AxisBean.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class AxisBean
{
public ConfigMoveAxis Config = null;
public static int TimeoutInterval = 500;
/// <summary>
/// 正常工作过程中判断位置是否到达时使用
/// </summary>
public int LastPosition = 0;
public string AxisName;
public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
{
this.Config = axisConfig;
AxisName = deviceName + " " + Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
}
private bool IsIntSlvBlock = false;
public bool Open(bool isCheck, out string Msg)
{
Msg = "";
string portName = Config.DeviceName;
short slvAddr = Config.GetAxisValue();
//打开所有轴
AxisManager.instance.OpenPort(Config.DeviceName);
Thread.Sleep(50);
//初始化
if (!IsIntSlvBlock)
{
AxisManager.instance.InitSlvAddr(portName, slvAddr, Config.TargetSpeed, Config.AddSpeed, Config.DelSpeed);
Thread.Sleep(100);
}
AxisManager.instance.AlarmClear(portName, slvAddr);
Thread.Sleep(50);
AxisManager.instance.ServoOn(portName, slvAddr);
Thread.Sleep(1000);
//打开所有轴
if (isCheck)
{
if (!OpenAxis(out Msg))
{
return false;
}
}
IsIntSlvBlock = true;
return true;
}
/// <summary>
/// 打开所有轴
/// </summary>
/// <returns></returns>
private bool OpenAxis(out string msg)
{
msg = "";
//判断轴是否正常
string portName = Config.DeviceName;
short slvAddr = Config.GetAxisValue();
if (AxisManager.instance.IsServeoOn(portName, slvAddr))
{
LogUtil.info(AxisName + "成功打开");
}
else
{
//清理报警，再重新打开一次
LogUtil.info(AxisName + "第一次打开失败，先清理一下报警，再重新打开一次");
AxisManager.instance.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
AxisManager.instance.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (AxisManager.instance.IsServeoOn(portName, slvAddr))
{
LogUtil.info(AxisName + "清理报警后重新打卡轴成功：" + Config.Explain);
}
else
{
AxisManager.instance.ServoOff(portName, slvAddr);
msg = "打开轴" + Config.Explain + "失败 ";
LogUtil.info(AxisName + msg);
return false;
}
}
return true;
}
public void ServoOff()
{
LogUtil.info("ServoOff【" + AxisName + "】");
AxisManager.instance.ServoOff(Config.DeviceName, Config.GetAxisValue());
}
public void HomeMove(LineMoveInfo MoveInfo)
{
Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
AxisManager.instance.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed,Config.HomeLowSpeed,Config.HomeAddSpeed);
}
/// <summary>
/// 松下伺服电机运动
/// </summary>
public void AbsMove(LineMoveInfo MoveInfo, int targetPosition, int targetSpeed)
{
if (MoveInfo == null)
{
AbsMove(targetPosition, targetSpeed);
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition;
AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed,Config.AddSpeed,Config.DelSpeed);
}
}
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
public static bool ACAxisMoveIsEnd(LineMoveInfo MoveInfo, ConfigMoveAxis axis, int targetPosition, int targetSpeed, out string msg)
{
msg = "";
string deviceName = axis.DeviceName;
short axisNo = axis.GetAxisValue();
bool isOk = AxisManager.instance.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
if (isOk)
{
if (errorCount <= axis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
string clearMsg = "";
//判断轴是否报警
if (MoveInfo.CanWhileCount <= 3)
{
int isAlarm = AxisManager.instance.GetAlarmStatus(deviceName, axisNo);
if (isAlarm.Equals(1))
{
clearMsg = "清理报警，";
AxisManager.instance.AlarmClear(deviceName, axisNo);
Thread.Sleep(200);
AxisManager.instance.ServoOn(deviceName, axisNo);
Thread.Sleep(500);
}
}
if (String.IsNullOrEmpty(clearMsg))
{
AxisManager.instance.SuddenStop(axis.DeviceName, axis.GetAxisValue());
Thread.Sleep(100);
}
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，"+clearMsg+"重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
AxisManager.instance.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, axis.AddSpeed, axis.DelSpeed);
MoveInfo.CanWhileCount--;
Thread.Sleep(200);
}
else
{
msg = " " + MoveInfo.SLog + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount
+ "]，误差过大，需要报警";
LogUtil.error(msg, 600);
}
}
return false;
}
public static bool HomeMoveIsEnd(LineMoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
{
msg = "";
if (AxisManager.instance.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = AxisManager.instance.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
int errorCount = Math.Abs(outCount);
if (errorCount <= axis.CanErrorCountMax)
{
return true;
}
//判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0)
{
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
//LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点");
AxisManager.instance.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed,axis.HomeLowSpeed,axis.HomeAddSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg =MoveInfo.Name+ " " + MoveInfo.SLog + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg);
}
}
return false;
}
public int GetAclPosition()
{
int p = AxisManager.instance.GetActualtPosition(Config.DeviceName,Config.GetAxisValue());
return p;
}
public bool IsInPosition(int targetP)
{
int currp = GetAclPosition();
int chaz = targetP - currp;
if (Math.Abs(chaz) < Config.CanErrorCountMax)
{
return true;
}
return false;
}
/// <summary>
/// 绝对运动至点，不等待结果
/// </summary>
private void AbsMove(int targetPos, double targetSpeed)
{
if (targetPos.Equals(-1))
{
return;
}
LastPosition = -1;
if (targetSpeed > (Config.TargetSpeed * 10) || targetSpeed <= 0)
{
targetSpeed = Config.TargetSpeed;
}
//小于1，表示是目标速度的百分比
else if (targetSpeed <= 1)
{
targetSpeed = Config.TargetSpeed * targetSpeed;
}
AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, Config.AddSpeed, Config.DelSpeed);
}
public void SuddenStop()
{
AxisManager.instance.SuddenStop(Config.DeviceName, Config.GetAxisValue());
}
}
}