">日志名称</param>
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.OpenCard(System.Int32)"> <member name="M:HuichuanLibrary.HCBoardManager.OpenCard(System.Int32)">
<summary> <summary>
初始化板卡 初始化板卡
</summary> </summary>
<param name="blockFlag">是否阻塞，1=阻塞，0=不阻塞</param> <param name="blockFlag">是否阻塞，1=阻塞，0=不阻塞</param>
<returns></returns> <returns>true=成功</returns>
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.CloseCard"> <member name="M:HuichuanLibrary.HCBoardManager.CloseCard">
<summary> <summary>
...@@ -46,7 +46,69 @@ ...@@ -46,7 +46,69 @@
<summary> <summary>
板卡是否已经初始化OK 板卡是否已经初始化OK
</summary> </summary>
<param name="isShowLog"></param> <param name="isShowLog">未初始化完成时是否打印日志</param>
<returns>true=OK</returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.EmgStop">
<summary>
紧急停止
</summary>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.CancelEmg">
<summary>
取消急停
</summary>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.SetBitDO(System.Int16,System.Int16)">
<summary>
按位设置DO的值
</summary>
<param name="bitNo">DO索引，从0开始</param>
<param name="bitValue">DO值</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetBitDO(System.Int16)">
<summary>
按位获取DO的值
</summary>
<param name="bitNo">DO索引，从0开始</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetBitDI(System.Int16)">
<summary>
按位获取DI的值
</summary>
<param name="bitNo">DI索引，从0开始</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetAdVal(System.Int16)">
<summary>
模拟量IO值获取 获取EtherCAT 第 adNo号的ad值
</summary>
<param name="adNo">ad的通道：0~配置个数</param>
<returns>获取AD的输入值</returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetAdSts(System.Int16)">
<summary>
获取EtherCAT 第 adNo号的状态
</summary>
<param name="adNo">ad的通道：0~配置个数</param>
<returns>获取AD的状态值</returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.ServoOn(System.Int16)">
<summary>
打开轴
</summary>
<param name="axisNo">轴号</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.ServoOff(System.Int16)">
<summary>
关闭轴
</summary>
<param name="axisNo">轴号</param>
<returns></returns> <returns></returns>
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.StartHomeMove(System.Int16,System.UInt32,System.UInt32,System.UInt32,System.Int16,System.Int32,System.UInt32,System.Int16)"> <member name="M:HuichuanLibrary.HCBoardManager.StartHomeMove(System.Int16,System.UInt32,System.UInt32,System.UInt32,System.Int16,System.Int32,System.UInt32,System.Int16)">
...@@ -63,6 +125,20 @@ ...@@ -63,6 +125,20 @@
<param name="posSrc">端子板信号源，默认0</param> <param name="posSrc">端子板信号源，默认0</param>
<returns></returns> <returns></returns>
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.StopHomeMove(System.Int16)">
<summary>
停止原点返回
</summary>
<param name="axisNo">轴号</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetHomeStatus(System.Int16)">
<summary>
获取回原状态
</summary>
<param name="axisNo">轴号</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.HomeingIsEnd(System.Int16)"> <member name="M:HuichuanLibrary.HCBoardManager.HomeingIsEnd(System.Int16)">
<summary> <summary>
判断回零是否完成 判断回零是否完成
...@@ -79,6 +155,52 @@ ...@@ -79,6 +155,52 @@
<param name="maxError">最大误差脉冲值</param> <param name="maxError">最大误差脉冲值</param>
<returns></returns> <returns></returns>
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.MoveIsEnd(System.Int16)">
<summary>
判断轴是否运动结束，忙碌=0且到位信号=1
</summary>
<param name="axisNo">轴号</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.AbsMove(System.Int16,System.Double,System.Double,System.Double,System.Double)">
<summary>
轴绝对运动
</summary>
<param name="axisNo">轴号</param>
<param name="ptpPos">绝对位置</param>
<param name="ptpVel">速度</param>
<param name="ptpAcc">加速度</param>
<param name="ptpDec">减速度</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.RelMove(System.Int16,System.Double,System.Double,System.Double,System.Double)">
<summary>
轴相对运动
</summary>
<param name="axisNo">轴号</param>
<param name="ptpPos">相对位置</param>
<param name="ptpVel">速度</param>
<param name="ptpAcc">加速度</param>
<param name="ptpDec">减速度</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.SetPTPSpeed(System.Int16,System.Double,System.Double,System.Double)">
<summary>
设置点到点速度
</summary>
<param name="axisNo">轴号</param>
<param name="ptpVel">目标速速</param>
<param name="ptpAcc">加速度</param>
<param name="ptpDec">减速度</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.AxisStop(System.Int16)">
<summary>
轴停止运动
</summary>
<param name="axisNo">轴号</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.SetEcatSdo(System.UInt16,System.Int32,System.Int32)"> <member name="M:HuichuanLibrary.HCBoardManager.SetEcatSdo(System.UInt16,System.Int32,System.Int32)">
<summary> <summary>
设置齿轮比 设置齿轮比
...@@ -88,6 +210,14 @@ ...@@ -88,6 +210,14 @@
<param name="Shaft_Revolution">电子齿轮分母：一圈脉冲数</param> <param name="Shaft_Revolution">电子齿轮分母：一圈脉冲数</param>
<returns></returns> <returns></returns>
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.SpeedMove(System.Int16,System.Double)">
<summary>
轴匀速运动
</summary>
<param name="axisNo">轴号</param>
<param name="targetVel">目标速度</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetAxisPrfMode(System.Int16)"> <member name="M:HuichuanLibrary.HCBoardManager.GetAxisPrfMode(System.Int16)">
<summary> <summary>
获取轴规划模式 获取轴规划模式
...@@ -139,11 +269,70 @@ ...@@ -139,11 +269,70 @@
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.ClearAxisSts(System.Int16)"> <member name="M:HuichuanLibrary.HCBoardManager.ClearAxisSts(System.Int16)">
<summary> <summary>
清楚轴报警状态 清除轴报警状态
</summary>
<param name="axisNo">轴号</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetAxErrCode(System.Int16)">
<summary>
获取错误码
</summary> </summary>
<param name="axisNo">轴号</param> <param name="axisNo">轴号</param>
<returns></returns> <returns></returns>
</member> </member>
<member name="M:HuichuanLibrary.HCBoardManager.GetAxType(System.Int16)">
<summary>
获取轴类型
</summary>
<param name="axisNo">轴号</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetEcatAxPosTorqLmt(System.Int16)">
<summary>
获取EtherCAT类型轴对应的正向力矩限制
</summary>
<param name="axisNo">轴号0-31</param>
<returns>正向力矩限制</returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.SetEcatAxPosTorqLmt(System.Int16,System.Int16)">
<summary>
设置EtherCAT类型轴对应的正向力矩限制
</summary>
<param name="axisNo">轴号0-31</param>
<param name="value">正向力矩限制</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetEcatAxNegTorqLmt(System.Int16)">
<summary>
获取EtherCAT类型轴对应的负向力矩限制
</summary>
<param name="axisNo">轴号0-31</param>
<returns>负向力矩限制</returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.SetEcatAxNegTorqLmt(System.Int16,System.Int16)">
<summary>
设置EtherCAT类型轴对应的负向力矩限制
</summary>
<param name="axisNo">轴号0-31</param>
<param name="value">负向力矩限制</param>
<returns></returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.GetEcatAxMaxTorqLmt(System.Int16)">
<summary>
获取EtherCAT类型轴对应的最大力矩限制
</summary>
<param name="axisNo">轴号0-31</param>
<returns>最大力矩限制</returns>
</member>
<member name="M:HuichuanLibrary.HCBoardManager.SetEcatAxMaxTorqLmt(System.Int16,System.Int16)">
<summary>
设置EtherCAT类型轴对应的最大力矩限制
</summary>
<param name="axisNo">轴号0-31</param>
<param name="value">最大力矩限制</param>
<returns></returns>
</member>
<member name="F:HuichuanLibrary.HCBoardManager.HomeSts_Moveing"> <member name="F:HuichuanLibrary.HCBoardManager.HomeSts_Moveing">
<summary> <summary>
回原点状态：0=正在回零中 回原点状态：0=正在回零中
...@@ -159,6 +348,46 @@ ...@@ -159,6 +348,46 @@
回原点状态：3=回零完成 回原点状态：3=回零完成
</summary> </summary>
</member> </member>
<member name="F:HuichuanLibrary.AdStsInfo.VoltageSts">
<summary>
Bit0 ,负载电压故障，0：接入外部电源，1：未接入外部电源
</summary>
</member>
<member name="F:HuichuanLibrary.AdStsInfo.ConnectSts">
<summary>
Bit1 ,模拟芯片连接错误，0：数字版与模拟板通讯正常，1：数字版与模拟板通讯错误
</summary>
</member>
<member name="F:HuichuanLibrary.AdStsInfo.NoSts">
<summary>
Bit2:通道故障
</summary>
</member>
<member name="F:HuichuanLibrary.AdStsInfo.Overflow">
<summary>
Bit3:通道上溢
</summary>
</member>
<member name="F:HuichuanLibrary.AdStsInfo.Underflow">
<summary>
Bit4:通道下溢
</summary>
</member>
<member name="F:HuichuanLibrary.AdStsInfo.PEL">
<summary>
Bit5:通道超上限
</summary>
</member>
<member name="F:HuichuanLibrary.AdStsInfo.NEL">
<summary>
Bit6:通道超下限
</summary>
</member>
<member name="F:HuichuanLibrary.AdStsInfo.OffLine">
<summary>
Bit7:通道断线
</summary>
</member>
<member name="F:HuichuanLibrary.AxisSts.ALM"> <member name="F:HuichuanLibrary.AxisSts.ALM">
<summary> <summary>
轴报警信号 轴报警信号
......
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