ACServerManager.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 外部调用的接口放在此文件中
/// </summary>
public partial class ACServerManager
{
public static bool IsShowMsg = false ;
static HCAxisManager HCAxis = new HCAxisManager();
public static bool OpenPort(string portName)
{
return true;
}
public static void ColsePort(string portName)
{
}
public static void CloseAllPort()
{
}
/// <summary>
/// 是否成功打开伺服
/// </summary>
public static bool ServerOnStatus(string portName, short slvAddr)
{
return HCAxis.IsServeoOn(portName, slvAddr);
}
/// <summary>
/// 是否原点返回完成
/// </summary>
public static bool IsHomeMoveEnd(string portName, short slvAddr)
{
return HCAxis.IsHomeMoveEnd(portName, slvAddr);
}
public static void InitSlvAddr(string portName, int slvAddr)
{
}
public static void InitSlvAddr(string portName, int slvAddr,int targetSpeed,int addSpeed,int delSpeed )
{
}
public static void ServoOn(string portName, short slvAddr)
{
HCAxis.ServoOn(portName, slvAddr);
}
public static void ServoOff(string portName, short slvAddr)
{
HCAxis.ServoOff(portName, slvAddr);
}
public static void RelMove(string portName, short slvAddr, int targetPosition, int targetSpeed, int ptpAcc, int ptpDec)
{
HCAxis.RelMove(portName, slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
}
public static void HomeMove(string portName, short slvAddr, int highVel,int lowVel,int acc)
{
try
{
//先判断是否在原点，如果已经在原点，先向正方向走2000
int homeSingle = GetHomeSingle(portName, slvAddr);
if (homeSingle.Equals(1))
{
int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
if (isHomeEnd.Equals(1))
{
int value = 2000;
LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮且回过原点，需要先相对走" + value);
HCAxis.RelMove(portName, slvAddr, value, highVel, acc, acc);
bool isStop = false;
for (int i = 0; i <= 10; i++)
{
Thread.Sleep(200);
if (GetBusyStatus(portName, slvAddr).Equals(0))
{
isStop = true;
LogUtil.info("轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已结束");
break;
}
}
if (!isStop)
{
LogUtil.info("轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已等待2分钟，直接停止");
SuddenStop(portName, slvAddr);
}
}
else
{
int volSpeed = Math.Abs(acc / 5);
int time = 1500;
LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮但未回过原点，先匀速向上走" + time + "，速度[" + volSpeed + "]");
//需要匀速向上走
ACServerManager.SpeedMove(portName, slvAddr, volSpeed);
Thread.Sleep(time);
LogUtil.info("轴【" + portName + "_" + slvAddr + "】匀速 已等待" + time + "，直接停止");
SuddenStop(portName, slvAddr);
Thread.Sleep(100);
}
}
}
catch (Exception ex)
{
LogUtil.error("轴【" + portName + "_" + slvAddr + "】原点返回前验证是否在原点出错：" + ex.StackTrace);
}
HCAxis.HomeMove(portName, slvAddr, highVel, lowVel, acc);
}
public static void SpeedMove(string portName, short slvAddr, int speed, int acc = 0, int dec = 0)
{
HCAxis.SpeedMove(portName, slvAddr, speed,acc,dec);
}
public static bool isInPosition(ConfigMoveAxis Axis, int PPosition)
{
int outCount = ACServerManager.GetActualtPosition(Axis.DeviceName, Axis.GetAxisValue());
int errorCount = Math.Abs(outCount - PPosition);
if (errorCount <= Axis.CanErrorCountMin)
{
return true;
}
else
{
return false;
}
}
public static void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed, int ptpAcc, int ptpDec)
{
//绝对运动
HCAxis.AbsMove(portName, slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
}
}
}