Skip to content

李娜 / SO908-XLRStore

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 850a2f8d 由 张东亮
选项

保存出入库关键节点图片

1 个父辈 b943a359
内嵌 并排
正在显示 16 个修改的文件 包含 174 行增加 和 33 行删除
source/DeviceLibrary/baan/AxisBean.cs
...@@ -149,11 +149,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -149,11 +149,11 @@ namespace OnlineStore.DeviceLibrary
int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo); int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo); int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition); int errorCount = Math.Abs(outCount - targetPosition);
string state = AxisManager.instance.GetStatus(deviceName, axisNo);
//实时打印轴状态
LogUtil.info($" {MoveInfo.SLog}{MoveInfo.Name}{axis.DisplayStr},目标位置[{targetPosition}]当前位置[{outCount}]规划位置[{targetCount}]轴状态[{state}]");
if (isOk) if (isOk)
{ {
string state = AxisManager.instance.GetStatus(deviceName, axisNo);
//打印轴状态
LogUtil.info($" {MoveInfo.SLog}{MoveInfo.Name}{axis.DisplayStr},目标位置[{targetPosition}]当前位置[{outCount}]规划位置[{targetCount}]轴状态[{state}]");
if (errorCount <= axis.CanErrorCountMax) if (errorCount <= axis.CanErrorCountMax)
{ {
return true; return true;
...@@ -241,6 +241,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -241,6 +241,23 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
/// <summary>
/// 运动过程中轴状态打印
/// </summary>
public static bool ACAxisStsInMove(DeviceMoveInfo 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) && AxisManager.instance.GetInPositionSingle(deviceName, axisNo).Equals(1);
int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo);
string state = AxisManager.instance.GetStatus(deviceName, axisNo);
//实时打印轴状态
LogUtil.LOGGER.Debug($" 轴实时状态打印：{MoveInfo.SLog}{MoveInfo.Name}{axis.DisplayStr},目标位置[{targetPosition}]当前位置[{outCount}]规划位置[{targetCount}]轴状态[{state}]");
return false;
}
public int GetAclPosition() public int GetAclPosition()
{ {
int p = AxisManager.instance.GetActualtPosition(Config.DeviceName, Config.GetAxisValue()); int p = AxisManager.instance.GetActualtPosition(Config.DeviceName, Config.GetAxisValue());
......
source/DeviceLibrary/huichuan_config/errorcode.h
...@@ -4,6 +4,7 @@ ...@@ -4,6 +4,7 @@
#define ERR_TRANSMIT (0x0001) // 指令传输错误 #define ERR_TRANSMIT (0x0001) // 指令传输错误
#define ERR_UNKNOWN (0x0002) // 不支持的指令 #define ERR_UNKNOWN (0x0002) // 不支持的指令
#define ERR_PARSE (0x0003) // 指令解析错误 #define ERR_PARSE (0x0003) // 指令解析错误
#define ERR_PARAM_OUTRANG (0x0007) // 传入参数不在范围
#define ERR_BGVEL_OUTRANG (0x0010) // 起始速度设置超出范围 #define ERR_BGVEL_OUTRANG (0x0010) // 起始速度设置超出范围
#define ERR_MAXVEL_OUTRANG (0x0011) // 最大速度设置超出范围 #define ERR_MAXVEL_OUTRANG (0x0011) // 最大速度设置超出范围
...@@ -268,6 +269,7 @@ ...@@ -268,6 +269,7 @@
#define ERR_MAX_TORQ_LMT_PDO_NO_CFG (0x011c) // ECAT伺服中的最大转矩限制设置对象未配置 #define ERR_MAX_TORQ_LMT_PDO_NO_CFG (0x011c) // ECAT伺服中的最大转矩限制设置对象未配置
#define ERR_MPG_NOT_CFG (0x011d) // ECAT的手轮模块没有配置对象 #define ERR_MPG_NOT_CFG (0x011d) // ECAT的手轮模块没有配置对象
#define ERR_MPG_NOT_ENABLE (0x011e) // ECAT的手轮模块没有使能 #define ERR_MPG_NOT_ENABLE (0x011e) // ECAT的手轮模块没有使能
#define ERR_AX_DO_CFG (0x011f) // ECAT轴的do输出没有配置
#define ERR_EVENT_IO_INTYPE (0x0120) // IO事件的输入类型错误 #define ERR_EVENT_IO_INTYPE (0x0120) // IO事件的输入类型错误
#define ERR_EVENT_IO_INPORT (0x0121) // IO事件的输入端口错误 #define ERR_EVENT_IO_INPORT (0x0121) // IO事件的输入端口错误
...@@ -343,6 +345,7 @@ ...@@ -343,6 +345,7 @@
#define ERR_ECAM_LIST_BUSY (0x025d) // 凸轮list被占用 #define ERR_ECAM_LIST_BUSY (0x025d) // 凸轮list被占用
#define ERR_ECAM_LIST_TABLE_DATA_FORMAT (0x025e) // 凸轮list模式中表格式错误 #define ERR_ECAM_LIST_TABLE_DATA_FORMAT (0x025e) // 凸轮list模式中表格式错误
#define ERR_AX_TYPE_DIFF (0x0270) // 轴类型不一致错误
//非标错误 //非标错误
#define ERR_READGCODE_DU (0x7000) // 重复检测 #define ERR_READGCODE_DU (0x7000) // 重复检测
...@@ -417,4 +420,6 @@ ...@@ -417,4 +420,6 @@
#define ERR_ARM_CMP_ENCRY_CHIP (0x901e) // 板卡权限验证不通过 #define ERR_ARM_CMP_ENCRY_CHIP (0x901e) // 板卡权限验证不通过
#define NO_ENCRY_CHIP (0x901f) // 板卡没有加密芯片 #define NO_ENCRY_CHIP (0x901f) // 板卡没有加密芯片
#define ERR_EEPROM_INFO (0x9020) // 板卡上板载信息有误 #define ERR_EEPROM_INFO (0x9020) // 板卡上板载信息有误
#define ERR_PDO_OBJ_NOT_SUPPORTED (0x9021) // 自由访问PDO对象不支持
#define ERR_STATION_NOT_ALLOWED (0x9022) // 自由访问PDO的站点不允许访问
#define ERR_ECAT_STS_NOT_OP_STS (0x9023) // 主站未处于OP状态
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Camera.cs
...@@ -96,13 +96,39 @@ namespace OnlineStore.DeviceLibrary ...@@ -96,13 +96,39 @@ namespace OnlineStore.DeviceLibrary
string imgPath = ConfigAppSettings.GetValue(Setting_Init.ImagePath); string imgPath = ConfigAppSettings.GetValue(Setting_Init.ImagePath);
public void SaveImage(string camName) public void SaveImage(string camName)
{ {
string path = Application.StartupPath + imgPath + camName + "\\" + DateTime.Now.ToString("yyyyMMdd"); try
if (AutoSaveImage)
{ {
if (!System.IO.Directory.Exists(path)) if (MoveInfo.MoveParam == null)
Directory.CreateDirectory(path); {
camera.SaveImage(camName, path, DateTime.Now.ToString("hhmmssfff"), System.Drawing.Imaging.ImageFormat.Bmp); string path = Application.StartupPath + imgPath + camName + "\\" + DateTime.Now.ToString("yyyyMMdd");
if (AutoSaveImage)
{
if (!System.IO.Directory.Exists(path))
Directory.CreateDirectory(path);
camera.SaveImage(camName, path, DateTime.Now.ToString("hhmmssfff"), System.Drawing.Imaging.ImageFormat.Bmp);
}
}
else
{
if (MoveInfo.MoveParam.PosInfo != null)
{
InOutPosInfo inOutPosInfo = MoveInfo.MoveParam.PosInfo;
string path = Application.StartupPath + imgPath + camName + "\\" + DateTime.Now.ToString("yyyyMMdd") + "\\" + inOutPosInfo.PosId;
if (AutoSaveImage)
{
if (!System.IO.Directory.Exists(path))
Directory.CreateDirectory(path);
camera.SaveImage(camName, path, $"{inOutPosInfo.barcode}-{MoveInfo.MoveType}-{DateTime.Now.ToString("hhmmssfff")}", System.Drawing.Imaging.ImageFormat.Bmp);
}
}
}
}
catch (Exception ex)
{
LogUtil.error($"保存{camName}图片失败", ex);
} }
} }
} }
public class CameraArgs : EventArgs public class CameraArgs : EventArgs
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -270,6 +270,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -270,6 +270,7 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout_To_P2_P4(); PullAxis_Inout_To_P2_P4();
CamDetectError = false; CamDetectError = false;
IgnoreCamDect = false; IgnoreCamDect = false;
SaveSpecifiedImage();
} }
break; break;
case StepEnum.SI_09_ToTray: case StepEnum.SI_09_ToTray:
...@@ -287,6 +288,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -287,6 +288,7 @@ namespace OnlineStore.DeviceLibrary
LogInfo($"入库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2(); PullAxis_UpdownToMiddleP2();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
SaveSpecifiedImage();
break; break;
case StepEnum.SI_12_DropTrayToPos: case StepEnum.SI_12_DropTrayToPos:
MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel); MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
...@@ -326,7 +328,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -326,7 +328,7 @@ namespace OnlineStore.DeviceLibrary
LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽旋转轴到水平点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽旋转轴到水平点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4(); PullAxis_Inout_To_P2_P4();
MiddleAxis_To_P2(); MiddleAxis_To_P2();
SaveSpecifiedImage();
//Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId)); //Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
//bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}"); //bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}");
//string res = rtn ? "OK" : "NG"; //string res = rtn ? "OK" : "NG";
...@@ -367,11 +369,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -367,11 +369,12 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack); MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam(); PullAxis_Inout_To_Cam();
SaveSpecifiedImage();
break; break;
case StepEnum.SI_19_InoutBack: case StepEnum.SI_19_InoutBack:
if (!CheckInStoreOtherSideInfo()) if (!CheckInStoreOtherSideInfo())
{ {
if(InDoorSigCheck()) if (InDoorSigCheck())
{ {
MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby); MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -69,6 +69,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -69,6 +69,7 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout_To_P2_P4(); PullAxis_Inout_To_P2_P4();
CamDetectError = false; CamDetectError = false;
IgnoreCamDect = false; IgnoreCamDect = false;
SaveSpecifiedImage();
} }
break; break;
case StepEnum.SO_03_ToTray: case StepEnum.SO_03_ToTray:
...@@ -86,6 +87,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -86,6 +87,7 @@ namespace OnlineStore.DeviceLibrary
LogInfo($"出库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：将抽屉降到库位提取点，料斗拉取升降轴到P2料屉提取水平点P2，到位后检测{trayRows[GetPosRow()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToMiddleP2(); PullAxis_UpdownToMiddleP2();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayRows[GetPosRow()], IO_VALUE.HIGH));
SaveSpecifiedImage();
break; break;
case StepEnum.SO_06_DropTrayToPos: case StepEnum.SO_06_DropTrayToPos:
MoveInfo.NextMoveStep(StepEnum.SO_07_GetReel); MoveInfo.NextMoveStep(StepEnum.SO_07_GetReel);
...@@ -125,7 +127,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -125,7 +127,6 @@ namespace OnlineStore.DeviceLibrary
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId)); //Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
PullAxis_Inout_To_P2_P4(); PullAxis_Inout_To_P2_P4();
SaveSpecifiedImage();
//bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}"); //bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}");
//string res = rtn ? "OK" : "NG"; //string res = rtn ? "OK" : "NG";
//LogInfo($"出库 {MoveInfo.SLog}：抓手检测结果:{res}"); //LogInfo($"出库 {MoveInfo.SLog}：抓手检测结果:{res}");
...@@ -165,6 +166,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -165,6 +166,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack); MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam(); PullAxis_Inout_To_Cam();
SaveSpecifiedImage();
break; break;
case StepEnum.SO_13_InoutBack: case StepEnum.SO_13_InoutBack:
//检查另一面是否有出库任务 //检查另一面是否有出库任务
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -932,6 +932,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -932,6 +932,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (MoveInfo.IsInWait) if (MoveInfo.IsInWait)
{ {
PrintAxisSts(MoveInfo);
CheckWait(MoveInfo); CheckWait(MoveInfo);
} }
if (MoveInfo.IsInWait) if (MoveInfo.IsInWait)
...@@ -940,6 +941,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -940,6 +941,34 @@ namespace OnlineStore.DeviceLibrary
} }
InstoreExecute(); InstoreExecute();
} }
/// <summary>
/// 打印轴状态
/// </summary>
/// <param name="moveInfo"></param>
private void PrintAxisSts(DeviceMoveInfo moveInfo)
{
List<WaitResultInfo> list = moveInfo.WaitList;
int cutWLcount = list.Count;
if (list.Count <= 0)
{
return;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
string msg = "";
{
wait.IsEnd = AxisBean.ACAxisStsInMove(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
}
}
}
#endregion #endregion
#region 出库 #region 出库
...@@ -1074,6 +1103,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1074,6 +1103,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (MoveInfo.IsInWait) if (MoveInfo.IsInWait)
{ {
PrintAxisSts(MoveInfo);
CheckWait(MoveInfo); CheckWait(MoveInfo);
} }
if (MoveInfo.IsInWait) if (MoveInfo.IsInWait)
...@@ -1087,6 +1117,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1087,6 +1117,7 @@ namespace OnlineStore.DeviceLibrary
{ {
Task.Factory.StartNew(new Action(() => Task.Factory.StartNew(new Action(() =>
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
if (CheckASide()) if (CheckASide())
{ {
SaveImage("box_A"); SaveImage("box_A");
......
source/HuichuanLibrary/HCBoardManager_Axis.cs
...@@ -253,7 +253,7 @@ namespace HuichuanLibrary ...@@ -253,7 +253,7 @@ namespace HuichuanLibrary
} }
short ptpType = 0; short ptpType = 0;
return StartPtpMove(axisNo, ptpType, ptpPos); return StartPtpMove(axisNo, ptpType, ptpPos);
} }
/// <summary> /// <summary>
/// 轴相对运动 /// 轴相对运动
...@@ -283,16 +283,32 @@ namespace HuichuanLibrary ...@@ -283,16 +283,32 @@ namespace HuichuanLibrary
private static bool StartPtpMove(short axisNo, short ptpType, double ptpPos) private static bool StartPtpMove(short axisNo, short ptpType, double ptpPos)
{ {
//【3】启动PTP ////【3】启动PTP
UInt32 ret = ImcApi.IMC_StartPtpMove(nCardHandle, axisNo, ptpPos, ptpType); //UInt32 ret = ImcApi.IMC_StartPtpMove(nCardHandle, axisNo, ptpPos, ptpType);
//if (ret != 0)
//{
// ShowErrorLog(" Axis[" + axisNo + "] ptpPos["+ ptpPos + "] StartPtpMove " + ptpType + " FAIL, ",ret);
// return false;
//}
//else
//{
// DebugLog(" Axis[" + axisNo + "] ptpPos[" + ptpPos + "] StartPtpMove " + ptpType + " OK",ret);
// return true;
//}
return StartPtpMoveEx(axisNo, ptpType, ptpPos);
}
private static bool StartPtpMoveEx(short axisNo, short ptpType, double ptpPos)
{
//【3】启动PTP Ex
UInt32 ret = ImcApi.IMC_StartPtpMove_Ex(nCardHandle, axisNo, ptpPos, ptpType);
if (ret != 0) if (ret != 0)
{ {
ShowErrorLog(" Axis[" + axisNo + "] ptpPos["+ ptpPos + "] StartPtpMove " + ptpType + " FAIL, ",ret); ShowErrorLog(" Axis[" + axisNo + "] ptpPos[" + ptpPos + "] StartPtpMove_Ex " + ptpType + " FAIL, ", ret);
return false; return false;
} }
else else
{ {
DebugLog(" Axis[" + axisNo + "] ptpPos[" + ptpPos + "] StartPtpMove " + ptpType + " OK",ret); DebugLog(" Axis[" + axisNo + "] ptpPos[" + ptpPos + "] StartPtpMove_Ex " + ptpType + " OK", ret);
return true; return true;
} }
} }
...@@ -468,16 +484,64 @@ namespace HuichuanLibrary ...@@ -468,16 +484,64 @@ namespace HuichuanLibrary
/// <returns></returns> /// <returns></returns>
public static AxisSts GetAxisSts(short axisNo) public static AxisSts GetAxisSts(short axisNo)
{ {
//AxisSts sts = new AxisSts();
//if (!CardInitOk())
//{
// return sts;
//}
//Int32[] nTimerAxSts = { 0 };
//UInt32 ret = ImcApi.IMC_GetAxSts(nCardHandle, axisNo, nTimerAxSts, 1);
//if (ret != 0 || nTimerAxSts.Length <= 0)
//{
// ShowErrorLog(" Axis[" + axisNo + "] GetAxSts FAIL, ",ret);
// return sts;
//}
//int axisState = nTimerAxSts[0];
////【3】更新界面显示
//sts.ALM = ((axisState & 0x01) == 0x01) ? 1 : 0; //报警信号
//sts.ServoOn = ((axisState & 0x02) == 0x02) ? 1 : 0; //使能信号
//sts.BUSY = ((axisState & 0x04) == 0x04) ? 1 : 0; //轴忙信号
//sts.INP = ((axisState & 0x08) == 0x08) ? 1 : 0; //轴到位信号
//sts.EMG = ((axisState & 0x200) == 0x200) ? 1 : 0; //急停信号
//sts.WARN = ((axisState & 0x1000) == 0x1000) ? 1 : 0; //警告信号
//sts.ECAT = ((axisState & ImcApi.AX_ECAT_BIT) == ImcApi.AX_ECAT_BIT) ? 1 : 0;//总线轴标志
//Int16 nTimerAxInput = 0;
//ret = ImcApi.IMC_GetAxEcatDigitalInput(nCardHandle, axisNo, ref nTimerAxInput);
//if (ret != 0)
//{
// ShowErrorLog(" Axis[" + axisNo + "]GetAxEcatDigitalInput ,",ret);
// return sts;
//}
//sts.NEL = ((nTimerAxInput & 0x01) == 0x01) ? 1 : 0; //负限位信号
//sts.PEL = ((nTimerAxInput & 0x02) == 0x02) ? 1 : 0; //正限位信号
//sts.ORG = ((nTimerAxInput & 0x04) == 0x04) ? 1 : 0; //原点信号
//return sts;
return GetAxisStsEx(axisNo);
}
/// <summary>
/// 获取轴状态-新
/// </summary>
///<param name="axisNo">轴号</param>
/// <returns></returns>
public static AxisSts GetAxisStsEx(short axisNo)
{
AxisSts sts = new AxisSts(); AxisSts sts = new AxisSts();
if (!CardInitOk()) if (!CardInitOk())
{ {
return sts; return sts;
} }
Int32[] nTimerAxSts = { 0 }; Int32[] nTimerAxSts = { 0 };
UInt32 ret = ImcApi.IMC_GetAxSts(nCardHandle, axisNo, nTimerAxSts, 1); UInt32 ret = ImcApi.IMC_GetAxStsEx(nCardHandle, axisNo, nTimerAxSts, 1);
if (ret != 0 || nTimerAxSts.Length <= 0) if (ret != 0 || nTimerAxSts.Length <= 0)
{ {
ShowErrorLog(" Axis[" + axisNo + "] GetAxSts FAIL, ",ret); ShowErrorLog(" Axis[" + axisNo + "] GetAxStsEx FAIL, ", ret);
return sts; return sts;
} }
...@@ -489,26 +553,15 @@ namespace HuichuanLibrary ...@@ -489,26 +553,15 @@ namespace HuichuanLibrary
sts.ServoOn = ((axisState & 0x02) == 0x02) ? 1 : 0; //使能信号 sts.ServoOn = ((axisState & 0x02) == 0x02) ? 1 : 0; //使能信号
sts.BUSY = ((axisState & 0x04) == 0x04) ? 1 : 0; //轴忙信号 sts.BUSY = ((axisState & 0x04) == 0x04) ? 1 : 0; //轴忙信号
sts.INP = ((axisState & 0x08) == 0x08) ? 1 : 0; //轴到位信号 sts.INP = ((axisState & 0x08) == 0x08) ? 1 : 0; //轴到位信号
sts.PEL = ((axisState & 0x10) == 0x10) ? 1 : 0; //正限位报警信号
sts.NEL = ((axisState & 0x20) == 0x20) ? 1 : 0; //负限位报警信号
sts.EMG = ((axisState & 0x200) == 0x200) ? 1 : 0; //急停信号 sts.EMG = ((axisState & 0x200) == 0x200) ? 1 : 0; //急停信号
sts.WARN = ((axisState & 0x1000) == 0x1000) ? 1 : 0; //警告信号 sts.WARN = ((axisState & 0x1000) == 0x1000) ? 1 : 0; //警告信号
sts.ECAT = ((axisState & ImcApi.AX_ECAT_BIT) == ImcApi.AX_ECAT_BIT) ? 1 : 0;//总线轴标志 sts.ECAT = ((axisState & ImcApi.AX_ECAT_BIT) == ImcApi.AX_ECAT_BIT) ? 1 : 0;//总线轴标志
sts.ORG = ((axisState & 0x2000) == 0x2000) ? 1 : 0; //原点信号
Int16 nTimerAxInput = 0;
ret = ImcApi.IMC_GetAxEcatDigitalInput(nCardHandle, axisNo, ref nTimerAxInput);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "]GetAxEcatDigitalInput ,",ret);
return sts;
}
sts.NEL = ((nTimerAxInput & 0x01) == 0x01) ? 1 : 0; //负限位信号
sts.PEL = ((nTimerAxInput & 0x02) == 0x02) ? 1 : 0; //正限位信号
sts.ORG = ((nTimerAxInput & 0x04) == 0x04) ? 1 : 0; //原点信号
return sts; return sts;
} }
/// <summary> /// <summary>
/// 获取轴规划位置 /// 获取轴规划位置
/// </summary> /// </summary>
......
source/HuichuanLibrary/ImcApi.cs
...@@ -1180,6 +1180,8 @@ namespace HuichuanLibrary ...@@ -1180,6 +1180,8 @@ namespace HuichuanLibrary
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_GetAxSts", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)] [DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_GetAxSts", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetAxSts(HANDLETYPE cardHandle, Int16 axNo, Int32[] pAxSts, Int16 count = 1); public static extern UInt32 IMC_GetAxSts(HANDLETYPE cardHandle, Int16 axNo, Int32[] pAxSts, Int16 count = 1);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_GetAxStsEx", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetAxStsEx(HANDLETYPE cardHandle, Int16 axNo, Int32[] pAxSts, Int16 count = 1);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_ClrAxSts", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)] [DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_ClrAxSts", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_ClrAxSts(HANDLETYPE cardHandle, Int16 axNo, Int16 count = 1); public static extern UInt32 IMC_ClrAxSts(HANDLETYPE cardHandle, Int16 axNo, Int16 count = 1);
...@@ -1372,6 +1374,8 @@ namespace HuichuanLibrary ...@@ -1372,6 +1374,8 @@ namespace HuichuanLibrary
//_DLL_API UINT32 IMC_UpdatePtpTgtVel(HANDLETYPE cardHandle, INT16 axNo, double tgtVel); //_DLL_API UINT32 IMC_UpdatePtpTgtVel(HANDLETYPE cardHandle, INT16 axNo, double tgtVel);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_StartPtpMove", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)] [DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_StartPtpMove", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_StartPtpMove(HANDLETYPE cardHandle, Int16 axNo, double tgtPos, Int16 posType = 0); public static extern UInt32 IMC_StartPtpMove(HANDLETYPE cardHandle, Int16 axNo, double tgtPos, Int16 posType = 0);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_StartPtpMove_Ex", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_StartPtpMove_Ex(HANDLETYPE cardHandle, Int16 axNo, double tgtPos, Int16 posType = 0);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_UpdatePtpTgtPos", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)] [DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_UpdatePtpTgtPos", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_UpdatePtpTgtPos(HANDLETYPE cardHandle, Int16 axNo, double tgtPos); public static extern UInt32 IMC_UpdatePtpTgtPos(HANDLETYPE cardHandle, Int16 axNo, double tgtPos);
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!