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Commit 35d3b1e9 由 LN
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增加伺服力矩代码。配置修改

1 个父辈 6204a70b
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正在显示 16 个修改的文件 包含 174 行增加 和 34 行删除
source/AssemblyLineClient/FrmLineStore.cs
...@@ -633,7 +633,7 @@ namespace OnlineStore.AssemblyLine ...@@ -633,7 +633,7 @@ namespace OnlineStore.AssemblyLine
} }
LogUtil.info("-------------------结束打印托盘信息"); LogUtil.info("-------------------结束打印托盘信息");
msg += "-------------------结束打印托盘信息"; msg += "-------------------结束打印托盘信息";
MessageBox.Show(msg, "托盘信息列表"); MessageBox.Show(msg, "托盘信息列表---------");
} }
......
source/AssemblyLineClient/useControl/AxisMoveControl.cs
...@@ -329,8 +329,11 @@ namespace OnlineStore.AssemblyLine ...@@ -329,8 +329,11 @@ namespace OnlineStore.AssemblyLine
string homesstr = HCBoardManager.AxisHomeSts(value); string homesstr = HCBoardManager.AxisHomeSts(value);
lblhomeSts.Text = homesstr; lblhomeSts.Text = homesstr;
lblAxisType.Text = HCBoardManager.GetAxType(axisNo); lblAxisType.Text = HCBoardManager.GetAxType(axisNo);
//lblCountPulse.Text = AxisManager.instance.GetActualtPosition(PortName, SlvAddr).ToString();
//lblPosLmt.Text = HCBoardManager.GetEcatAxPosTorqLmt(axisNo).ToString();
//lblNegLmt.Text = HCBoardManager.GetEcatAxNegTorqLmt(axisNo).ToString();
//lblMaxLmt.Text = HCBoardManager.GetEcatAxMaxTorqLmt(axisNo).ToString();
} }
private void ShowlbSts(Label lbl, int value, bool isAlarm = false) private void ShowlbSts(Label lbl, int value, bool isAlarm = false)
{ {
......
source/AssemblyLineClient/useControl/EquipControl.cs
...@@ -123,7 +123,7 @@ namespace OnlineStore.AssemblyLine ...@@ -123,7 +123,7 @@ namespace OnlineStore.AssemblyLine
{ {
lblBox.Text = "BOX[" + box.CId.ToString() + "]：" + online + " " + box.ToShowStr(); lblBox.Text = "BOX[" + box.CId.ToString() + "]：" + online + " " + box.ToShowStr();
if (box.SRunStatus.Equals(LineRunStatus.Busy)) if (box.SRunStatus.Equals((int)LineRunStatus.Busy))
{ {
lblBox.BackColor = Color.LightGreen; lblBox.BackColor = Color.LightGreen;
} }
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,11,HC,,3000,10000,15000,500,4000,15000,1 ...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,11,HC,,3000,10000,15000,500,4000,15000,1
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61500,, PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61500,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-300,, PRO,0,提升上料轴下降位置P2,BatchAxisP2,-300,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,55030,, PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,55030,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,, PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,, PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,, PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,, PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,, ,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,13,HC,,3000,10000,15000,500,4000,15000,1 ...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,13,HC,,3000,10000,15000,500,4000,15000,1
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61400,, PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61400,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-1100,, PRO,0,提升上料轴下降位置P2,BatchAxisP2,-1100,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,56100,, PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,56100,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,, PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,, PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,, PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,, PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,, ,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,9,HC,,3000,10000,15000,500,4000,15000,10 ...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,9,HC,,3000,10000,15000,500,4000,15000,10
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61100,, PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61100,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-800,, PRO,0,提升上料轴下降位置P2,BatchAxisP2,-800,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,54800,, PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,54800,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,, PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,, PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,, PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,, PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,, ,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位 类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,, PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,
PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1,, PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,, PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,
PRO,0,对应的横移模块,SidesWayNum,20,, PRO,0,对应的横移模块,SidesWayNum,20,,
...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,5,HC,,3000,10000,15000,500,4000,15000,10 ...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,5,HC,,3000,10000,15000,500,4000,15000,10
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,62400,, PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,62400,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-1400,, PRO,0,提升上料轴下降位置P2,BatchAxisP2,-1400,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,53370,, PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,53370,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,, PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,, PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,, PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,, PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,, ,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_5.csv
...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,3,HC,,3000,10000,15000,500,4000,15000,10 ...@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,3,HC,,3000,10000,15000,500,4000,15000,10
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61730,, PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61730,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-730,, PRO,0,提升上料轴下降位置P2,BatchAxisP2,-730,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,55300,, PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,55300,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,, PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,, PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,, PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,, PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,, ,,,,,,
......
source/DeviceLibrary/LineConfig/HY/Config_HYEquip_18.csv 0 → 100644
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,
PRO,0,是否使用伺服,UpDownUseAxis,0,,
,,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,100,HC,,3000,4000,4000,1000,5000,10000,10,100,0,0
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,-11000,,
PRO,0,移栽上下轴托盘取料点P2,UpDownP2List,0=80000;12=141200;16=130000;24=110000;32=98000;44=76000;48=73700;56=61000;8=150000,,
PRO,0,移栽上下轴接驳台放料点P3,UpDownP3List,0=90000;12=157500;16=150800;24=138200;32=116800;44=92500;48=90000;56=95000;8=160000,,
PRO,0,移栽上下轴托盘取料详细点P2,UpDownP2DetialList,0X0=8000;,,
PRO,0,移栽上下轴P1速度,UpdownAxis_P1Speed,400,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,300,,
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,
source/DeviceLibrary/LineConfig/TrayList.data
{"TrayNum":134,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-18T12:56:32.4080663+08:00","InoutPar":{"WareCode":"","PosId":"3D0112AA0009","TrayNumber":134,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B108","rfidLoc":0}} 
{"TrayNum":101,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:08:04.5573223+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":101,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":102,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:10:17.8049436+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":102,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":103,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:10:05.6152464+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":103,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":104,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:11:45.438956+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":104,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":106,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:08:41.7064471+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":106,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":107,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:06:22.2134686+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":107,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":109,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:19:23.5651593+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":109,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":110,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:12:06.0661358+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":110,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":112,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:10:59.2953167+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":112,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":113,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-19T15:27:39.5954771+08:00","InoutPar":{"WareCode":"R202882018030701395","PosId":"3D0221AA0002","TrayNumber":113,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B110","rfidLoc":0}}
{"TrayNum":114,"IsFull":true,"InOrOutStore":2,"ShowMsg":"","LastUpdateTime":"2020-12-19T13:27:48.8641908+08:00","InoutPar":{"WareCode":"R201882017111700070","PosId":"3D0111AA0008","TrayNumber":114,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":true,"rfid":"-0B","rfidLoc":-1}}
{"TrayNum":115,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-18T11:26:16.725307+08:00","InoutPar":{"WareCode":"","PosId":"3D0301AA0008","TrayNumber":115,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B108","rfidLoc":0}}
{"TrayNum":117,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-18T12:01:48.1502175+08:00","InoutPar":{"WareCode":"","PosId":"3D0401AA0013","TrayNumber":117,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B102","rfidLoc":0}}
{"TrayNum":118,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:07:15.5665202+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":118,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":125,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:19:44.1493367+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":125,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":127,"IsFull":true,"InOrOutStore":2,"ShowMsg":"","LastUpdateTime":"2020-12-19T15:18:18.3853777+08:00","InoutPar":{"WareCode":"","PosId":"3D0212AA0014","TrayNumber":127,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":129,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:12:52.5137925+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":129,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":130,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:09:27.232051+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":130,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
\ No newline at end of file \ No newline at end of file
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
...@@ -300,6 +300,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -300,6 +300,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(LineMoveStep.FO_06_WaitTime)) else if (MoveInfo.IsStep(LineMoveStep.FO_06_WaitTime))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FO_06_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(20000));
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{ {
ReadShelfId(); ReadShelfId();
......
source/DeviceLibrary/assemblyLine/LineBean.cs
...@@ -244,11 +244,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -244,11 +244,15 @@ namespace OnlineStore.DeviceLibrary
{ {
moveEquip.OpenStopBlock(); moveEquip.OpenStopBlock();
} }
else else if(moveEquip.runStatus.Equals(LineRunStatus.Wait))
{ {
bool result = moveEquip.StartRun(); bool result = moveEquip.StartRun();
Thread.Sleep(60); Thread.Sleep(60);
} }
else
{
LogUtil.info(Name + " EquipStartRun：" + moveEquip.Name+" 已启动，不需要重复启动");
}
} }
private void RHomeOp() private void RHomeOp()
{ {
......
source/HuichuanLibrary/HCBoardManager_Axis.cs
...@@ -612,6 +612,98 @@ namespace HuichuanLibrary ...@@ -612,6 +612,98 @@ namespace HuichuanLibrary
return res; return res;
} }
public static short GetEcatAxPosTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxPosTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxPosTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxPosTorqLmt(short axisNo,short value)
{
if (!CardInitOk())
{
return false ;
}
UInt32 ret = ImcApi.IMC_SetEcatAxPosTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "]["+ value + "] SetEcatAxPosTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false ;
}
return true ;
}
public static short GetEcatAxNegTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxNegTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxNegTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxNegTorqLmt(short axisNo, short value)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_SetEcatAxNegTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "][" + value + "] SetEcatAxNegTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetEcatAxMaxTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxMaxTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxMaxTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxMaxTorqLmt(short axisNo, short value)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_SetEcatAxMaxTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "][" + value + "] SetEcatAxMaxTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
#endregion #endregion
#region 轴状态 #region 轴状态
......
source/HuichuanLibrary/HuichuanLibrary.csproj
...@@ -62,6 +62,24 @@ ...@@ -62,6 +62,24 @@
<Content Include="device_config.xml"> <Content Include="device_config.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory> <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content> </Content>
<Content Include="huichuan\x64\IMC_API_x64.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x64\msvcr100.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x64\msvcr100d.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x86\IMC_API_x86.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x86\msvcr100.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x86\msvcr100d.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x64\IMC_API_x64.dll"> <Content Include="huichuan_x64\IMC_API_x64.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory> <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content> </Content>
...@@ -99,5 +117,15 @@ ...@@ -99,5 +117,15 @@
<DependentUpon>FrmHuiChuanTest.cs</DependentUpon> <DependentUpon>FrmHuiChuanTest.cs</DependentUpon>
</EmbeddedResource> </EmbeddedResource>
</ItemGroup> </ItemGroup>
<ItemGroup>
<Content Include="huichuan\x86\IMC_API_x86.lib">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<ItemGroup>
<Content Include="huichuan\x64\IMC_API_x64.lib">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project> </Project>
\ No newline at end of file \ No newline at end of file
source/HuichuanLibrary/ImcApi.cs
...@@ -1287,6 +1287,22 @@ namespace HuichuanLibrary ...@@ -1287,6 +1287,22 @@ namespace HuichuanLibrary
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)] [DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_FinishAxTorqHoming(HANDLETYPE cardHandle, Int16 axNo); public static extern UInt32 IMC_FinishAxTorqHoming(HANDLETYPE cardHandle, Int16 axNo);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_SetEcatAxPosTorqLmt(HANDLETYPE cardHandle, Int16 axNo, Int16 posTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetEcatAxPosTorqLmt(HANDLETYPE cardHandle, Int16 axNo, ref Int16 pPosTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_SetEcatAxNegTorqLmt(HANDLETYPE cardHandle, Int16 axNo, Int16 negTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetEcatAxNegTorqLmt(HANDLETYPE cardHandle, Int16 axNo, ref Int16 pNegTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_SetEcatAxMaxTorqLmt(HANDLETYPE cardHandle, Int16 axNo, Int16 maxTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetEcatAxMaxTorqLmt(HANDLETYPE cardHandle, Int16 axNo, ref Int16 pMaxTorqLmt);
///*==========================================================================*/ ///*==========================================================================*/
///*----5 数据采集接口 ---*/ ///*----5 数据采集接口 ---*/
///*==========================================================================*/ ///*==========================================================================*/
......
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