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RealSys.MotionPlat
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1、固高卡运动时增加对安全的检测

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2、取消固高卡初始化时信息，改位加载配置文件
master
lhiven 8 months ago
parent f1b5be7faf
commit ce919ed3f8
2 changed files with 32 additions and 28 deletions
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8
Rs.Motion/GugaoEcat/GugaoAxis.cs
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@ -272,7 +272,8 @@ namespace Rs.Motion.GugaoEcat
return ErrorCode.CardNotInit;
if (!IsInitialized)
return ErrorCode.AxisNotInit;
if (!SafeCheck())
return ErrorCode.Unsafe;
nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
if (HomeStatus != EHomeStatus.Finished)
@ -372,6 +373,8 @@ namespace Rs.Motion.GugaoEcat
{
return ErrorCode.AxisNotInit;
}
if (!SafeCheck())
return ErrorCode.Unsafe;
nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
double curPos = 0.0;
@ -502,7 +505,8 @@ namespace Rs.Motion.GugaoEcat
{
return ErrorCode.AxisNotInit;
}
if (!SafeCheck())
return ErrorCode.Unsafe;
nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
ErrorCode err = IsEnable(out bool bEnable);

52
Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
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@ -34,27 +34,27 @@ namespace Rs.Motion.GugaoPulse
public override ErrorCode Init()
{
mc_pulse_cfg.TAxisConfig axisConfig;
apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig);
mc_pulse_cfg.TDiConfig diConfig;
if (!cardManager.IsInitialized)
{
return ErrorCode.CardNotInit;
}
HomeStatus = EHomeStatus.NotStart;
if (Config.EnableAlarm == 0)
{
mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId);
}
else if (Config.EnableAlarm == 1)
{
axisConfig.alarmIndex = (short)Config.AxisId;
apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig);
diConfig.active = 1;
diConfig.reverse = (short)Config.AlarmLogic;
diConfig.filterTime = 3;
apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig);
}
//mc_pulse_cfg.TAxisConfig axisConfig;
//apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig);
//mc_pulse_cfg.TDiConfig diConfig;
//if (!cardManager.IsInitialized)
//{
// return ErrorCode.CardNotInit;
//}
//HomeStatus = EHomeStatus.NotStart;
//if (Config.EnableAlarm == 0)
//{
// mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId);
//}
//else if (Config.EnableAlarm == 1)
//{
// axisConfig.alarmIndex = (short)Config.AxisId;
// apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig);
// diConfig.active = 1;
// diConfig.reverse = (short)Config.AlarmLogic;
// diConfig.filterTime = 3;
// apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig);
//}
//mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, out mc_pulse_cfg.TDoConfig oConfig);
//oConfig.reverse = 0;
@ -108,11 +108,11 @@ namespace Rs.Motion.GugaoPulse
// diConfig.reverse = (short)Config.InpLogic;
// apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ARRIVE, (short)Config.AxisId, ref diConfig);
//}
apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
diConfig.active = 1;
diConfig.reverse = (short)Config.HomeOrgLogic;
diConfig.filterTime = 3;
apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, ref diConfig);
//apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
//diConfig.active = 1;
//diConfig.reverse = (short)Config.HomeOrgLogic;
//diConfig.filterTime = 3;
//apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, ref diConfig);
//apiResult = mc_pulse_cfg.GT_SetAxisConfig((short)Config.CardId, (short)Config.AxisId, ref axisConfig);
// mc_cfg.GT_SetDiConfig(short diType, short diIndex, ref TDiConfig pDi);

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