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 OnlineStore.DeviceLibrary
{
public class AxisBean
{
public ConfigMoveAxis Config = null;
public static int TimeoutInterval = 500;
/// <summary>
/// 是否需要回零
/// </summary>
public bool IsNeedHome = false;
/// <summary>
/// 正常工作过程中判断位置是否到达时使用
/// </summary>
public int LastPosition = 0;
public string AxisName;
public AxisBean(ConfigMoveAxis axisConfig, string deviceName, bool needHome = true)
{
this.IsNeedHome = needHome;
this.Config = axisConfig;
AxisName = deviceName + " " + Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
}
private bool IsIntSlvBlock = false;
public bool Open(bool isCheck, out string Msg)
{
Msg = "";
string portName = Config.DeviceName;
short slvAddr = Config.GetAxisValue();
//打开所有轴
AxisManager.instance.OpenPort(Config.DeviceName);
Thread.Sleep(50);
//初始化
if (!IsIntSlvBlock)
{
AxisManager.instance.InitSlvAddr(portName, slvAddr, Config.TargetSpeed, Config.AddSpeed, Config.DelSpeed);
Thread.Sleep(100);
}
AxisManager.instance.AlarmClear(portName, slvAddr);
Thread.Sleep(50);
AxisManager.instance.ServoOn(portName, slvAddr);
Thread.Sleep(1000);
//打开所有轴
if (isCheck)
{
if (!OpenAxis(out Msg))
{
return false;
}
}
IsIntSlvBlock = true;
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.instance.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.instance.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
AxisManager.instance.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (AxisManager.instance.IsServeoOn(portName, slvAddr))
{
LogUtil.info(AxisName + "清理报警后重新打卡轴成功：" + Config.Explain);
}
else
{
AxisManager.instance.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.instance.ServoOff(Config.DeviceName, Config.GetAxisValue());
}
public void HomeMove(DeviceMoveInfo MoveInfo)
{
if (IsNeedHome)
{
Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
AxisManager.instance.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(DeviceMoveInfo MoveInfo, int targetPosition, int targetSpeed)
{
bool rtn;
if (MoveInfo == null)
{
rtn = AbsMove(targetPosition, targetSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}][{rtn}][MoveInfo = null]");
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition;
rtn = AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, Config.AddSpeed, Config.DelSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}][{rtn}]");
}
}
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
public static bool ACAxisMoveIsEnd(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);
int errorCount = Math.Abs(outCount - targetPosition);
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)
{
return true;
}
//轴不报警时才重新运动，否则直接报警
int alarm = AxisManager.instance.GetAlarmStatus(deviceName, axisNo);
//判断是否需要重新运动
if (alarm.Equals(1))
{
//msg = " " + MoveInfo.SLog + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount
// + "]，误差过大且轴报警";
msg = $" {MoveInfo.SLog}{MoveInfo.Name}{axis.DisplayStr},目标位置[{targetPosition}]当前位置[{outCount}]误差[{errorCount}]规划位置[{targetCount}],误差过大且轴报警";
LogUtil.error(msg, 600);
}
else if (MoveInfo.CanWhileCount > 0 && alarm.Equals(0))
{
string clearMsg = "";
////判断轴是否报警
//if (MoveInfo.CanWhileCount <= 3)
//{
// int isAlarm = AxisManager.instance.GetAlarmStatus(deviceName, axisNo);
// if (isAlarm.Equals(1))
// {
// clearMsg = "清理报警，";
// AxisManager.instance.AlarmClear(deviceName, axisNo);
// Thread.Sleep(200);
// AxisManager.instance.ServoOn(deviceName, axisNo);
// Thread.Sleep(500);
// }
//}
//if (String.IsNullOrEmpty(clearMsg))
//{
// AxisManager.instance.SuddenStop(axis.DeviceName, axis.GetAxisValue());
// Thread.Sleep(100);
//}
LogUtil.error($"{MoveInfo.Name}{axis.DisplayStr}目标位置[{targetPosition}]当前位置[{outCount}]误差[{errorCount}]规划位置[{targetCount}],误差过大, {clearMsg}重新开始运动，剩余[{MoveInfo.CanWhileCount}]次");
AxisManager.instance.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, axis.AddSpeed, axis.DelSpeed);
MoveInfo.CanWhileCount--;
Thread.Sleep(200);
}
else
{
msg = $" {MoveInfo.SLog}{MoveInfo.Name}{axis.DisplayStr},目标位置[{targetPosition}]当前位置[{outCount}]误差[{errorCount}]规划位置[{targetCount}],误差过大,需要报警";
LogUtil.error(msg, 600);
}
}
return false;
}
static Dictionary<string, int> axisPrePulse = new Dictionary<string, int>();
public static bool HomeMoveIsEnd(DeviceMoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
{
msg = "";
if (AxisManager.instance.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))
{
//原点完成并且位置=0
int outCount = AxisManager.instance.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
//轴不报警时才重新运动，否则直接报警
int alarm = AxisManager.instance.GetAlarmStatus(axis.DeviceName, axis.GetAxisValue());
//判断是否需要重新运动
if (alarm.Equals(1))
{
msg = " " + MoveInfo.SLog + MoveInfo.Name + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大且轴报警";
LogUtil.error(msg, 600);
}
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.instance.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
MoveInfo.CanWhileCount--;
}
else
{
msg = MoveInfo.Name + " " + MoveInfo.SLog + 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);
}
}
//var curPulse = AxisManager.instance.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
//if (axisPrePulse.ContainsKey(axis.DeviceName))
//{
// if (axisPrePulse[axis.DeviceName] != curPulse)//在运行
// {
// return true;
// }
//}
//else
//{
// axisPrePulse[axis.DeviceName] = curPulse;
//}
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()
{
int p = AxisManager.instance.GetActualtPosition(Config.DeviceName, Config.GetAxisValue());
return p;
}
public bool IsInPosition(int targetP, int canErrorMax = 0)
{
if (canErrorMax <= 0)
{
canErrorMax = Config.CanErrorCountMax;
}
int currp = GetAclPosition();
int chaz = targetP - currp;
if (Math.Abs(chaz) < canErrorMax)
{
return true;
}
return false;
}
/// <summary>
/// 在范围内
/// </summary>
/// <param name="low"></param>
/// <param name="high"></param>
/// <param name="canErrorMax"></param>
/// <returns></returns>
public bool WithinRange(int low, int high, int canErrorMax = 0)
{
if (canErrorMax <= 0)
{
canErrorMax = Config.CanErrorCountMax;
}
int currp = GetAclPosition();
if (currp >= low + canErrorMax && currp <= high - canErrorMax)
return true;
return false;
}
/// <summary>
/// 绝对运动至点，不等待结果
/// </summary>
private bool AbsMove(int targetPos, double targetSpeed)
{
if (targetPos.Equals(-1))
{
return false;
}
LastPosition = -1;
if (targetSpeed > (Config.TargetSpeed * 10) || targetSpeed <= 0)
{
targetSpeed = Config.TargetSpeed;
}
//小于1，表示是目标速度的百分比
else if (targetSpeed <= 1)
{
targetSpeed = Config.TargetSpeed * targetSpeed;
}
return AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, Config.AddSpeed, Config.DelSpeed);
}
public void SuddenStop()
{
AxisManager.instance.SuddenStop(Config.DeviceName, Config.GetAxisValue());
}
#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 += 10;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
IsInProcess = false;
axisCheckTimer.Start();
return true;
}
public bool AxisStopCheckMove()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
private bool IsInProcess = false;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (IsInProcess) { return; }
try
{
IsInProcess = true;
if (IOManager.IOValue(TargetIoType, 0).Equals(TargetIoValue))
{
SuddenStop();
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动,AclPosition=" + GetAclPosition().ToString());
AxisStopCheckMove();
}
}
catch (Exception ex)
{
LogUtil.error("CheckTimer_Elapsed出错：", ex);
}
finally
{
IsInProcess = false;
}
}
public bool IsBatchMove()
{
if (axisCheckTimer != null && axisCheckTimer.Enabled)
{
return true;
}
return false;
}
#endregion
}
}