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Commit 31d33c0b 由 LN
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增加通用IO端口值判断，调宽电机原点返回时如果已在原点，先相对走-1000.

1 个父辈 d18889ef
内嵌 并排
正在显示 8 个修改的文件 包含 174 行增加 和 57 行删除
DeviceLibrary/manager/TSAVBean.cs
...@@ -136,7 +136,7 @@ namespace TSA_V.DeviceLibrary ...@@ -136,7 +136,7 @@ namespace TSA_V.DeviceLibrary
{ {
LogUtil.info(Name + "连接Can协议成功"); LogUtil.info(Name + "连接Can协议成功");
} }
Thread.Sleep(100); Thread.Sleep(PUSICANControl.SleepMS);
resetStep = ResetStep.OpenCan_0; resetStep = ResetStep.OpenCan_0;
LastResetChangeTime = DateTime.Now; LastResetChangeTime = DateTime.Now;
} }
...@@ -159,7 +159,7 @@ namespace TSA_V.DeviceLibrary ...@@ -159,7 +159,7 @@ namespace TSA_V.DeviceLibrary
{ {
LogUtil.info(Name + "重置中：重置之前先停止所有运动"); LogUtil.info(Name + "重置中：重置之前先停止所有运动");
StopMove(); StopMove();
Thread.Sleep(100); Thread.Sleep(PUSICANControl.SleepMS);
} }
...@@ -174,7 +174,7 @@ namespace TSA_V.DeviceLibrary ...@@ -174,7 +174,7 @@ namespace TSA_V.DeviceLibrary
resetStep = ResetStep.AddNode_1; resetStep = ResetStep.AddNode_1;
Thread.Sleep(100); Thread.Sleep(PUSICANControl.SleepMS);
foreach (Dictionary<int, NodeInfo> map in RotateMap.Values) foreach (Dictionary<int, NodeInfo> map in RotateMap.Values)
{ {
foreach (NodeInfo nodeid in map.Values) foreach (NodeInfo nodeid in map.Values)
...@@ -290,7 +290,7 @@ namespace TSA_V.DeviceLibrary ...@@ -290,7 +290,7 @@ namespace TSA_V.DeviceLibrary
if (isAllOk.Equals(true)) if (isAllOk.Equals(true))
{ {
Thread.Sleep(100); Thread.Sleep(PUSICANControl.SleepMS);
//初始化所有旋转轴 //初始化所有旋转轴
foreach (Dictionary<int, NodeInfo> map in RotateMap.Values) foreach (Dictionary<int, NodeInfo> map in RotateMap.Values)
{ {
...@@ -349,10 +349,14 @@ namespace TSA_V.DeviceLibrary ...@@ -349,10 +349,14 @@ namespace TSA_V.DeviceLibrary
public static void StopWork() public static void StopWork()
{ {
StopMove();
if (Status.Equals(TSAVStatus.Reset)) if (Status.Equals(TSAVStatus.Reset))
{ {
Status = TSAVStatus.Wait; //Status = TSAVStatus.Wait;
}
else
{
StopMove();
} }
} }
private static bool IsProcess = false; private static bool IsProcess = false;
...@@ -508,13 +512,13 @@ namespace TSA_V.DeviceLibrary ...@@ -508,13 +512,13 @@ namespace TSA_V.DeviceLibrary
if (PUSICANControl.IsDuZhuan(node.NodeId)) if (PUSICANControl.IsDuZhuan(node.NodeId))
{ {
LogUtil.error(Name + " 发现旋转轴[" + node.NodeId + "]堵转，清除一下控制器状态，重新读取一下堵转状态"); LogUtil.error(Name + " 发现旋转轴[" + node.NodeId + "]堵转，清除一下控制器状态，重新读取一下堵转状态");
Thread.Sleep(100); Thread.Sleep(PUSICANControl.SleepMS);
//清除一下状态，在重新读一次 //清除一下状态，在重新读一次
if (!TSAVBean.Status.Equals(TSAVStatus.Reset)) if (!TSAVBean.Status.Equals(TSAVStatus.Reset))
{ {
PUSICANControl.ClearStatus(node.NodeId); PUSICANControl.ClearStatus(node.NodeId);
} }
Thread.Sleep(100); Thread.Sleep(PUSICANControl.SleepMS);
if (PUSICANControl.IsDuZhuan(node.NodeId)) if (PUSICANControl.IsDuZhuan(node.NodeId))
{ {
WarnMsg = GetTime() + ResourceControl.GetString(ResourceControl.DuZhuanMsg, " 旋转轴[{0}]堵转，需要重置", node.NodeId); WarnMsg = GetTime() + ResourceControl.GetString(ResourceControl.DuZhuanMsg, " 旋转轴[{0}]堵转，需要重置", node.NodeId);
...@@ -572,15 +576,18 @@ namespace TSA_V.DeviceLibrary ...@@ -572,15 +576,18 @@ namespace TSA_V.DeviceLibrary
IOManager.IOMove(IOManager.Line_FStart, IO_VALUE.LOW); IOManager.IOMove(IOManager.Line_FStart, IO_VALUE.LOW);
Thread.Sleep(100); Thread.Sleep(PUSICANControl.SleepMS);
foreach (Dictionary<int, NodeInfo> map in RotateMap.Values) foreach (Dictionary<int, NodeInfo> map in RotateMap.Values)
{ {
foreach (NodeInfo nodeid in map.Values) foreach (NodeInfo nodeid in map.Values)
{ {
if (PUSICANControl.IsBusy(nodeid.NodeId))
{
PUSICANControl.StopMove(nodeid.NodeId); PUSICANControl.StopMove(nodeid.NodeId);
} }
} }
} }
}
private static void CheckWorkWait() private static void CheckWorkWait()
{ {
try try
......
PUSICANLibrary/CAN_Address.cs
...@@ -47,6 +47,7 @@ namespace PUSICANLibrary ...@@ -47,6 +47,7 @@ namespace PUSICANLibrary
// sdoMap.Add(MoveDirection, new SDOAddrInfo(MoveDirection, DATA_TYPE.DT_UINT32, 0)); // sdoMap.Add(MoveDirection, new SDOAddrInfo(MoveDirection, DATA_TYPE.DT_UINT32, 0));
sdoMap.Add(CurrPosition, new SDOAddrInfo(CurrPosition, DATA_TYPE.DT_UINT32, 0)); sdoMap.Add(CurrPosition, new SDOAddrInfo(CurrPosition, DATA_TYPE.DT_UINT32, 0));
sdoMap.Add(OutStop, new SDOAddrInfo(OutStopSingle, DATA_TYPE.DT_UINT8, 0)); sdoMap.Add(OutStop, new SDOAddrInfo(OutStopSingle, DATA_TYPE.DT_UINT8, 0));
sdoMap.Add(GPIO_Value, new SDOAddrInfo(GPIO_Value, DATA_TYPE.DT_INT16, 0));
} }
return sdoMap; return sdoMap;
} }
...@@ -163,6 +164,10 @@ namespace PUSICANLibrary ...@@ -163,6 +164,10 @@ namespace PUSICANLibrary
/// 外部停止，0x600f ,2h 外部紧急停止触发 /// 外部停止，0x600f ,2h 外部紧急停止触发
/// </summary> /// </summary>
public static uint OutStop_Type= 0x600F2; public static uint OutStop_Type= 0x600F2;
/// <summary>
/// 通用IO端口值，0x6012 ,U16 0高电平，1低电平
/// </summary>
public static uint GPIO_Value = 0x6012;
} }
......
PUSICANLibrary/PUSICANControl.cs
...@@ -150,7 +150,7 @@ namespace PUSICANLibrary ...@@ -150,7 +150,7 @@ namespace PUSICANLibrary
#endregion #endregion
public static int SleepMS= 30;
public delegate void SetTcpClient_drvier(string ip, int nPort); public delegate void SetTcpClient_drvier(string ip, int nPort);
public delegate void SetSerial_drvier(int nPort, int nBaud); public delegate void SetSerial_drvier(int nPort, int nBaud);
public static bool ISOpen = false; public static bool ISOpen = false;
...@@ -355,7 +355,7 @@ namespace PUSICANLibrary ...@@ -355,7 +355,7 @@ namespace PUSICANLibrary
//相对运动 //相对运动
data = BitConverter.GetBytes(value); data = BitConverter.GetBytes(value);
result = PUSICANControl.PUSICO_WriteSDO(nodeid, addr.sdoAddr, 0x01, data, addr.dataType, addr.dataLength, addr.timeOut); result = PUSICANControl.PUSICO_WriteSDO(nodeid, addr.sdoAddr, 0x01, data, addr.dataType, addr.dataLength, addr.timeOut);
Thread.Sleep(100); Thread.Sleep(SleepMS);
if (PUSIResult.RET_SUCCESS == result) if (PUSIResult.RET_SUCCESS == result)
{ {
Console.WriteLine("write "+ nodeid + " CAN_Address.OutStop sdo ok."); Console.WriteLine("write "+ nodeid + " CAN_Address.OutStop sdo ok.");
...@@ -369,7 +369,7 @@ namespace PUSICANLibrary ...@@ -369,7 +369,7 @@ namespace PUSICANLibrary
//相对运动 //相对运动
data = BitConverter.GetBytes(value); data = BitConverter.GetBytes(value);
result = PUSICANControl.PUSICO_WriteSDO(nodeid, addr.sdoAddr, 0x02, data, addr.dataType, addr.dataLength, addr.timeOut); result = PUSICANControl.PUSICO_WriteSDO(nodeid, addr.sdoAddr, 0x02, data, addr.dataType, addr.dataLength, addr.timeOut);
Thread.Sleep(100); Thread.Sleep(SleepMS);
if (PUSIResult.RET_SUCCESS == result) if (PUSIResult.RET_SUCCESS == result)
{ {
Console.WriteLine("write "+ nodeid + " CAN_Address.OutStop sdo ok."); Console.WriteLine("write "+ nodeid + " CAN_Address.OutStop sdo ok.");
...@@ -571,10 +571,10 @@ namespace PUSICANLibrary ...@@ -571,10 +571,10 @@ namespace PUSICANLibrary
} }
public static bool AbsMove(uint nodeid, int position) public static bool AbsMove(uint nodeid, int position)
{ {
if (PUSICANControl.CheckStop2IsHigh(nodeid)) if (PUSICANControl.IsStop2High(nodeid))
{ {
PUSICANControl.ClearStatus(nodeid); PUSICANControl.ClearStatus(nodeid);
Thread.Sleep(100); Thread.Sleep(SleepMS);
} }
//写模式 //写模式
...@@ -592,10 +592,10 @@ namespace PUSICANLibrary ...@@ -592,10 +592,10 @@ namespace PUSICANLibrary
/// </summary> /// </summary>
public static bool RelMove(uint nodeId, int position) public static bool RelMove(uint nodeId, int position)
{ {
if (PUSICANControl.CheckStop2IsHigh(nodeId)) if (PUSICANControl.IsStop2High(nodeId))
{ {
PUSICANControl.ClearStatus(nodeId); PUSICANControl.ClearStatus(nodeId);
Thread.Sleep(100); Thread.Sleep(SleepMS);
} }
//写模式 //写模式
PUSIResult result; PUSIResult result;
...@@ -628,36 +628,69 @@ namespace PUSICANLibrary ...@@ -628,36 +628,69 @@ namespace PUSICANLibrary
result = PUSICANControl.WriteSDO(nodeid, CAN_Address.RelativeMove, (speed)); result = PUSICANControl.WriteSDO(nodeid, CAN_Address.RelativeMove, (speed));
return CheckWriteResult(result, " node [" + nodeid + "] CAN_Address.RelativeMove"); return CheckWriteResult(result, " node [" + nodeid + "] CAN_Address.RelativeMove");
} }
///// <summary>
///// 原点返回
///// </summary>
//public static bool HomeMove(uint nodeid, int speed)
//{
// //写模式
// PUSIResult result;
// PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveType, 1);
// if (speed < 0)
// {
// PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveDirection, 1);
// }
// else
// {
// PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveDirection, 0);
// }
// SetMaxSpeed(nodeid, speed);
// result = PUSICANControl.WriteSDO(nodeid, CAN_Address.RelativeMove, Math.Abs(speed));
// return CheckWriteResult(result, " node [" + nodeid + "] CAN_Address.RelativeMove");
//}
/// <summary> /// <summary>
/// 原点返回 /// 原点返回 ,旋转轴原点返回使用的方法
/// </summary> /// </summary>
public static bool HomeMove(uint nodeid, int speed) public static bool HomeMove(uint nodeid,bool isLineSlv=false,int speed=0 )
{ {
//写模式 //如果是调宽电机回原点，已经回过原点，需要反向走2000
PUSIResult result; if (isLineSlv && IsEXT2High(nodeid))
PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveType, 1);
if (speed < 0)
{ {
PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveDirection, 1); LogUtil.info("HomeMove[" + nodeid + "],EXT2IsHigh,先相对走-1000");
RelMove(nodeid, -1000);
//相对走1000超时时间10秒
int count = 0;
while (true)
{
Thread.Sleep(200);
count++;
if (IsBusy(nodeid))
{
if (count >= 25)
{
LogUtil.info("HomeMove[" + nodeid + "],EXT2IsHigh,先相对走-1000，超时5秒结算");
StopMove(nodeid);
break;
}
} }
else else
{ {
PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveDirection, 0); LogUtil.info("HomeMove[" + nodeid + "],EXT2IsHigh,先相对走-1000，相对走-1000结束");
break;
} }
SetMaxSpeed(nodeid, speed);
result = PUSICANControl.WriteSDO(nodeid, CAN_Address.RelativeMove, Math.Abs(speed));
return CheckWriteResult(result, " node [" + nodeid + "] CAN_Address.RelativeMove");
} }
/// <summary> Thread.Sleep(SleepMS);
/// 原点返回 ,旋转轴原点返回使用的方法 }
/// </summary> if (speed.Equals(0))
public static bool HomeMove(uint nodeid,bool isLineSlv=false )
{ {
int speed = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_HomeSpeed, nodeid.ToString()); speed = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_HomeSpeed, nodeid.ToString());
if (isLineSlv) if (isLineSlv)
{ {
speed = ConfigAppSettings.GetIntValue(Setting_Init.Line_HomeSpeed, nodeid.ToString()); speed = ConfigAppSettings.GetIntValue(Setting_Init.Line_HomeSpeed, nodeid.ToString());
} }
}
//写模式 //写模式
PUSIResult result; PUSIResult result;
PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveType, 1); PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveType, 1);
...@@ -679,7 +712,7 @@ namespace PUSICANLibrary ...@@ -679,7 +712,7 @@ namespace PUSICANLibrary
/// </summary> /// </summary>
/// <param name="nodeId"></param> /// <param name="nodeId"></param>
/// <returns></returns> /// <returns></returns>
public static bool CheckStop2IsHigh(uint nodeId) public static bool IsStop2High(uint nodeId)
{ {
//判断 外部停止2=1 //判断 外部停止2=1
int value = 0; int value = 0;
...@@ -697,6 +730,25 @@ namespace PUSICANLibrary ...@@ -697,6 +730,25 @@ namespace PUSICANLibrary
} }
} return false; } return false;
} }
public static bool IsBusy(uint nodeId)
{
//判断 外部停止2=1
int value = 0;
//获取状态
if (PUSIResult.RET_SUCCESS == PUSICANControl.ReadSDO(nodeId, CAN_Address.ControlStatus, out value))
{
string stop2Str = Convert.ToString(value, 2).PadLeft(5, '0').Substring(1, 1);
if (stop2Str.Equals("1"))
{
return true;
}
else
{
return false;
}
}
return false;
}
public static void ClearStatus(uint nodeId) public static void ClearStatus(uint nodeId)
{ {
//清理驱动器状态 //清理驱动器状态
...@@ -707,7 +759,7 @@ namespace PUSICANLibrary ...@@ -707,7 +759,7 @@ namespace PUSICANLibrary
//清理驱动器状态 //清理驱动器状态
PUSIResult result = PUSICANControl.WriteSDO(nodeId, CAN_Address.ControlStatus, 1); PUSIResult result = PUSICANControl.WriteSDO(nodeId, CAN_Address.ControlStatus, 1);
Thread.Sleep(100); Thread.Sleep(SleepMS);
//重置位置 //重置位置
SetPosition(nodeId, 0); SetPosition(nodeId, 0);
...@@ -838,7 +890,7 @@ namespace PUSICANLibrary ...@@ -838,7 +890,7 @@ namespace PUSICANLibrary
Thread.Sleep(10); Thread.Sleep(10);
//设置为位置模式 //设置为位置模式
PUSICANControl.WriteSDO(node, CAN_Address.MoveType, movetype); PUSICANControl.WriteSDO(node, CAN_Address.MoveType, movetype);
Thread.Sleep(100); Thread.Sleep(SleepMS);
PUSICANControl.SetSpeed(node,isLineSlv); PUSICANControl.SetSpeed(node,isLineSlv);
Thread.Sleep(10); Thread.Sleep(10);
//所有轴走到待机点 //所有轴走到待机点
...@@ -965,6 +1017,38 @@ namespace PUSICANLibrary ...@@ -965,6 +1017,38 @@ namespace PUSICANLibrary
return list; return list;
} }
public static bool IsEXT2High(uint nodeId)
{
//判断 外部停止2=1
int value = 0;
//获取状态
if (PUSIResult.RET_SUCCESS == PUSICANControl.ReadSDO(nodeId, CAN_Address.GPIO_Value, out value))
{
string ext2 = Convert.ToString(value, 2).PadLeft(12, '0').Substring(4, 1);
if (ext2.Equals("0"))
{
return true;
}
else
{
return false;
}
}
return false;
}
public static string GetGPIO(uint nodeId)
{
//判断 外部停止2=1
int value = 0;
//获取状态
if (PUSIResult.RET_SUCCESS == PUSICANControl.ReadSDO(nodeId, CAN_Address.GPIO_Value, out value))
{
string ext2 = Convert.ToString(value, 2).PadLeft(12, '0').ToString();
string ext2v = Convert.ToString(value, 2).PadLeft(12, '0').Substring(4, 1);
return " [P8,ETC2,ETC1,EXT2,EXT1,P7,P6,P5,P4,P3,P2,P1]=[" + ext2+"],EXT2="+ ext2v;
}
return "";
}
} }
} }
TSA-V/Program.cs
...@@ -53,7 +53,7 @@ namespace TSA_V ...@@ -53,7 +53,7 @@ namespace TSA_V
//DatumPoint datumPoint = new DatumPoint("YR1", "1", 2, 61.309f, 133.04f, "CRD", 0, 0); //DatumPoint datumPoint = new DatumPoint("YR1", "1", 2, 61.309f, 133.04f, "CRD", 0, 0);
//LearningControl.TrainModel(); //LearningControl.TrainModel();
//datumPoint = LearningControl.TestData(datumPoint); //datumPoint = LearningControl.TestData(datumPoint);
string ext2v = "111101111111".Substring(4, 1);
try try
{ {
......
TSA-V/deviceDebug/FrmPusicanTest.Designer.cs
...@@ -98,18 +98,21 @@ ...@@ -98,18 +98,21 @@
// //
// lblControlStatus // lblControlStatus
// //
this.lblControlStatus.AutoSize = true; this.lblControlStatus.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.lblControlStatus.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lblControlStatus.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblControlStatus.ForeColor = System.Drawing.Color.Red; this.lblControlStatus.ForeColor = System.Drawing.Color.Red;
this.lblControlStatus.Location = new System.Drawing.Point(33, 480); this.lblControlStatus.Location = new System.Drawing.Point(6, 170);
this.lblControlStatus.Name = "lblControlStatus"; this.lblControlStatus.Name = "lblControlStatus";
this.lblControlStatus.Size = new System.Drawing.Size(0, 20); this.lblControlStatus.Size = new System.Drawing.Size(703, 52);
this.lblControlStatus.TabIndex = 52; this.lblControlStatus.TabIndex = 52;
this.lblControlStatus.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
this.lblControlStatus.Click += new System.EventHandler(this.lblControlStatus_Click);
// //
// btnBack // btnBack
// //
this.btnBack.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnBack.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnBack.Location = new System.Drawing.Point(564, 526); this.btnBack.Location = new System.Drawing.Point(564, 579);
this.btnBack.Name = "btnBack"; this.btnBack.Name = "btnBack";
this.btnBack.Size = new System.Drawing.Size(136, 45); this.btnBack.Size = new System.Drawing.Size(136, 45);
this.btnBack.TabIndex = 6; this.btnBack.TabIndex = 6;
...@@ -138,7 +141,7 @@ ...@@ -138,7 +141,7 @@
this.groupBox2.Controls.Add(this.label18); this.groupBox2.Controls.Add(this.label18);
this.groupBox2.Controls.Add(this.nudDelSpeed); this.groupBox2.Controls.Add(this.nudDelSpeed);
this.groupBox2.Controls.Add(this.btnReadAll); this.groupBox2.Controls.Add(this.btnReadAll);
this.groupBox2.Location = new System.Drawing.Point(14, 154); this.groupBox2.Location = new System.Drawing.Point(14, 155);
this.groupBox2.Name = "groupBox2"; this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(716, 171); this.groupBox2.Size = new System.Drawing.Size(716, 171);
this.groupBox2.TabIndex = 35; this.groupBox2.TabIndex = 35;
...@@ -506,6 +509,7 @@ ...@@ -506,6 +509,7 @@
// //
// groupBox5 // groupBox5
// //
this.groupBox5.Controls.Add(this.lblControlStatus);
this.groupBox5.Controls.Add(this.txtHomeMoveSpeed); this.groupBox5.Controls.Add(this.txtHomeMoveSpeed);
this.groupBox5.Controls.Add(this.label2); this.groupBox5.Controls.Add(this.label2);
this.groupBox5.Controls.Add(this.btnHomeMove); this.groupBox5.Controls.Add(this.btnHomeMove);
...@@ -517,9 +521,9 @@ ...@@ -517,9 +521,9 @@
this.groupBox5.Controls.Add(this.btnGetStatus); this.groupBox5.Controls.Add(this.btnGetStatus);
this.groupBox5.Controls.Add(this.btnClearStatus); this.groupBox5.Controls.Add(this.btnClearStatus);
this.groupBox5.Controls.Add(this.label20); this.groupBox5.Controls.Add(this.label20);
this.groupBox5.Location = new System.Drawing.Point(14, 330); this.groupBox5.Location = new System.Drawing.Point(14, 333);
this.groupBox5.Name = "groupBox5"; this.groupBox5.Name = "groupBox5";
this.groupBox5.Size = new System.Drawing.Size(716, 178); this.groupBox5.Size = new System.Drawing.Size(716, 232);
this.groupBox5.TabIndex = 33; this.groupBox5.TabIndex = 33;
this.groupBox5.TabStop = false; this.groupBox5.TabStop = false;
this.groupBox5.Text = "运动测试"; this.groupBox5.Text = "运动测试";
...@@ -689,8 +693,7 @@ ...@@ -689,8 +693,7 @@
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F); this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(752, 589); this.ClientSize = new System.Drawing.Size(752, 636);
this.Controls.Add(this.lblControlStatus);
this.Controls.Add(this.btnBack); this.Controls.Add(this.btnBack);
this.Controls.Add(this.groupBox2); this.Controls.Add(this.groupBox2);
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
...@@ -720,7 +723,6 @@ ...@@ -720,7 +723,6 @@
this.groupBox5.ResumeLayout(false); this.groupBox5.ResumeLayout(false);
this.groupBox5.PerformLayout(); this.groupBox5.PerformLayout();
this.ResumeLayout(false); this.ResumeLayout(false);
this.PerformLayout();
} }
......
TSA-V/deviceDebug/FrmPusicanTest.cs
...@@ -164,6 +164,7 @@ namespace TSA_V ...@@ -164,6 +164,7 @@ namespace TSA_V
lblControlStatus.Text = ("status：stop 3:[" + str.Substring(0, 1) + "],busy:[" + str.Substring(1, 1) + "],Locked-rotor state:[" lblControlStatus.Text = ("status：stop 3:[" + str.Substring(0, 1) + "],busy:[" + str.Substring(1, 1) + "],Locked-rotor state:["
+ str.Substring(2, 1) + "],stop 2:[" + str.Substring(3, 1) + "],stop 1:[" + str.Substring(4, 1) + "]"); + str.Substring(2, 1) + "],stop 2:[" + str.Substring(3, 1) + "],stop 1:[" + str.Substring(4, 1) + "]");
} }
lblControlStatus.Text += PUSICANControl.GetGPIO(nodeid);
} }
private void btnClearStatus_Click(object sender, EventArgs e) private void btnClearStatus_Click(object sender, EventArgs e)
...@@ -238,8 +239,16 @@ namespace TSA_V ...@@ -238,8 +239,16 @@ namespace TSA_V
private void btnHomeMove_Click(object sender, EventArgs e) private void btnHomeMove_Click(object sender, EventArgs e)
{ {
uint nodeid = GetSelectNode(); uint nodeid = GetSelectNode();
if (nodeid.Equals(LWidthManager.Line_NodeAddr))
{
int homeSpeed = FormUtil.GetIntValue(txtHomeMoveSpeed);
PUSICANControl.HomeMove(nodeid, true, homeSpeed);
}
else
{
int homeSpeed = FormUtil.GetIntValue(txtHomeMoveSpeed); int homeSpeed = FormUtil.GetIntValue(txtHomeMoveSpeed);
PUSICANControl.HomeMove(nodeid, homeSpeed); PUSICANControl.HomeMove(nodeid,false, homeSpeed);
}
} }
private void llblClearp_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e) private void llblClearp_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
...@@ -247,6 +256,11 @@ namespace TSA_V ...@@ -247,6 +256,11 @@ namespace TSA_V
uint nodeid = GetSelectNode(); uint nodeid = GetSelectNode();
PUSICANControl.SetPosition(nodeid, 0); PUSICANControl.SetPosition(nodeid, 0);
} }
private void lblControlStatus_Click(object sender, EventArgs e)
{
}
} }
} }
TSA-V/workForm/FrmTSAV.cs
...@@ -308,7 +308,7 @@ namespace TSA_V ...@@ -308,7 +308,7 @@ namespace TSA_V
this.timer.Enabled = false; this.timer.Enabled = false;
this.timerShowForm.Enabled = false; this.timerShowForm.Enabled = false;
if (TSAVBean.Status > TSAVStatus.Wait) if (TSAVBean.Status > TSAVStatus.Reset)
{ {
TSAVBean.StopWork(); TSAVBean.StopWork();
} }
...@@ -677,15 +677,15 @@ namespace TSA_V ...@@ -677,15 +677,15 @@ namespace TSA_V
private void btnStop_Click(object sender, EventArgs e) private void btnStop_Click(object sender, EventArgs e)
{ {
Task.Factory.StartNew(delegate //Task.Factory.StartNew(delegate
{ //{
if (TSAVBean.Status > TSAVStatus.Wait) // if (TSAVBean.Status > TSAVStatus.Reset)
{ // {
TSAVBean.StopWork(); // TSAVBean.StopWork();
} // }
//OpInfo op = OpInfo.GetOpInfo(BoardManager.CurrBoard); // //OpInfo op = OpInfo.GetOpInfo(BoardManager.CurrBoard);
//bool result = DB.db.AddHistory(op, out int id); // //bool result = DB.db.AddHistory(op, out int id);
}); //});
this.Close(); this.Close();
} }
......
TSA-V/记录.txt
...@@ -83,3 +83,8 @@ SmartWorkstation.exe.config文件需要增加参数： ...@@ -83,3 +83,8 @@ SmartWorkstation.exe.config文件需要增加参数：
</dependentAssembly> </dependentAssembly>
20210429 修改问题：
1.调宽电机速度混乱
2.增加通用IO端口值判断，调宽电机原点返回时如果已在原点，先相对走-1000.
3.原点返回过程中，工作界面点结束会卡死
4.主界面增加设备状态显示。
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