伺服部分代码修改

source/ACServoDriveTest/FrmACTest.cs

@@ -212,7 +212,7 @@ namespace ACServoDriveTest
 
         private void button2_Click(object sender, EventArgs e)
         {
-            ACServerManager.OpenSTB(GetPortName(), GetSlaveAddr());
+            ACServerManager.OpenAndCloseSTB(GetPortName(), GetSlaveAddr());
             //OpenSTB();
         }
 

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -13,6 +13,7 @@ namespace OnlineStore.DeviceLibrary
     /// </summary>
     public partial class ACServerManager
     {
+      private static   int SleepMSendons = 10;
         public static bool OpenPort(string portName)
         {
             if (serialBeanMap.ContainsKey(portName))
@@ -95,66 +96,51 @@ namespace OnlineStore.DeviceLibrary
         {
             LogUtil.info("开始初始化伺服【" + portName + "】【" + slvAddr + "】");
             //写入block
-            int sleep = 5;
+          
             string slvAddrStr = string.Format(strFromat, slvAddr);
             //block0=原点返回，正方向
             string str0 = slvAddrStr + "104800 000408 00000420 00000000 ffff";
-            SendStr(portName, str0);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, str0); 
             //block1=原点返回，反方向
             string str1 = slvAddrStr + "104804 000408 04000420 00000000 ffff";
-            SendStr(portName, str1);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, str1); 
             //block2=绝对位置运动
             string str2 = slvAddrStr + "104808 000408 10000211EC78FFFF ffff";
-            SendStr(portName, str2);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, str2); 
             //block3=相对位置运动
             string str3 = slvAddrStr + "10480C 000408 10000111EC78FFFF ffff";
-            SendStr(portName, str3);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, str3); 
             //block4=正方向匀速运动
             string str4 = slvAddrStr + "104810 000408 10000311 00000000 ffff";
-            SendStr(portName, str4);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, str4); 
             //block5=反方向匀速运动
             string str5 = slvAddrStr + "104814 000408 14000311 00000000 ffff";
-            SendStr(portName, str5);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, str5); 
             //block6=减速停止
             string str6 = slvAddrStr + "104818 000408 00000500 00000000 ffff";
-            SendStr(portName, str6);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, str6); 
 
             //block7=紧急停止 
             string str7 = slvAddrStr + "10481c 000408 00000510 00000000 ffff";
-            SendStr(portName, str7);
-            Thread.Sleep(sleep);
-
-
+            SendStrAndSleep(portName, str7); 
+             
             //0106460001009D12
             //速度 V1 =100
             string v1 = slvAddrStr + "064601  " + SpeedToStr(targetSpeed, 4) + "  ffff";
-            SendStr(portName, v1);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, v1); 
             //加速度 A1 =30
             string a1 = slvAddrStr + "064611  " + SpeedToStr(addSpeed, 4) + "  ffff";
-            SendStr(portName, a1);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, a1); 
             //减速度 D1=30
             string d1 = slvAddrStr + "064621   " + SpeedToStr(delSpeed, 4) + "  ffff";
-            SendStr(portName, d1);
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, d1); 
 
             //原点返回高速 homeHighSpeed=100
-            SendStr(portName, slvAddrStr + "06 4637 " + SpeedToStr(homeHighSpeed, 4) + " ffff");
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, slvAddrStr + "06 4637 " + SpeedToStr(homeHighSpeed, 4) + " ffff"); 
             //原点返回抵速 homeLowSpeed=50
-            SendStr(portName, slvAddrStr + "06 4638 " + SpeedToStr(homeLowSpeed, 4) + " ffff");
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, slvAddrStr + "06 4638 " + SpeedToStr(homeLowSpeed, 4) + " ffff"); 
             //原点返回加速度=30
-            SendStr(portName, slvAddrStr + "06 4639 " + SpeedToStr(homeAddSpeed, 4) + " ffff");
-            Thread.Sleep(sleep);
+            SendStrAndSleep(portName, slvAddrStr + "06 4639 " + SpeedToStr(homeAddSpeed, 4) + " ffff"); 
             UpdateEEPROM(portName, slvAddr);
         }
         public static void UpdateEEPROM(string portName, int slvAddr)
@@ -191,7 +177,7 @@ namespace OnlineStore.DeviceLibrary
             //先更新速度 
             string slvAddrStr = string.Format(strFromat, slvAddr); 
             string v1 = slvAddrStr + "064601  " + SpeedToStr(targetSpeed, 4) + "  ffff";
-            SendStr(portName, v1);
+            SendStrAndSleep(portName, v1);
              
             RelMove(portName, slvAddr, position);
         }
@@ -234,23 +220,23 @@ namespace OnlineStore.DeviceLibrary
             }
             data = ACCMDManager.buildCheckData(data, data.Length - 2);
             SendData(portName, data);
-            System.Threading.Thread.Sleep(100);
+            System.Threading.Thread.Sleep(SleepMSendons);
             //运动
             data = ACCMDManager.GetWriteData(slvAddr, 06, ACCMDManager.BlockNo, ACCMDManager.Block_RelMove, 2);
             SendData(portName, data);
 
-            Thread.Sleep(100);
-            OpenSTB(portName, slvAddr);
+            //Thread.Sleep(100);
+            OpenAndCloseSTB(portName, slvAddr);
         }
 
         public static void HomeMove(string portName, int slvAddr, int speed)
         {
             byte[] date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4637", string.Format("{0:X2}", Math.Abs(speed)), 1);
             SendData(portName, date);
-            Thread.Sleep(100);
+            Thread.Sleep(SleepMSendons);
             date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4638", string.Format("{0:X2}", Math.Abs(speed / 2)), 1);
             SendData(portName, date);
-            Thread.Sleep(100);
+            Thread.Sleep(SleepMSendons);
             //if (speed > 0)
             //{
             //byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove0, 2);
@@ -262,15 +248,15 @@ namespace OnlineStore.DeviceLibrary
             SendData(portName, data);
             //}
 
-            Thread.Sleep(100);
-            OpenSTB(portName, slvAddr);
+            //Thread.Sleep(100);
+            OpenAndCloseSTB(portName, slvAddr);
         }
 
         public static void SpeedMove(string portName, int slvAddr, int speed)
         {
             byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4601", string.Format("{0:X2}", Math.Abs(speed)), 2);
             SendData(portName, data);
-            Thread.Sleep(100);
+            Thread.Sleep(SleepMSendons);
             if (speed > 0)
             {
                 data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_VolMove0, 2);
@@ -281,8 +267,8 @@ namespace OnlineStore.DeviceLibrary
                 data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_VolMove1, 2);
                 SendData(portName, data);
             }
-            Thread.Sleep(100);
-            OpenSTB(portName, slvAddr);
+            //Thread.Sleep(100);
+            OpenAndCloseSTB(portName, slvAddr);
         }
         public static void AbsMove(string portName, int slvAddr, int targetPosition, int targetSpeed)
         {
@@ -291,7 +277,7 @@ namespace OnlineStore.DeviceLibrary
             //0106460001009D12
             //速度 V1 =100
             string v1 = slvAddrStr + "064601  " + SpeedToStr(targetSpeed, 4) + "  ffff";
-            SendStr(portName, v1);
+            SendStrAndSleep(portName, v1);
 
             //绝对运动
             AbsMove(portName, slvAddr, targetPosition);
@@ -335,11 +321,11 @@ namespace OnlineStore.DeviceLibrary
             }
             data = ACCMDManager.buildCheckData(data, data.Length - 2);
             SendData(portName, data);
-            System.Threading.Thread.Sleep(100);
+            System.Threading.Thread.Sleep(SleepMSendons);
             data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_AbsMove, 2);
             SendData(portName, data);
-            Thread.Sleep(100);
-            OpenSTB(portName, slvAddr);
+            Thread.Sleep(SleepMSendons);
+            OpenAndCloseSTB(portName, slvAddr);
         }
     }
 }

source/DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs

@@ -41,16 +41,23 @@ namespace OnlineStore.DeviceLibrary
             byte[] data2 = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, ACCMDManager.STB_Addr, "ff00", 2);
             SendData(portName, data2);
         }
-        public static void SendStr(string portName, string str)
+        public static void SendStrAndSleep(string portName, string str)
         {
             byte[] data = SerialBean.StringToByte(str);
             data[data.Length - 1] = 0x00;
             data[data.Length - 2] = 0x00;
             data = ACCMDManager.buildCheckData(data, data.Length - 2);
             SendData(portName, data);
-            System.Threading.Thread.Sleep(100);
+            System.Threading.Thread.Sleep(SleepMSendons);
+        }
+        public static void SendStr(string portName, string str)
+        {
+            byte[] data = SerialBean.StringToByte(str);
+            data[data.Length - 1] = 0x00;
+            data[data.Length - 2] = 0x00;
+            data = ACCMDManager.buildCheckData(data, data.Length - 2);
+            SendData(portName, data); 
         }
-
         private static void DataReceived(string portName, object sender, SerialDataReceivedEventArgs e, byte[] bits)
         {
             string strSend = "";
@@ -301,26 +308,26 @@ namespace OnlineStore.DeviceLibrary
             SendData(portName, dataArray);
         }
 
-    
-        public static void OpenSTB(string portName, int slvAddr)
+
+        public static void OpenAndCloseSTB(string portName, int slvAddr)
+        {
+            OnlyOpenSTB(portName, slvAddr);
+            System.Threading.Thread.Sleep(100);
+            CloseSTB(portName, slvAddr);
+        } 
+
+        public static void OnlyOpenSTB(string portName, int slvAddr)
         {
             string addr = ACCMDManager.STB_Addr;
-            string data = "FF00";
-            //byte cmd = 0x05;
+            string data = "FF00"; 
             int length = 2;
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
             SendData(portName, dataArray);
-            System.Threading.Thread.Sleep(1000);
-            data = "0000";
-            dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
-            SendData(portName, dataArray);
         }
-
         public static void CloseSTB(string portName, int slvAddr)
         {
             string addr = ACCMDManager.STB_Addr;
-            string data = "0000";
-            //byte cmd = 0x05;
+            string data = "0000"; 
             int length = 2;
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
             SendData(portName, dataArray);