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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; return ErrorCode.CardNotInit;
if (!IsInitialized) if (!IsInitialized)
return ErrorCode.AxisNotInit; return ErrorCode.AxisNotInit;
if (!SafeCheck())
return ErrorCode.Unsafe;
nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent; nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent; nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
if (HomeStatus != EHomeStatus.Finished) if (HomeStatus != EHomeStatus.Finished)
@ -372,6 +373,8 @@ namespace Rs.Motion.GugaoEcat
{ {
return ErrorCode.AxisNotInit; return ErrorCode.AxisNotInit;
} }
if (!SafeCheck())
return ErrorCode.Unsafe;
nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent; nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent; nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
double curPos = 0.0; double curPos = 0.0;
@ -502,7 +505,8 @@ namespace Rs.Motion.GugaoEcat
{ {
return ErrorCode.AxisNotInit; return ErrorCode.AxisNotInit;
} }
if (!SafeCheck())
return ErrorCode.Unsafe;
nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent; nSpeedPercent = nSpeedPercent <= 0 ? 10 : nSpeedPercent;
nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent; nSpeedPercent = nSpeedPercent > 100 ? 100 : nSpeedPercent;
ErrorCode err = IsEnable(out bool bEnable); 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() public override ErrorCode Init()
{ {
mc_pulse_cfg.TAxisConfig axisConfig; //mc_pulse_cfg.TAxisConfig axisConfig;
apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig); //apiResult = mc_pulse_cfg.GT_GetAxisConfig((short)Config.CardId,(short)Config.AxisId,out axisConfig);
mc_pulse_cfg.TDiConfig diConfig; //mc_pulse_cfg.TDiConfig diConfig;
if (!cardManager.IsInitialized) //if (!cardManager.IsInitialized)
{ //{
return ErrorCode.CardNotInit; // return ErrorCode.CardNotInit;
} //}
HomeStatus = EHomeStatus.NotStart; //HomeStatus = EHomeStatus.NotStart;
if (Config.EnableAlarm == 0) //if (Config.EnableAlarm == 0)
{ //{
mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId); // mc_pulse.GT_AlarmOff((short)Config.CardId, (short)Config.AxisId);
} //}
else if (Config.EnableAlarm == 1) //else if (Config.EnableAlarm == 1)
{ //{
axisConfig.alarmIndex = (short)Config.AxisId; // axisConfig.alarmIndex = (short)Config.AxisId;
apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig); // apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, out diConfig);
diConfig.active = 1; // diConfig.active = 1;
diConfig.reverse = (short)Config.AlarmLogic; // diConfig.reverse = (short)Config.AlarmLogic;
diConfig.filterTime = 3; // diConfig.filterTime = 3;
apiResult = mc_pulse_cfg.GT_SetDiConfig((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, ref diConfig); // 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); //mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_GPO, 11, out mc_pulse_cfg.TDoConfig oConfig);
//oConfig.reverse = 0; //oConfig.reverse = 0;
@ -108,11 +108,11 @@ namespace Rs.Motion.GugaoPulse
// diConfig.reverse = (short)Config.InpLogic; // 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_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); //apiResult = mc_pulse_cfg.GT_GetDiConfig((short)Config.CardId, mc_pulse.MC_HOME, (short)Config.AxisId, out diConfig);
diConfig.active = 1; //diConfig.active = 1;
diConfig.reverse = (short)Config.HomeOrgLogic; //diConfig.reverse = (short)Config.HomeOrgLogic;
diConfig.filterTime = 3; //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_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); //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); // mc_cfg.GT_SetDiConfig(short diType, short diIndex, ref TDiConfig pDi);

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