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1、运动到指定点，JOG运动，运动结束的判断

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2、优化测试用例
This commit is contained in:
zhengxuan.zhang
2022-10-19 20:20:52 +08:00
parent 3473b1d637
commit df5c6c7c3f
12 changed files with 958 additions and 745 deletions
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HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs
+6 -3
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@@ -430,9 +430,12 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI
public enum HSI_MOTION_AXIS_TYPE
{
HSI_MOTION_AXIS_X = 0x0001, // This is the default "Sensor level" X Axis - use on single X axis machines
HSI_MOTION_AXIS_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines
HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines
//HSI_MOTION_AXIS_X = 0x0001, // This is the default "Sensor level" X Axis - use on single X axis machines
//HSI_MOTION_AXIS_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines
//HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines
HSI_MOTION_AXIS_X = 0x0001, //对应ACS 0轴 X
HSI_MOTION_AXIS_Y = 0x0000, //对应ACS 1轴 Y
HSI_MOTION_AXIS_Z = 0x0004, //对应ACS 4轴 Z
HSI_MOTION_AXIS_R = 0x0008, // This is the default "Sensor level" R Axis - use on single R axis machines
HSI_MOTION_AXIS_X1 = 0x0010, // This is the 1st X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y1 = 0x0020, // This is the 1st Y Axis - use on multiple axis machines when specific axis needed
HSI_SEVENOCEAN_EF1_CsTest/Program.cs
+78 -57
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@@ -41,17 +41,18 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
Console.WriteLine("Motion.Startup:{0}", rStatus);
//5 获取EF3固件版本号,待测试
var EF3Version = new byte[20];
//IntPtr intPtrEF3Version = IntPtr.Zero;
IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
//var EF3Version = new byte[20];
////IntPtr intPtrEF3Version = IntPtr.Zero;
//IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
//rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
//Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
//Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
//Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
var bHomed = true;
rStatus = Motion.IsHomed(ref bHomed);
Console.WriteLine("Motion.IsHomed:{0}", rStatus);
//6 是否回家
//var bHomed = true;
//rStatus = Motion.IsHomed(ref bHomed);
//Console.WriteLine("Motion.IsHomed:{0}", rStatus);
var bexit = false;
var SpeedGear = 1.0;
var dPos = new double[3];
@@ -62,18 +63,18 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
switch (info.Key)
{
case ConsoleKey.P:
dPos[0] += 10.0;
dPos[1] += 10.0;
rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2],
Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_NOWAIT, 0.0);
Console.WriteLine("Motion.SetPositionXyz:{0},{1},{2} {3}", dPos[0], dPos[1], dPos[2],rStatus);
dPos[0] += 10.0; //X轴
dPos[1] += 20.0; //Y轴
dPos[2] += 30.0; //Y轴
rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2],Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_WAIT, 0.0);
Console.WriteLine("Motion.SetPositionXyz:{0:f4},{1:f4},{2:f4} {3}", dPos[0], dPos[1],
dPos[2],
rStatus);
break;
case ConsoleKey.Enter:
rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1],
ref dPos[2], ref dTime);
rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1], ref dPos[2], ref dTime);
Console.WriteLine("Motion.GetPositionXyz:{0}", rStatus);
Console.WriteLine("Motion.XYZ:{0},{1},{2}", dPos[0], dPos[1], dPos[2]);
Console.WriteLine("Motion.XYZ:{0:f4},{1:f4},{2:f4}", dPos[0], dPos[1], dPos[2]);
break;
case ConsoleKey.Escape:
bexit = true;
@@ -82,50 +83,71 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
rStatus = Motion.StopJog();
Console.WriteLine("Motion.StopJog:{0}", rStatus);
break;
// Z轴运动
case ConsoleKey.NumPad1:
case ConsoleKey.D1:
SpeedGear = 1.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad2:
case ConsoleKey.D2:
SpeedGear = 2.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad3:
case ConsoleKey.D3:
SpeedGear = 3.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.NumPad4:
case ConsoleKey.D4:
SpeedGear = 4.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.LeftArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.RightArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.DownArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.UpArrow:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.PageUp:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, SpeedGear);
Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
break;
case ConsoleKey.PageDown:
case ConsoleKey.NumPad3:
case ConsoleKey.D3:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, -SpeedGear);
Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, -SpeedGear);
break;
//Y轴运动
case ConsoleKey.NumPad2:
case ConsoleKey.D2:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, -SpeedGear);
break;
case ConsoleKey.NumPad8:
case ConsoleKey.D8:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear);
Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
break;
// X轴运动
case ConsoleKey.NumPad4:
case ConsoleKey.D4:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, -SpeedGear);
break;
case ConsoleKey.NumPad6:
case ConsoleKey.D6:
rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear);
Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
break;
//加减速
case ConsoleKey.Add:
SpeedGear += 1.0;
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
case ConsoleKey.Subtract:
SpeedGear -= 1.0;
if (SpeedGear < 1.0)
{
SpeedGear = 1.0;
}
Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
break;
//case ConsoleKey.LeftArrow:
// break;
//case ConsoleKey.RightArrow:
// break;
//case ConsoleKey.DownArrow:
// break;
//case ConsoleKey.UpArrow:
// break;
//case ConsoleKey.PageUp:
// break;
//case ConsoleKey.PageDown:
// break;
default:
Console.WriteLine("Invalid");
break;
@@ -137,7 +159,6 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
Console.WriteLine("Motion.Startup:{0}", rStatus);
}
rStatus = Interface.Shutdown();
Console.WriteLine("Interface.Shutdown:{0}", rStatus);
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini
+12 -6
View File
@@ -108,9 +108,12 @@ SCALE_RESOLUTION_8=0.0004
[LIMIT]
;负限位(mm)，必须是负数
NEG_WORKING_LIMIT_1=-260.0
NEG_WORKING_LIMIT_2=-40.0
NEG_WORKING_LIMIT_3=-40.0
;NEG_WORKING_LIMIT_1=-260.0
;NEG_WORKING_LIMIT_2=-40.0
;NEG_WORKING_LIMIT_3=-40.0
NEG_WORKING_LIMIT_1=-1.0
NEG_WORKING_LIMIT_2=-1.0
NEG_WORKING_LIMIT_3=-1.0
NEG_WORKING_LIMIT_4=-40.0
NEG_WORKING_LIMIT_5=-40.0
NEG_WORKING_LIMIT_6=-40.0
@@ -118,9 +121,12 @@ NEG_WORKING_LIMIT_7=-40.0
NEG_WORKING_LIMIT_8=-40.0
;正限位(mm)，必须是正数
POS_WORKING_LIMIT_1=40.0
POS_WORKING_LIMIT_2=160.0
POS_WORKING_LIMIT_3=160.0
;POS_WORKING_LIMIT_1=40.0
;POS_WORKING_LIMIT_2=160.0
;POS_WORKING_LIMIT_3=160.0
POS_WORKING_LIMIT_1=500.0
POS_WORKING_LIMIT_2=500.0
POS_WORKING_LIMIT_3=250.0
POS_WORKING_LIMIT_4=200.0
POS_WORKING_LIMIT_5=200.0
POS_WORKING_LIMIT_6=200.0