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 DeviceLibrary
{
public class AxisBean
{
public static List<AxisBean> List = new List<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;
/// <summary>
/// 干涉检测回调 from, to
/// </summary>
public event Func<int,int,(bool,string)> interference;
public string AxisName;
public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
{
this.Config = axisConfig;
AxisName = deviceName + " " + Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
List.Add(this);
}
public bool Open(bool isCheck, out string Msg)
{
Msg = "";
string portName = Config.DeviceName;
short slvAddr = Config.GetAxisValue();
AxisManager.AlarmClear(portName, slvAddr);
Thread.Sleep(50);
AxisManager.ServoOn(portName, slvAddr);
Thread.Sleep(50);
//打开所有轴
if (isCheck)
{
if (!OpenAxis(out Msg))
{
return false;
}
}
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.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.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1000);
AxisManager.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (AxisManager.IsServeoOn(portName, slvAddr))
{
LogUtil.info(AxisName + "清理报警后重新打卡轴成功：" + Config.Explain);
}
else
{
AxisManager.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.ServoOff(Config.DeviceName, Config.GetAxisValue());
}
public void HomeMove(MoveInfo MoveInfo)
{
Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
AxisManager.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(MoveInfo MoveInfo, int targetPosition, int targetSpeed)
{
if (MoveInfo == null)
{
AbsMove(targetPosition, targetSpeed);
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition;
AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);// Config.AddSpeed, Config.DelSpeed);
}
}
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
public static bool ACAxisMoveIsEnd(MoveInfo MoveInfo, ConfigMoveAxis axis, int targetPosition, int targetSpeed, out string msg)
{
msg = "";
string deviceName = axis.DeviceName;
short axisNo = axis.GetAxisValue();
bool isOk = AxisManager.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = AxisManager.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.GetAlarmStatus(deviceName, axisNo);
if (isAlarm.Equals(1))
{
clearMsg = "清理报警，";
AxisManager.AlarmClear(deviceName, axisNo);
Thread.Sleep(200);
AxisManager.ServoOn(deviceName, axisNo);
Thread.Sleep(200);
}
}
if (string.IsNullOrEmpty(clearMsg))
{
AxisManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
Thread.Sleep(100);
}
LogUtil.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {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.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);// , axis.AddSpeed, axis.DelSpeed);
MoveInfo.CanWhileCount--;
Thread.Sleep(200);
}
else
{
msg = $"{MoveInfo.Name} {MoveInfo.MoveStep} {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(MoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
{
msg = "";
if (AxisManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))// || AxisManager.AxisStsINP(axis.DeviceName, axis.GetAxisValue()).Equals(1))
{
//原点完成并且位置=0
int outCount = AxisManager.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.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg = MoveInfo.Name + " " + MoveInfo.MoveStep + 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.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 <= 0)//targetSpeed > Config.TargetSpeed ||
//{
// targetSpeed = Config.TargetSpeed;
//}
//小于1，表示是目标速度的百分比
if (targetSpeed <= 1)
{
targetSpeed = Config.TargetSpeed * targetSpeed;
}
AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, (int)targetSpeed * 4, (int)targetSpeed * 4);// , Config.AddSpeed, Config.DelSpeed);
}
public void SuddenStop()
{
AxisManager.SuddenStop(Config.DeviceName, Config.GetAxisValue());
}
/// <summary>
/// 判断轴运动是否安全
/// </summary>
/// <returns></returns>
public bool IsSafe(int Targetpos,out string msg) {
msg = "";
if (interference == null)
return true;
bool result;
(result,msg) = interference.Invoke(GetAclPosition(), Targetpos);
return !result;
}
#region 匀速上升处理
private System.Timers.Timer axisCheckTimer = null;
internal string TargetIoType = "";
internal IO_VALUE TargetIoValue = IO_VALUE.HIGH;
public bool BatchAxisStartCheck(string targetIo, IO_VALUE value = IO_VALUE.HIGH)
{
if (String.IsNullOrEmpty(targetIo))
{
targetIo = "";
}
if (axisCheckTimer == null)
{
axisCheckTimer = new System.Timers.Timer();
axisCheckTimer.AutoReset = true;
axisCheckTimer.Interval += 30;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
IsInProcess = false;
axisCheckTimer.Start();
return true;
}
public bool StopAxisCheckMove()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
private bool IsInProcess = false;
private DateTime lastOkTime = DateTime.Now;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
TimeSpan pan = DateTime.Now - lastOkTime;
if (IsInProcess && pan.TotalMilliseconds < 100) { return; }
try
{
IsInProcess = true;
lastOkTime = DateTime.Now;
if (IOManager.IOValue(TargetIoType).Equals(TargetIoValue))
{
StopAxisCheckMove();
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
SuddenStop();
}
}
catch (Exception ex)
{
LogUtil.error("CheckTimer_Elapsed出错：", ex);
}
finally
{
IsInProcess = false;
}
}
#endregion
public static bool RunMultiAxis(bool isCheck, out string msg, List<AxisBean> axisArray)
{
msg = "";
foreach (AxisBean axis in axisArray)
{
bool result = axis.Open(false, out msg);
if (!result || (!String.IsNullOrEmpty(msg)))
{
//SetWarnMsg(Name + msg);
//Alarm(AlarmType.AxisAlarm);
return false;
}
}
Thread.Sleep(50);
return true;
}
public static void StopMultiAxis(List<AxisBean> axisArray)
{
foreach (AxisBean axis in axisArray)
{
axis.SuddenStop();
Thread.Sleep(10);
}
}
public static void CloseMultiAxis(List<AxisBean> axisArray)
{
foreach (AxisBean axis in axisArray)
{
axis.ServoOff();
Thread.Sleep(10);
}
}
}
}