AxisMoveControl.cs
5.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using OnlineStore.DeviceLibrary;
using OnlineStore.Common;
using System.Threading;
using OnlineStore.LoadCSVLibrary;
namespace OnlineStore.AssemblyLine
{
public partial class AxisMoveControl : UserControl
{
private List<AxisBean> axisList = new List<AxisBean>();
private EquipBase equipBase = null;
private string PortName = "";
private int SlvAddr = 0;
public AxisMoveControl( )
{
InitializeComponent();
}
public void LoadData(EquipBase equipBase, params AxisBean[] moveAxis)
{
this.equipBase = equipBase;
axisList = new List<AxisBean>(moveAxis);
if (axisList.Count > 0)
{
comboBox1.Items.Clear();
foreach (AxisBean a in axisList)
{
comboBox1.Items.Add(a.Config.Explain);
}
comboBox1.SelectedIndex = 0;
PortName = moveAxis[0].Config.DeviceName;
SlvAddr = moveAxis[0].Config.GetAxisValue();
txtAxisDeviceName.Text = PortName;
txtAxisValue.Text = SlvAddr.ToString();
}
}
private void btnOpenAxis_Click(object sender, EventArgs e)
{
LogUtil.info("点击【打开伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
equipBase.RunAxis(false, axisList[comboBox1.SelectedIndex]);
}
private void btnCloseAxis_Click(object sender, EventArgs e)
{
LogUtil.info("点击【关闭伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
// ACServerManager.ServoOff(PortName, SlvAddr);
equipBase.CloseAxis(axisList[comboBox1.SelectedIndex]);
}
private void btnAxisAMove_Click(object sender, EventArgs e)
{
int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【绝对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(PortName, SlvAddr, position, speed);
}
private void btnAxisRMove_Click(object sender, EventArgs e)
{
int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【相对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.RelMove(PortName, SlvAddr, position, speed);
}
private void btnAxisVMove_Click(object sender, EventArgs e)
{
int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【匀速运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.SpeedMove(PortName, SlvAddr, speed);
}
private void btnAxisStop_Click(object sender, EventArgs e)
{
LogUtil.info("点击【停止运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
ACServerManager.SuddenStop(PortName, SlvAddr);
}
private void btnComAlarmClear_Click(object sender, EventArgs e)
{
LogUtil.info("点击【清理报警】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
ACServerManager.AlarmClear(PortName, SlvAddr);
Thread.Sleep(100);
ACServerManager.ServoOn(PortName, SlvAddr);
}
private void btnAxisReturnHome_Click(object sender, EventArgs e)
{
int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【原点返回】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.HomeMove(PortName, SlvAddr, speed);
}
private void btnGetAlarm_Click(object sender, EventArgs e)
{
this.txtAlarmStatus.Text = ACServerManager.GetAlarmStatus(PortName, SlvAddr).ToString();
this.txtBusyStatus.Text = ACServerManager.GetBusyStatus(PortName, SlvAddr).ToString();
this.txtHomeStatus.Text = ACServerManager.GetHomeEndStatus(PortName, SlvAddr).ToString();
this.txtHomeSingle.Text = ACServerManager.GetHomeSingle(PortName, SlvAddr).ToString();
this.txtLimit1.Text = ACServerManager.GetLimitPositiveSingle(PortName, SlvAddr).ToString();
this.txtLimit2.Text = ACServerManager.GetLimitNegativeSingle(PortName, SlvAddr).ToString();
txtServoStatue.Text = ACServerManager.ServerOnStatus(PortName, SlvAddr) ? "✔" : "✘";
}
private void btnReadPosition_Click(object sender, EventArgs e)
{
lblCountPulse.Text = ACServerManager.GetActualtPosition(PortName, SlvAddr).ToString();
}
private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
{
if (comboBox1.SelectedIndex > 0)
{
ConfigMoveAxis axis = axisList[comboBox1.SelectedIndex].Config;
PortName = axis.DeviceName;
SlvAddr = axis.GetAxisValue();
txtAxisDeviceName.Text = PortName;
txtAxisValue.Text = SlvAddr.ToString();
}
}
}
}