增加移动前 轴使能状态的判断，当轴未使能，使能轴并移动；增加了监听端口的配置；异常事件的注册和销毁

HexcalMC/Motion/Motion.cs

@@ -46,14 +46,16 @@ namespace HexcalMC
 		private int _mNValues, _mNOutputState;
 		private object _mObjReadVar;
 
-		public Motion(Api api)
+		private readonly MainFrom mainFrom;
+
+		public Motion(MainFrom mainFrom)
 		{
 			InitializeComponent();
 
-			_acs = api; //初始化 ACS运动控制类
+			this.mainFrom = mainFrom; // 存储传递的主窗体对象
+			_acs = this.mainFrom._acs; //初始化 ACS运动控制类
 
-			// Register Event 注册时间
-			_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
+			_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND; // Register Event 注册时间
 			_acs.PROGRAMEND += ACS_PROGRAMEND;
 		}
 
@@ -223,8 +225,6 @@ namespace HexcalMC
 
 			#region 初始化
 
-
-
 			InitMotion();
 
 			#endregion
@@ -244,7 +244,6 @@ namespace HexcalMC
 			string strTemp;
 			int i;
 
-	
 
 			_mBConnected = _acs.IsConnected;
 			// Get Total number of axes
@@ -392,7 +391,6 @@ namespace HexcalMC
 			{
 				try
 				{
-
 					_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);
 
 					// Returned value is integer, you need to use bitmaks 
@@ -620,12 +618,9 @@ namespace HexcalMC
 		{
 			try
 			{
-				// There is no halt all command, so you need to user HaltM function
-				// 
-				// ex) You want to stop 0, 2, 5 axis
-				//     int[] m_arrAxisList = new int[] { 0, 2, 5, -1 };
-				// 
-				if (_mArrAxisList != null) _acs.HaltM(_mArrAxisList);
+				Axis[] m_arrAxisList = new Axis[] { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
+
+				if (_mArrAxisList != null) _acs.HaltM(m_arrAxisList);
 			}
 			catch (Exception ex)
 			{
@@ -914,7 +909,6 @@ namespace HexcalMC
 					lstLog.Items.Add(string.Format(" - Axis {0}, Stoppped", axisNo));
 					lstLog.SelectedIndex = lstLog.Items.Count - 1;
 				});
-
 			}
 		}
 
@@ -1055,12 +1049,25 @@ namespace HexcalMC
 				0
 			};
 
+			//判断电机状态
+			if (!this.mainFrom.totalAxisEnabled)
+			{
+				DebugDfn.AddLogText("存在电机未使能");
+
+				_acs.EnableM(UseAxis);
+				for (int i = 0; i < UseAxis.Length; i++)
+				{
+					_acs.WaitMotorEnabled(UseAxis[i], 1, _motionTimeout); //等待电机使能
+				}
+
+				DebugDfn.AddLogText("电机已启用");
+			}
 
 			//执行运动指令
 			_acs.ToPointM(MotionFlags.ACSC_NONE, UseAxis, pointsArray); //多轴运动到指定位置
 
 			//等待运动完成
-			for (int i = 0; i < UseAxis.Length-1; i++)
+			for (int i = 0; i < UseAxis.Length - 1; i++)
 			{
 				_acs.WaitMotionEnd(UseAxis[i], _motionTimeout); //等待回家完成
 			}