C# 后台代码：
1、SoftModels类，SoftModels类代码内容（部分代码）如下
///开启膜厚检测线程
public void StarThreadMeasure(
)
{
if (!FlagThreadMeasureProcess
)
{
lock (_flagAutoLock
)
{
if (!FlagThreadMeasureProcess
)
{
// 终止已有线程（如果存在）
if (ThreadMeasureProcess?.IsAlive == true
)
{
ThreadMeasureProcess.Abort(
);
ThreadMeasureProcess.Join(500
); // 等待线程退出
}
ThreadMeasureProcess = new Thread(MeasureThreadFunc
)
{
IsBackground = true
};
Act
ionLog?.Invoke("启动按钮按下，开始膜厚检测的流程"
);
Act
ionRefreshStatus?.Invoke(PcbInPosit
ion, true
);
FlagThreadMeasureProcess = true;
ThreadMeasureProcess.Start(
);
}
}
;
}
}
///膜厚检测的流程
public void MeasureThreadFunc(
)
{
double AimZ = processParam.ProcessParamStr.adjDistanceZCoor;//测量位置Z坐标
double Blc = processParam.ProcessParamStr.adjDistanceBlc;
double AimDistance = processParam.ProcessParamStr.adjDistanceAim;
double BackPointZ = processParam.ProcessParamStr.adjDistanceBackPoint;//安全坐标
double refractiveIndex = processParam.ProcessParamStr.refractiveIndex;
int index;
if (NowSlectedSurface == 0
)
{
index = processParam.PointDataManager.Count(
);
processParam.CMeasureData.Clear(
);
}
else
{
index = processParam.PointSDataManager.Count(
);
processParam.SMeasureData.Clear(
);
}
double PosX = 0;
double PosY = 0;
double difference = 0;
for (int num = 0; num < index; num++
)
{
Thread.Sleep(1000
);
Log.Informat
ion("膜厚测量第" + (num + 1
) + "点开始"
);
Act
ionLog?.Invoke("测试点膜厚测量运行中"
);
if (!FlagThreadMeasureProcess
)
break;
//DEto:新增代码
--12.02
Act
ionPointLocat
ion(PosX, PosY, num, AimZ, Blc, AimDistance, BackPointZ, refractiveIndex, difference
);
SaveSIT1000MeasureValue(SIT1000.ShowMeasureValue
);
Log.Informat
ion("膜厚测量第" + (num + 1
) + "点，结果：" + SIT1000.ShowMeasureValue + ""
);
}
}
///按点位进行运动
private void Act
ionPointLocat
ion(double PosX, double PosY, int num, double AimZ, double Blc, double AimDistance, double BackPointZ, double refractiveIndex, double difference
)
{
if (NowSlectedSurface == 0
)
{
if (PosX == 0 && PosY == 0
)
{
PosX = processParam.PointDataManager[num].X;
PosY = processParam.PointDataManager[num].Y;
}
}
else
{
if (PosX == 0 && PosY == 0
)
{
PosX = processParam.PointSDataManager[num].X;
PosY = processParam.PointSDataManager[num].Y;
}
}
if (!mot
ionManager.XYTablePmove(PosX, PosY
))
{
Log.Informat
ion("膜厚测量
-Act
ionPointLocat
ion(
)-mot
ionManager.XYTablePmove
-2169"
);
FlagThreadMeasureProcess = false;
ThreadExitValue = 1;
return;
}
while (FlagThreadMeasureProcess
)
{
Thread.Sleep(100
);
if (!mot
ionManager.IfXYTableMoving(out status
))
{
Log.Informat
ion("膜厚测量
-Act
ionPointLocat
ion(
)-mot
ionManager.IfXYTableMoving
-2179"
);
FlagThreadMeasureProcess = false;
ThreadExitValue = 1;
return;
}
if (!status
)
break;
Thread.Sleep(50
);
}
if (!FlagThreadMeasureProcess
)
{
ThreadExitValue = 0;
return;
}
Thread.Sleep(500
);
//首先将Z轴运行至测量位置坐标
if (!mot
ionManager.Z.MoveAbsTo(AimZ, out _
))
{
Log.Informat
ion("膜厚测量
-Act
ionPointLocat
ion(
)-mot
ionManager.Z.MoveAbsTo
-2197"
);
FlagThreadMeasureProcess = false;
ThreadExitValue = 1;
return;
}
}
2、Mot
ionManager 类，Mot
ionManager 类代码内容如下：
public class Mot
ionManager
{
string mot
ionSettingsFilePath = System.AppDomain.CurrentDomain.BaseDirectory + "Config\\Mot
ion_Settings.xml"; //mot
ion参数设置文件路径
public
List<Mot
ionPara> AxisPara = new
List<Mot
ionPara>(
); //轴参数定义
public
IOlist iolist = new
IOlist(
);
public
List<int>
IOOut
ListIndex = new
List<int>(
);
public
List<int>
IOIn
ListIndex = new
List<int>(
);
public
List<string>
IOOut
ListDesc = new
List<string>(
);
public
List<string>
IOIn
ListDesc = new
List<string>(
);
public InterfaceCommon Mot
ionCard;
public Interface
IO IO;
public InterfaceAxis X;
public InterfaceAxis Y;
public InterfaceAxis Z;
public InterfaceAxis A;
private Thread SystemHomeThread;
public int redport;
public int yellowport;
public int greenport;
public bool HomeThreadFlag;
public bool ControlFlag;
public Mot
ionManager(
)
{
IOOut
ListIndex = Helper.GetAllEnumIntValue(typeof(
IOOut
List)); //获取每个
IO的ID号
IOOut
ListDesc = Helper.GetAllEnumDescript
ion(typeof(
IOOut
List));
IOIn
ListIndex = Helper.GetAllEnumIntValue(typeof(
IOIn
List)); //获取每个
IO的ID号
IOIn
ListDesc = Helper.GetAllEnumDescript
ion(typeof(
IOIn
List));
//三色灯 DETO：临时更改三色灯为同一状态，后续要根据实际
IO口修改
//
IO更改
redport = 1;//注意这里为扩展
IO与主机
IO的
区别
greenport = 2;//主机
IO
yellowport = 2;//注意这里为扩展
IO与主机
IO的
区别
LoadMot
ionSettings(
); //读取轴运动参数
ControlFlag = false;
}
~Mot
ionManager(
)
{
SaveMot
ionSettings(
);
if (ControlFlag
)
IO.WriteOut(
iolist.
IOOutPara[1].Port, false, out string message
);
CloseMot
ion(out string info
);
}
public void StopHomeThread(
)
{
HomeThreadFlag = false;
}
public void StartHomeThread(
)
{
if (null != SystemHomeThread
)
{
if (SystemHomeThread.ThreadState == ThreadState.Running
)
return;
SystemHomeThread.Abort(
);
}
SystemHomeThread = new Thread(HomeThreadFunc
)
{
IsBackground = true
};
HomeThreadFlag = true;
SystemHomeThread.Start(
);
}
public void HomeThreadFunc(
)
{
if (!Z.HomeAxis(
))
{
Z.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
bool iErr, status, statusz;
do
{
if (!HomeThreadFlag
)
{
Z.StopMot
ion(out _
);
return;
}
iErr = Z.IfAxisHomeRuning(out statusz
);
if (!iErr
)
{
Z.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
}
while (statusz
);
Z.ZeroPosit
ion(out _
);
if (!X.HomeAxis(
))
{
X.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
if (!Y.HomeAxis(
))
{
Y.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
if (!A.HomeAxis(
))
{
A.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
do
{
if (!HomeThreadFlag
)
{
X.StopMot
ion(out _
);
Y.StopMot
ion(out _
);
A.StopMot
ion(out _
);
return;
}
iErr = X.IfAxisHomeRuning(out bool statusx
);
if (!iErr
)
{
X.StopMot
ion(out _
);
Y.StopMot
ion(out _
);
A.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
iErr = Y.IfAxisHomeRuning(out bool statusy
);
if (!iErr
)
{
X.StopMot
ion(out _
);
Y.StopMot
ion(out _
);
A.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
iErr = A.IfAxisHomeRuning(out bool statusa
);
if (!iErr
)
{
X.StopMot
ion(out _
);
Y.StopMot
ion(out _
);
A.StopMot
ion(out _
);
HomeThreadFlag = false;
return;
}
if (statusx || statusy || statusa
)
status = true;
else
status = false;
}
while (status
);
X.ZeroPosit
ion(out _
);
Y.ZeroPosit
ion(out _
);
A.ZeroPosit
ion(out _
);
HomeThreadFlag = false;
return;
}
/// <summary>
/// 设置三色灯状态
/// </summary>
/// <param name="index"></param>
public void SetRedYellowGreenLight(int index
)
{
switch (index
)
{
case 0:
{
IO.WriteOut(redport, true, out string message
);
IO.WriteOut(yellowport, false, out string message1
);
IO.WriteOut(greenport, false, out string message2
);
}
break;
case 1://退出自动加工流程
{
IO.WriteOut(redport, false, out string message
);
IO.WriteOut(yellowport, true, out string message1
);
IO.WriteOut(greenport, false, out string message2
);
}
break;
case 2://启动自动测量加工流程
{
IO.WriteOut(redport, false, out string message
);
IO.WriteOut(yellowport, false, out string message1
);
IO.WriteOut(greenport, true, out string message2
);
}
break;
default:
break;
}
}
/// <summary>
/// 设置三色灯状态
/// </summary>
/// <param name="operState"></param>
public void SetRedYellowGreenLight(OperStateType operState
)
{
switch (operState
)
{
case OperStateType.StandBy://空闲待机
Extended
IO.Oper_Extended
IO(1, 1, 0
);//红灯灭
IO.WriteOut(greenport, false, out string message
);//绿灯灭
//黄灯常亮
Extended
IO.Oper_Extended
IO(1, 2, 1
);//黄灯亮
break;
case OperStateType.RunStatus://运行
Extended
IO.Oper_Extended
IO(1, 2, 0
);//黄灯灭
Extended
IO.Oper_Extended
IO(1, 1, 0
);//红灯灭
//绿灯常亮
IO.WriteOut(greenport, true, out string message2
);
break;
case OperStateType.AlarmStatus:
Extended
IO.Oper_Extended
IO(1, 2, 0
);//黄灯灭
IO.WriteOut(greenport, false, out string message3
);//绿灯灭
Extended
IO.Oper_Extended
IO(1, 1, 1
);//红灯亮
break;
case OperStateType.ShieldAlarm://屏蔽报警
Extended
IO.Oper_Extended
IO(1, 1, 0
);//红灯灭
//其他灯状态暂时不变
break;
case OperStateType.NormalStatus://正常
Extended
IO.Oper_Extended
IO(1, 1, 0
);//红灯灭
Extended
IO.Oper_Extended
IO(1, 2, 0
);//黄灯灭
IO.WriteOut(greenport, false, out string message4
);//绿灯灭
break;
case OperStateType.StopStatus://停止
break;
case OperStateType.OtherStatus://其他
break;
}
}
/// <summary>
/// 初始化连接卡
/// </summary>
/// <param name="info"></param>
/// <returns></returns>
public bool Init(out string info
) //初始化连接卡
{
bool ret = Mot
ionCard.Init(out string message
);
AssignAllAxis(
);
bool Newret = Extended
IO.ExtModuleInit
IO(1, 1
);
if (!ret || !Newret
)
{
info = message;
return false;
}
info = "运动控制器初始化成功";
return true;
}
public bool SetAllAxisServoOn(bool status, out string info
)
{
if (X != null
)
{
bool ret = X.SetServoOn(status, out string message
);
if (!ret
)
{
info = message;
return false;
}
}
if (Y != null
)
{
bool ret = Y.SetServoOn(status, out string message
);
if (!ret
)
{
info = message;
return false;
}
}
if (Z != null
)
{
bool ret = Z.SetServoOn(status, out string message
);
if (!ret
)
{
info = message;
return false;
}
}
if (A != null
)
{
bool ret = A.SetServoOn(status, out string message
);
info = message;
if (!ret
)
return false;
info = message;
return true;
}
info = "";
return false;
}
public void CloseMot
ion(out string info
) //关闭mot
ion
{
if (Mot
ionCard != null
)
{
bool ret = SetAllAxisServoOn(false, out string message
);
if (!ret
)
info = message;
Mot
ionCard.Close(out message
);
info = message;
}
info = "运动控制卡未正常打开，无需关闭";
}
public void LoadMot
ionSettings(
) //加载读取轴参数
{
int AxisCount = 4;
string str = XmlSerializer.LoadXML<
List<Mot
ionPara>>(mot
ionSettingsFilePath, ref AxisPara
);
if (str != ""
)
{
AxisPara = new
List<Mot
ionPara>(
);
AxisPara.Clear(
);
for (int i = 0; i < AxisCount; i++
)
{
Mot
ionPara myPara = new Mot
ionPara(
);
AxisPara.Add(myPara
);
}
}
else
{
if (AxisPara.Count > AxisCount
)
{
for (int i = AxisCount; i < AxisPara.Count; i++
)
{
AxisPara.RemoveAt(i
);
}
}
else if (AxisPara.Count < AxisCount
)
{
for (int i = AxisPara.Count; i < AxisCount; i++
)
{
Mot
ionPara myPara = new Mot
ionPara(
);
AxisPara.Add(myPara
);
}
}
}
IO = new GTN.GTN
IO(
);
iolist = new
IOlist(
);
iolist.
IOInPara.Clear(
);
iolist.
IOOutPara.Clear(
);
// for (int i = 0; i < 12; i++
)
for (int i = 0; i < 16; i++
)
{
IOProperty
IOpara = new
IOProperty(
IOIn
ListDesc[i]
);
IOpara.Port =
IOIn
ListIndex[i];
iolist.
IOInPara.Add(
IOpara
);
}
for (int i = 0; i < 10; i++
)
{
IOProperty
IOpara = new
IOProperty(
IOOut
ListDesc[i]
);
IOpara.Port =
IOOut
ListIndex[i];
iolist.
IOOutPara.Add(
IOpara
);
}
Mot
ionCard = new GTN.GTNCard(
);
}
public void AssignAllAxis(
)
{
for (int i = 0; i < 4; i++
)
{
InterfaceAxis axis = new GTN.Axis_GTN((short
)(i + 1
), AxisPara[i]
);
switch (i
)
{
case 0:
X = axis;
break;
case 1:
Y = axis;
break;
case 2:
Z = axis;
break;
case 3:
A = axis;
break;
default:
break;
}
}
}
public void SaveMot
ionSettings(
) //保存所有轴参数
{
XmlSerializer.SaveXML(mot
ionSettingsFilePath, AxisPara
);
}
public bool XYTablePmove(double PosX, double PosY
)
{
bool ret = Y.MoveAbsTo(PosY, out string message
);
if (!ret
)
return false;
ret = X.MoveAbsTo(PosX, out message
);
if (!ret
)
return false;
return true;
}
public bool IfXYTableMoving(out bool flag
)
{
bool ret = X.Busy(out bool statusx
);
if (!ret
)
{
flag = false;
return false;
}
ret = Y.Busy(out bool statusy
);
if (!ret
)
{
flag = false;
return false;
}
if (statusx && statusy
)
flag = true;
else
flag = false;
return true;
}
public bool StopXYTableMove(
)
{
bool flag = X.StopMot
ion(out string message
);
if (!flag
)
return false;
flag = Y.StopMot
ion(out message
);
if (!flag
)
return false;
return true;
}
public bool StopALLTableMoving(
)
{
bool flag = X.StopMot
ion(out string message
);
if (!flag
)
return false;
flag = Y.StopMot
ion(out message
);
if (!flag
)
return false;
flag = Z.StopMot
ion(out message
);
if (!flag
)
return false;
flag = A.StopMot
ion(out message
);
if (!flag
)
return false;
return true;
}
}
3、Axis_GTN类，Axis_GTN代码内容如下：
class Axis_GTN : InterfaceAxis
{
public short axisID;
Mot
ionPara AxisProfile;
public Axis_GTN(short axisid, Mot
ionPara axispara
)
{
axisID = axisid;
AxisProfile = axispara;
}
private bool IsHomed;
private bool IsHomeDone;
private string HomeError;
private Thread HomeThread;
public bool ALM(out bool status
)
{
bool ret = GetMot
ion
IO(mc.MC_ALARM, out bool rtnval
);
status = rtnval;
return ret;
}
private bool GetMot
ion
IO(short
ioType, out bool status
)
{
int iErr = mc.GTN_GetDi(1,
ioType, out int
byteResult
);
if (iErr != 0
)
{
status = false;
return false;
}
status = Convert.ToBoolean((
byteResult & (0x01 << (axisID
- 1
))));
return true;
}
private bool GetMot
ionStatus(int axisID, short axisStatusType, out string info, out bool rtnval
)
{
short iErr = mc.GTN_GetSts(1, (short
)axisID, out int
byteResult, 1, out _
);
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN Axis_GTN GetMot
ionStatus(
)-GTN_GetSts Error: {info}", info + "{iErr}:" + iErr + ""
);
rtnval = false;
return false;
}
rtnval = Convert.ToBoolean((
byteResult & (0x01 << axisStatusType
)));
return true;
}
public bool Busy(out bool status
)
{
bool rtn = GetMot
ionStatus(axisID, (short
)GTNAxisStauts.IsBusy, out string info, out bool rtnval
);
status = rtnval;
return rtn;
}
public Mot
ionPara GetMot
ionPara(
)
{
return AxisProfile;
}
public bool GetPosit
ion(out double pos
)
{
double scale = AxisProfile.MotorScale;
short iErr = mc.GTN_GetEncPos(1, axisID, out double post
ion, 1, out _
);
if (iErr == 0
)
{
pos = post
ion / scale;
return true;
}
pos = 0.0;
return false;
}
public bool HomeAxis(
)
{
mc.THomePrm homePrm = new mc.THomePrm(
)
{
acc = 10,
dec = 10,
moveDir =
-1, //非正整数，负向回零
mode = 10, //限位回原点
edge = 0,
velHigh = (AxisProfile.HomeSpeed * AxisProfile.MotorScale
) / 1000, //AxisProfile.HomeSpeed * (10000 / AxisProfile.MotorScale
),
velLow = AxisProfile.HomeSpeed / 5.0,
searchHomeDistance = 100000000,
searchIndexDistance = 100000,
escapeStep = 100
};
short iErr = mc.GTN_GoHome(1, axisID, ref homePrm
);
if (iErr != 0
)
return false;
return true;
}
public bool IfAxisHomeRuning(out bool status
)
{
short iErr = mc.GTN_GetHomeStatus(1, axisID, out mc.THomeStatus homeStatus
);
if (iErr == 0
)
{
if (homeStatus.run != 0
)
status = true;
else
status = false;
return true;
}
status = false;
return false;
}
public string Homing(
)
{
if (HomeThread != null && HomeThread.IsAlive
)
{
return "axis is homing";
}
HomeThread = new Thread((
) =>
{
IsHomed = false;
HomeError = "";
HomeError = HomingThreadFunc(
);
IsHomed = true;
if (HomeError != ""
)
IsHomeDone = false;
else
IsHomeDone = true;
}
)
{
IsBackground = false,
Name = "GTN Homing"
};
HomeThread.Start(
);
Thread.Sleep(20
);
return "";
}
string HomingThreadFunc(
)
{
IsHomeDone = false;
IsHomed = false;
int iErr;
mc.THomePrm homePrm = new mc.THomePrm(
)
{
acc = 10,
dec = 10,
moveDir =
-1, //非正整数，负向回零
mode = 10, //限位回原点
edge = 0,
velHigh = (AxisProfile.HomeSpeed * AxisProfile.MotorScale
) / 1000, //AxisProfile.HomeSpeed * (10000 / AxisProfile.MotorScale
),
velLow = AxisProfile.HomeSpeed / 5.0,
searchHomeDistance = 100000000,
searchIndexDistance = 100000,
escapeStep = 100
};
iErr = mc.GTN_GoHome(1, axisID, ref homePrm
);
if (iErr == 0
)
{
mc.THomeStatus homeStatus;
do
{
mc.GTN_GetHomeStatus(1, axisID, out homeStatus
);
}
while (homeStatus.run != 0
);
iErr = mc.GTN_ZeroPos(1, axisID, 1
);
if (iErr != 0
)
return GtnInterFace.GetErrorString(iErr
);
else return "";
}
else return GtnInterFace.GetErrorString(iErr
);
}
public bool MoveAbsTo(double pos, out string info
)
{
int scale = AxisProfile.MotorScale;
int pulseSpeed = (Int32
)(AxisProfile.RunSpeed * AxisProfile.MotorScale
);
double acc = (Int32
)(AxisProfile.acc_dec * AxisProfile.MotorScale
);
int pulsePos = (int
)(pos * scale
);
//short iErr = mc.GTN_Stop(1, axisID, 0
);//停止运动
//info = GtnInterFace.GetErrorString(iErr
);
//if (iErr != 0
)
// return false;
// 1. 强制停止轴运动并验证状态
if (!StopMot
ion(out info
)) return false;
// 2. 清除轴状态（原代码缺失此步骤）
short iErr = mc.GTN_ClrSts(1, axisID, 1
);
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN MoveAbsTo GTN_ClrSts Error: {info}", info + "{iErr}:" + iErr + ""
);
return false;
}
iErr = mc.GTN_PrfTrap(1, axisID
);//设置为点位运动
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN MoveAbsTo GTN_PrfTrap Error: {info}", info + "{iErr}:" + iErr + ""
);
return false;
}
iErr = mc.GTN_GetAxisPrfPos(1, axisID, out double curPulsePos, 1, out uint clock
);
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN MoveAbsTo GTN_GetAxisPrfPos Error: {info}", info + "{iErr}:" + iErr + ""
);
return false;
}
mc.TTrapPrm trap;
trap.acc = acc / 1000000;//单位：pulse/ms2
trap.dec = acc / 1000000;//单位：pulse/ms2
trap.velStart = 0;//起跳速度
trap.smoothTime = 50;//单位ms
//iErr = mc.GTN_SetTrapPrm(1, axisID, ref trap
);//设置加减速
//info = GtnInterFace.GetErrorString(iErr
);
//if (iErr != 0
)
//{
// Log.Informat
ion("GTN MoveAbsTo GTN_SetTrapPrm Error: {info}", info + "{iErr}:" + iErr + ""
);
// return false;
//}
// 5. 核心参数设置（增加重试机制）
for (int i = 0; i < 3; i++
)
{
short trapErr = mc.GTN_SetTrapPrm(1, axisID, ref trap
);
info = GtnInterFace.GetErrorString(trapErr
);
if (trapErr == 0
) break;
Log.Warning($"SetTrapPrm retry {i + 1}: {info}"
);
Thread.Sleep(50
);
}
iErr = mc.GTN_SetPos(1, axisID, pulsePos
);//设置位置
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN MoveAbsTo GTN_SetPos Error: {info}", info + "{iErr}:" + iErr + ""
);
return false;
}
iErr = mc.GTN_SetVel(1, axisID, pulseSpeed
);//设置速度
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN MoveAbsTo GTN_SetVel Error: {info}", info + "{iErr}:" + iErr + ""
);
return false;
}
// 7. 运动执行（增加状态验证）
mc.GTN_SetPos(1, axisID, pulsePos
);
mc.GTN_SetVel(1, axisID, Convert.ToInt32(AxisProfile.RunSpeed * AxisProfile.MotorScale
));
iErr = mc.GTN_Update(1, 1 << (axisID
- 1
));//启动轴
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN MoveAbsTo GTN_Update Error: {info}", info + "{iErr}:" + iErr + ""
);
return false;
}
Thread.Sleep(10
);
return true;
}
public bool NEL(out bool status
)
{
if (!GetMot
ion
IO(mc.MC_LIMIT_NEGATIVE, out bool value
))
{
status = false;
return false;
}
status = value;
return true;
}
public bool ORG(out bool status
)
{
if (!GetMot
ion
IO(mc.MC_HOME, out bool value
))//原点信号默认是1的，触碰是0
{
status = false;
return false;
}
status = !value;
return status;
}
public bool PEL(out bool status
)
{
if (!GetMot
ion
IO(mc.MC_LIMIT_POSITIVE, out bool value
))
{
status = false;
return false;
}
status = value;
return true;
}
public bool ZeroPosit
ion(out string info
)
{
short iErr = mc.GTN_ZeroPos(1, axisID, 1
);
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
return true;
}
//对指定电机轴进行使能或者断开使能操作
public bool SetServoOn(bool status, out string info
)
{
//如果操作的是Y轴，则需要首先对抱闸进行操作。抱闸的
IO端口号为2
short ret;
if (axisID == 2
)
{
ret = mc.GTN_SetDoBit(1, mc.MC_GPO, 2, Convert.ToInt16(status
));
info = GtnInterFace.GetErrorString(ret
);
if (ret != 0
)
return false;
}
if (status
)
ret = mc.GTN_AxisOn(1, axisID
);
else
ret = mc.GTN_AxisOff(1, axisID
);
info = GtnInterFace.GetErrorString(ret
);
if (ret != 0
)
return false;
return true;
}
public bool StepMove(double distance, out string message
)
{
int scale = AxisProfile.MotorScale;
int speed = (Int32
)(AxisProfile.ManualSpeed * AxisProfile.MotorScale
);
double acc = (double
)(AxisProfile.acc_dec * AxisProfile.MotorScale
);
int distancePulse = (int
)(distance * scale
);
int setPulsePos;
bool ret = StopMot
ion(out string info
);
message = info;
if (!ret
)
return false;
short iErr = mc.GTN_ClrSts(1, axisID, 1
);
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
iErr = mc.GTN_PrfTrap(1, axisID
);//设置为点位运动
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
iErr = mc.GTN_GetAxisPrfPos(1, axisID, out double curPulsePos, 1, out uint clock
);
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
setPulsePos = (int
)curPulsePos + distancePulse;
mc.TTrapPrm trap;
trap.acc = acc / 1000000;//单位：pulse/ms2
trap.dec = acc / 1000000;//单位：pulse/ms2
trap.velStart = 0;//起跳速度
trap.smoothTime = 50;//单位ms
// 设置点位运动参数
iErr = mc.GTN_SetTrapPrm(1, axisID, ref trap
);//设置加减速
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
iErr = mc.GTN_SetPos(1, axisID, setPulsePos
);//设置位置
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
iErr = mc.GTN_SetVel(1, axisID, speed
);//设置速度
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
iErr = mc.GTN_Update(1, 1 << (axisID
- 1
));//启动轴
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
return true;
}
/// <summary>
/// jog运动
/// </summary>
/// <param name="distance"></param>
/// <param name="message"></param>
/// <returns></returns>
public bool StepJogMovee(double distance, JogMovType movType, out string message
)
{
int scale = AxisProfile.MotorScale;
int speed = (Int32
)(AxisProfile.ManualSpeed * AxisProfile.MotorScale
);
double acc = (double
)(AxisProfile.acc_dec * AxisProfile.MotorScale
);//50000pulse/ms2
int distancePulse = (int
)(distance * scale
);
int setPulsePos;
// 1.停止当前运动
bool ret = StopMot
ion(out string info
);
message = info;
if (!ret
)
return false;
//2.清除轴状态
short iErr = mc.GTN_ClrSts(1, axisID, 1
);
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
//3. 设置为Jog运动模式
iErr = mc.GTN_PrfJog(1, axisID
);
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
mc.TJogPrm trap;
trap.acc = acc / 1000000;//单位：pulse/ms2
trap.dec = acc / 1000000;//单位：pulse/ms2
trap.smooth = 0.5; // 平滑系数 (0~1
)
// 设置Jog运动参数
iErr = mc.GTN_SetJogPrm(1, axisID, ref trap
);
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
switch (movType
)
{
case JogMovType.MeditatePerly:
iErr = mc.GTN_SetVel(1, axisID, speed
);//设置目标速度
break;
case JogMovType.Counterforce:
iErr = mc.GTN_SetVel(1, axisID,
-speed
);//设置目标速度
break;
}
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
iErr = mc.GTN_Update(1, 1 << (axisID
- 1
));//启动轴
message = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
return false;
return true;
}
public bool StopMot
ion(out string info
)
{
int mask = 1 << (axisID
- 1
);
int opt
ion = 1 << (axisID
- 1
);//0表示平滑停止，1表示紧急停止
int iErr = mc.GTN_Stop(1, mask, 0
); //mc.GTN_Stop(1, mask, opt
ion
);
info = GtnInterFace.GetErrorString(iErr
);
if (iErr != 0
)
{
Log.Informat
ion("GTN Axis_GTN StopMot
ion(
)-GTN_Stop Error: {info}", info + "{iErr}:" + iErr + ""
);
return false;
}
return true;
}
public bool SVN(out bool status
)
{
if (!GetMot
ionStatus(axisID, (short
)GTNAxisStauts.Servo, out string info, out bool val
))
{
status = false;
return false;
}
status = val;
return true;
}
public string WaitHomeDone(
)
{
Stopwatch watch = new Stopwatch(
);
watch.Start(
);
while (true
)
{
if (IsHomed
)
{
if (IsHomeDone
)
return "";
else
return "Home Error:" + HomeError;
}
if (watch.ElapsedMilliseconds > 30000
)
{
return "home timeout";
}
Applicat
ion.DoEvents(
);
Thread.Sleep(15
);
}
}
public bool WaitMoveDone(
)
{
bool status;
Stopwatch watch = new Stopwatch(
);
watch.Start(
);
bool ret = Busy(out status
);
if (!ret
)
return false;
while (status
)
{
if (watch.ElapsedMilliseconds > 30000
)
return false;
Applicat
ion.DoEvents(
);
Thread.Sleep(15
);
ret = Busy(out status
);
if (!ret
)
return false;
}
return true;
}
public bool WaitMovePos(double pos
)
{
WaitMoveDone(
);
Stopwatch watch = new Stopwatch(
);
watch.Start(
);
while (true
)
{
if (GetPosit
ion(out double curPos
))
{
if (Math.Abs(curPos
- pos
) < 0.005
)
break;
}
if (watch.ElapsedMilliseconds > 3000
)
return false;
Thread.Sleep(10
);
}
return true;
}
}
背景：
1.已知用户启动程序后通过，点击按钮“自动加工”后会在SoftModels类开启执行StarThreadMeasure(
)方法，开启线程去执行膜厚检测的流程动作
2.已知代码MeasureThreadFunc(
)方法里面主要功能是：
2.1 提前设置好测试点的X/Y 具体的点位坐标值，并保存到processParam.PointDataManager列表。
例如：提前设置好12个坐标值（
528.655,300.885
397.071,300.885
210.737,336.92659
210.737,414.533
412.96,414.533
609.46,414.533
609.624,500.44
391.353,500.44
218.115,500.44
109.613,500.44
109.613,265.201752
109.613,247.143
）
2.2 再通过 for (int num = 0; num < index; num++
)去控制设备去进行多少次的动作即执行Act
ionPointLocat
ion（）方法里面的代码
3.当执行Act
ionPointLocat
ion（）里面的代码时，需要先执行 if (!mot
ionManager.XYTablePmove(PosX, PosY
))处代码，即对X/Y轴去进行点位运动
3.1 再执行 while (FlagThreadMeasureProcess
)- if (!mot
ionManager.IfXYTableMoving(out status
))
去执行固高GTN_GetSts函数（读取轴状态）
3.2 当前面操作执行完成后执行代码： if (!mot
ionManager.Z.MoveAbsTo(AimZ, out _
))即Z轴按位置进行点位运动，再触发执行GTN_GetSts函数（读取轴状态）
4.重复执行直到 for (int num = 0; num < index; num++
)执行完成，即点位测量完成
5.GTN_SetTrapPrm，指令错误返回值：
若返回值为 1：
(1
) 若当前轴在规划运动，请调用 GTN_Stop 停止运动再调用该指令。
(2
) 请检查当前轴是否为 Trap 模式，若不是，请先调用 GTN_PrfTrap 将当前轴设置为
Trap 模式。
其他返回值：请参照指令返回值列表。
问题：
1.实际设备执行运动控制，即执行StarThreadMeasure(
)-MeasureThreadFunc(
)-Act
ionPointLocat
ion（）时总是会设备在某一个点位就停止动作
2.当1发生是通过断点及日志添加后，排查发现SetTrapPrm retry {3}: {1}，即固高GTN_SetTrapPrm指令错误并返回值为：1
需求：
1.请你做为一名C# 软件工程师，对C#后台代码（SoftModels类、Mot
ionManager类、Axis_GTN类）、背景1
-5、对问题1
-2进行分析与排查动作时停止动作
（即：固高GTN_SetTrapPrm指令错误）的原因
2..请你做为一名C# 软件工程师，在分析与排查到原因后对问题1
-2进行优化与完善并输出完整的解决方案与示例代码
本文解析了Erlang中IoList的概念及其实现原理，通过源码分析IoList的组成结构，并对比其与普通列表的区别，强调IoList在提高数据传输效率方面的作用。
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