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292 lines
9.6 KiB
C#
292 lines
9.6 KiB
C#
using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.Motion.Base;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace Rs.MotionPlat
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{
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public partial class AxisMove : UserControl
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{
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BindingList<RunResult> bindList = new BindingList<RunResult>();
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public AxisMove()
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{
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InitializeComponent();
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}
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private IAxis m_axis;
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protected void CommonMoveDist_Click(object sender, EventArgs e)
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{
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Label lblNum = (Label)sender;
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txtMoveDist.Text = lblNum.Text;
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chkMoveStep.Checked = true;
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}
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protected void Calc_Click(object sender, EventArgs e)
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{
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chkMoveStep.Checked = true;
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Label lblNum = (Label)sender;
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if (lblNum.Text.ToLower() == "c")
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{
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txtMoveDist.Text = "";
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}
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else
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{
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if (lblNum.Text == ".")
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{
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if (txtMoveDist.Text.IndexOf(".") == -1 && txtMoveDist.Text.Length > 0)
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txtMoveDist.Text += ".";
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}
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else
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{
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txtMoveDist.Text += lblNum.Text;
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}
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}
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}
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private void tbarSpeed_ValueChanged(object sender, EventArgs e)
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{
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lblSpeed.Text = $"{tbarSpeed.Value}%";
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}
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/// <summary>
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/// 绑定轴
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/// </summary>
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/// <param name="axis"></param>
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public void BindAxis(IAxis axis)
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{
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dataGridView1.AutoGenerateColumns = false;
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bindList.Clear();
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dataGridView1.DataSource = bindList;
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lblDriver.Visible = txtDriverPos.Visible = false;
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m_axis = axis;
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if(m_axis.Config.EnableEncoder==1)
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{
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m_axis.GetDriverPosition(out double driverPos);
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txtDriverPos.Text = driverPos.ToString("0.000");
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lblDriver.Visible = true;
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txtDriverPos.Visible = true;
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}
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timer1.Interval = 200;
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timer1.Enabled = true;
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label5.Visible = false;
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txtAuEncPos.Visible = false;
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if (m_axis != null && m_axis.Config.AssistEncoder > 0)
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{
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label5.Visible = true;
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txtAuEncPos.Visible = true;
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}
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txtAxisPelLimit.Text=axis.Config.PelSoftwarePosition.ToString("0.000");
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txtAxisNelLimit.Text = axis.Config.NelSoftwarePosition.ToString("0.000");
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if(m_axis!=null && !m_axis.Config.CanJogMove)
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{
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chkMoveStep.Checked = true;
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chkMoveStep.Enabled = false;
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}
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else
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{
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chkMoveStep.Enabled = true;
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}
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}
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private void btnServoOn_Click(object sender, EventArgs e)
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{
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if(m_axis!=null)
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{
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m_axis.Enable();
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}
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}
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private void btnServoOff_Click(object sender, EventArgs e)
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{
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if (m_axis != null)
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{
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m_axis.Disable();
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}
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}
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private void timer1_Tick(object sender, EventArgs e)
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{
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if(m_axis!=null)
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{
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ErrorCode errCode;
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m_axis.GetPrfPosition(out double prfPos);
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txtPrfPos.Text = prfPos.ToString("0.000");
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m_axis.GetEncoderPosition(out double encPos);
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txtEncPos.Text = encPos.ToString("0.000");
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m_axis.GetAuEncoderPosition(out double auEncPos);
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txtAuEncPos.Text = auEncPos.ToString("0.000");
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if (m_axis.Config.EnableEncoder==1)
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{
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m_axis.GetDriverPosition(out double driverPos);
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txtDriverPos.Text = driverPos.ToString("0.000");
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}
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if(m_axis.HomeStatus== Motion.EHomeStatus.Finished && lblHomed.BackColor!=Color.Lime)
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lblHomed.BackColor = Color.Lime;
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else if(m_axis.HomeStatus!= Motion.EHomeStatus.Finished)
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{
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if (lblHomed.BackColor != Color.Silver)
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lblHomed.BackColor = Color.Silver;
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}
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m_axis.GetAlarmStatus(out bool bAlarm);
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if (bAlarm && lblAxisAlarm.BackColor != Color.Lime)
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lblAxisAlarm.BackColor = Color.Lime;
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else if(bAlarm==false)
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{
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if (lblAxisAlarm.BackColor != Color.Silver)
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lblAxisAlarm.BackColor = Color.Silver;
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}
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m_axis.IsEnable(out bool bServo);
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if (bServo && lblAxisServo.BackColor != Color.Lime)
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lblAxisServo.BackColor = Color.Lime;
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else if(bServo==false)
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{
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if (lblAxisServo.BackColor != Color.Silver)
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lblAxisServo.BackColor = Color.Silver;
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}
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errCode = m_axis.IsStop(out bool bStop);
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if (!bStop && lblAxisMoving.BackColor != Color.Lime && errCode== ErrorCode.Ok)
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lblAxisMoving.BackColor = Color.Lime;
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else if (bStop)
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{
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if (lblAxisMoving.BackColor != Color.Silver)
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lblAxisMoving.BackColor = Color.Silver;
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}
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m_axis.GetOrgStatus(out bool bOrg);
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if (bOrg && lblOrg.BackColor != Color.Lime)
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lblOrg.BackColor = Color.Lime;
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else if (bOrg == false)
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{
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if (lblOrg.BackColor != Color.Silver)
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lblOrg.BackColor = Color.Silver;
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}
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m_axis.GetPelStatus(out bool bPel);
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if (bPel && lblPlimit.BackColor != Color.Lime)
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lblPlimit.BackColor = Color.Lime;
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else if (bPel == false)
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{
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if (lblPlimit.BackColor != Color.Silver)
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lblPlimit.BackColor = Color.Silver;
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}
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m_axis.GetNelStatus(out bool bNel);
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if (bNel && lblNlimit.BackColor != Color.Lime)
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lblNlimit.BackColor = Color.Lime;
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else if (bNel == false)
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{
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if (lblNlimit.BackColor != Color.Silver)
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lblNlimit.BackColor = Color.Silver;
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}
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}
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}
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private void Mouse_Down(object sender,MouseEventArgs e)
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{
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if(m_axis!=null)
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{
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double.TryParse(txtMoveDist.Text, out double moveDistance);
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int speed = tbarSpeed.Value;
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ButtonEx button = (ButtonEx)sender;
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if (chkMoveStep.Checked)//
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{
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if (button.ShowText == "-")
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{
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moveDistance *= -1;
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}
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ErrorCode errCode = m_axis.MoveOffset(moveDistance, speed);
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AddMessage(errCode.ToString());
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}
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else
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{
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short dir = 1;
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if (button.ShowText == "-")
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dir = 0;
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ErrorCode errCode = m_axis.MoveJog(dir, speed);
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AddMessage(errCode.ToString());
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}
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}
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}
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private void Mouse_Up(object sender,MouseEventArgs e)
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{
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if (m_axis != null && chkMoveStep.Checked==false)
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{
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m_axis.Stop();
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}
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}
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private void btnGoHome_Click(object sender, EventArgs e)
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{
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if(m_axis!=null)
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{
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bool gohome = true;
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if(m_axis.Config.AbsoluteEncoder==1)
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{
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DialogResult dr = MessageBox.Show($"{m_axis.Config.AxisName}轴为绝对值编码器，确定设置当前位置为零点位吗？", "Question?", MessageBoxButtons.OKCancel, MessageBoxIcon.Question);
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if(dr!= DialogResult.OK)
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{
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gohome = false;
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}
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}
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if(gohome)
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{
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ErrorCode errCode = m_axis.Home();
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AddMessage(errCode.ToString());
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}
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}
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}
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private void btnStop_Click(object sender, EventArgs e)
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{
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if(m_axis!=null)
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{
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ErrorCode errCode = m_axis.Stop();
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m_axis.Abort_Go_Home();
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AddMessage(errCode.ToString());
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}
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}
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void AddMessage(string msg)
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{
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if (bindList.Count > 10)
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bindList.RemoveAt(bindList.Count - 1);
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bindList.Insert(0, new RunResult() {
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Time = DateTime.Now.ToString("HH:ss:mm fff"),
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Result = msg
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});
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}
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private void lblAxisAlarm_Click(object sender, EventArgs e)
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{
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if(m_axis != null)
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{
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ErrorCode errCode = m_axis.ClearAlarm();
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AddMessage(errCode.ToString());
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}
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}
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private void AxisMove_Load(object sender, EventArgs e)
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{
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}
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}
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public class RunResult
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{
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public string Time { get; set; }
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public string Result { get; set; }
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}
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}
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