新增Hexcal中间件设置运动速度参数

HSI_HexagonMI_EF3/HSI_Motion.cpp

@@ -469,7 +469,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 				handleACS = acsc_OpenCommSimulator();
 #else
 				// 10.0.0.100 - default IP address of the controller
-				handleACS = acsc_OpenCommEthernet("10.0.0.100", ACSC_SOCKET_DGRAM_PORT);
+				handleACS = acsc_OpenCommEthernet("100.0.0.100", ACSC_SOCKET_DGRAM_PORT);
 				// for the connection to the controller via local network or Internet
 				//	hComm = acsc_OpenCommEthernet("10.0.0.100", ACSC_SOCKET_STREAM_PORT);
 

HSI_HexagonMI_EF3/version.h

@@ -12,5 +12,5 @@
 #define HSI_VERSION_REVNUM              
 #define HSI_VERSION_BUILD_DATE        _T(__DATE__ )  
 #define HSI_VERSION_BUILD_TIME        _T(__TIME__ )  
-#define HSI_FILE_DESCRIPTION          "2024.02.28 / 14:55 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2024.02.28 / 14:55 ")  
+#define HSI_FILE_DESCRIPTION          "2024.02.28 / 15:15 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2024.02.28 / 15:15 ")  

HexcalMC/MainFrom.Designer.cs

@@ -1139,7 +1139,7 @@
 			this.txtIP.Name = "txtIP";
 			this.txtIP.Size = new System.Drawing.Size(91, 21);
 			this.txtIP.TabIndex = 22;
-			this.txtIP.Text = "10.0.0.100";
+			this.txtIP.Text = "100.0.0.100";
 			// 
 			// btn_ACSStop
 			// 

HexcalMC/MainFrom.cs

@@ -32,8 +32,7 @@ namespace HexcalMC
 
 	public partial class MainFrom : RadRibbonForm
 	{
-		private List<Point3D> _pointCloud = new List<Point3D>(); //运动中点集合
-
+		private readonly List<Point3D> _pointCloud = new List<Point3D>(); //运动中点集合
 
 
 		public MainFrom()
@@ -41,7 +40,7 @@ namespace HexcalMC
 			InitializeComponent();
 
 
-			#region  3D相关绘制，暂时取消
+			#region 3D相关绘制，暂时取消
 
 			//var sharpGlViewportControl = new SharpGLViewportControl
 			//{
@@ -69,8 +68,6 @@ namespace HexcalMC
 			tabControl1.TabPages.RemoveAt(1);
 
 			#endregion
-
-
 		}
 
 		private void MainFrom_Load(object sender, EventArgs e)
@@ -83,9 +80,12 @@ namespace HexcalMC
 			//加载配置文件
 			LoadConfig();
 
+			_acs = new Api(); //初始化 ACS运动控制类
+
 
 			//启动界面刷新
 			timer_RefreshUI.Start();
+			this.TopMost = true;
 		}
 
 		private void MainFrom_Shown(object sender, EventArgs e) //窗体显示准备好接受用户输入时发生
@@ -93,7 +93,8 @@ namespace HexcalMC
 			//启动服务端,用于接收hexcal传来的指令
 			StartServer();
 
-	
+			Btn_ACSStart_Click(null, null);
+
 			//Plot3D();
 		}
 
@@ -131,6 +132,7 @@ namespace HexcalMC
 				return;
 			}
 
+			MOTION_SPEED = FileIni.ReadDouble(StrConfigFile, "MOTOR", "MOTION_SPEED"); //运动定位速度
 			//正限位
 			X_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "X_MAXSTROKESW");
 			Y_MAXSTROKESW = FileIni.ReadDouble(StrConfigFile, "MOTOR", "Y_MAXSTROKESW");
@@ -147,6 +149,12 @@ namespace HexcalMC
 			// 清空画布
 			formsPlot1.Plot.Clear();
 
+			//pointCloud 是否为空
+			if (pointCloud.Count <= 0)
+			{
+				return;
+			}
+
 			List<double> dataX = new List<double>();
 			List<double> dataY = new List<double>();
 
@@ -172,8 +180,6 @@ namespace HexcalMC
 		}
 
 
-
-
 		#region 运动平台变量区
 
 		private Api _acs;
@@ -185,7 +191,7 @@ namespace HexcalMC
 		private int _mNTotalBuffer = 0;
 		private Axis[] _mArrAxisList = null;
 
-		private bool _mBConnected; //ACS通讯状态
+		private bool _mAcsConnected; //ACS通讯状态
 
 		// For update values
 		private MotorStates _mNMotorState; //运动状态
@@ -201,22 +207,23 @@ namespace HexcalMC
 
 		private HomeStates _homeStates; //回家状态
 		private MotionStates _currentMotionState; //当前运动状态
-		private readonly int _motionTimeout = 5000; //定义运动超时时间
+		private readonly int _motionTimeout = 50000; //定义运动超时时间
 
 
 		public static Axis[] USE_AXIS =
-			{ Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_4, Axis.ACSC_NONE }; //定义启用的轴，后面运动时会使用
+			{ Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_8, Axis.ACSC_NONE }; //定义启用的轴，后面运动时会使用
 
 
 		//定义 XYZ三个轴的左右行程范围
 		public string StrConfigFile = Application.StartupPath + "\\File\\config.ini";
-		public static double X_MAXSTROKESW = 100.0; //正限位
-		public static double Y_MAXSTROKESW = 50.0;
-		public static double Z_MAXSTROKESW = 10.0;
+		public static double MOTION_SPEED = 60;
+		public static double X_MAXSTROKESW = 730; //正限位
+		public static double Y_MAXSTROKESW = 1000;
+		public static double Z_MAXSTROKESW = 5;
 
-		public static double X_MINSTROKESW = -100.0; //负限位
-		public static double Y_MINSTROKESW = -50.0;
-		public static double Z_MINSTROKESW = -10.0;
+		public static double X_MINSTROKESW = -30; //负限位
+		public static double Y_MINSTROKESW = -10;
+		public static double Z_MINSTROKESW = -280;
 
 		#endregion
 
@@ -340,7 +347,7 @@ namespace HexcalMC
 
 		private void ParseHexcalMsg(string msg) //编写一个Hexcal协议解析函数
 		{
-			DebugDfn.AddLogText("正在解析" + msg);
+			DebugDfn.AddLogText("正在解析 " + msg);
 			//去除Msg中\r\n
 			msg = msg.Replace("\r\n", "");
 			//判断是否含有故障ERROR字样
@@ -439,7 +446,7 @@ namespace HexcalMC
 				SendMsgToHexcal(
 					"ACCEL 1000.000000,1000.000000,1000.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
 			}
-			else if (msg.Contains("MOVPAR 300.0,300.0,300.0,0.0,0.0,0.0")) //设置速度 xyz 轴的速度
+			else if (msg.Contains("MOVPAR")) //设置速度 xyz 轴的速度
 			{
 				SendMsgToHexcal("%");
 			}
@@ -537,8 +544,16 @@ namespace HexcalMC
 
 		private void BtnEnable_Click(object sender, EventArgs e) //使能所有轴
 		{
-			//!!!! Important !! Must insert '-1' at the last
-			_acs.EnableM(USE_AXIS);
+			if (_mAcsConnected)
+			{
+				//!!!! Important !! Must insert '-1' at the last
+				_acs.EnableM(USE_AXIS);
+			}
+			else
+			{
+				//弹窗提醒尚未连接
+				MessageBox.Show("未连接到运动平台，请先点击连接");
+			}
 		}
 
 		private void BtnDisable_Click(object sender, EventArgs e) //轴取消
@@ -550,20 +565,10 @@ namespace HexcalMC
 		private void TmrMonitor_Tick(object sender, EventArgs e) //用于刷新状态
 		{
 			int iAxisNo = cboAxisNo.SelectedIndex;
-			if (_mBConnected)
+			if (_mAcsConnected)
 			{
 				try
 				{
-					// Instruction 1. Using library functions - acsc_GetFPosition,
-					// acsc_GetRPosition, .... Instruction 2. Read ACS variable - Already defined
-					// almost things (FPOS, RPOS, ...) Motion parameters and state is array (Max
-					// length is total number of axes)
-					//
-					// * Library function can read only 1 axis information, so if you want to read
-					// several axes, you have to call the function many times. (This may cause
-					// communication delay.) Recommand (if you want to read many axes) : read/write
-					// variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
-
 					// Get Motor State ACSPL+ Variable : MST (integer)
 					_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);
 
@@ -573,6 +578,7 @@ namespace HexcalMC
 					if ((_mNMotorState & MotorStates.ACSC_MST_MOVE) != 0)
 					{
 						lblMoving.Image = Resources.On;
+						_currentMotionState = MotionStates.Moving;
 					}
 					else
 					{
@@ -583,6 +589,7 @@ namespace HexcalMC
 					if ((_mNMotorState & MotorStates.ACSC_MST_INPOS) != 0)
 					{
 						lblInPos.Image = Resources.On;
+						_currentMotionState = MotionStates.InPos;
 					}
 					else
 					{
@@ -608,43 +615,6 @@ namespace HexcalMC
 					{
 						lblEnable.Image = Resources.Off;
 					}
-
-
-					// Reference position ACSPL+ Variable : RPOS (real)
-					_mLfRPos = _acs.GetRPosition((Axis)iAxisNo); // 参考位置
-
-					// Feedback position (Encoder value) ACSPL+ Variable : FPO (real)
-					_mLfFPos = _acs.GetFPosition((Axis)iAxisNo); //反馈位置
-
-					// PE (Position Error) There is no function in library. We need to use
-					// ReadVariable function
-					_mLfPe = (double)_acs.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差
-
-					// Feedback Velocity
-					_mLfFvel = (double)_acs.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度
-
-					// txtRPOS.Text = String.Format("{0:0.0000}", m_lfRPos); //参考位置
-					rtb_xPos.Text = string.Format("{0:0.0000}", _mLfFPos); //反馈位置
-					// txtPE.Text =
-					// String.Format("{0:0.0000}",
-					// m_lfPE); //实际速度
-					// txtFVEL.Text =
-					// String.Format("{0:0.0000}", m_lfFVEL);//位置误差
-
-					// Read left/right hardware limits state ACSPL+ Variable : FAULT (integer)
-					_mObjReadVar =
-						_acs.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, _mNTotalAxis - 1);
-					if (_mObjReadVar != null)
-					{
-						_mArrReadVector = _mObjReadVar as Array;
-						if (_mArrReadVector != null)
-						{
-							for (int i = 0; i < _mNTotalAxis; i++)
-							{
-								UpdateLimitState(i, (int)_mArrReadVector.GetValue(i));
-							}
-						}
-					}
 				}
 				catch (Exception ex)
 				{
@@ -665,7 +635,7 @@ namespace HexcalMC
 					txtIP.Text, // IP Address (Default : 10.0.0.100)
 					Convert.ToInt32(txtPort.Text.Trim())); // TCP/IP Port nubmer (default : 701)
 
-				_mBConnected = true;
+				_mAcsConnected = true;
 			}
 			catch (Exception ex)
 			{
@@ -685,7 +655,7 @@ namespace HexcalMC
 
 		private void Btn_ACSStop_Click(object sender, EventArgs e) //断开连接
 		{
-			if (_mBConnected) _acs.CloseComm();
+			if (_mAcsConnected) _acs.CloseComm();
 
 			tmrMonitor.Stop();
 
@@ -709,7 +679,7 @@ namespace HexcalMC
 		private void Ishome() //读取回家状态，当未回家时执行回家指令
 		{
 			// 1、连接状态检查，如果未连接，提示
-			if (!_mBConnected)
+			if (!_mAcsConnected)
 			{
 				DebugDfn.AddLogText("[Ishome] ACS平台未连接,请先点击连接");
 				MessageBox.Show("ACS平台未连接,请先点击连接", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -717,7 +687,7 @@ namespace HexcalMC
 			}
 
 			// 2、回家状态检查是否已经回家
-			if (_mBConnected && _homeStates == HomeStates.Homed)
+			if (_mAcsConnected && _homeStates == HomeStates.Homed)
 			{
 				//弹窗提示
 				MessageBox.Show("轴已经回家", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -725,12 +695,12 @@ namespace HexcalMC
 			}
 
 			// 3、读取回家状态
-			if (_acs != null && _mBConnected)
+			if (_acs != null && _mAcsConnected)
 
 			{
 				var yawHome = _acs.ReadVariable("YAW_HOME_DONE");
 
-				if (yawHome != null && (bool)yawHome)
+				if (Convert.ToBoolean(yawHome))
 				{
 					//弹窗提示
 					MessageBox.Show("轴已经回家", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -769,7 +739,6 @@ namespace HexcalMC
 			}
 		}
 
-
 		private void InitMotion() //定义 运动状态初始化函数，包括内部变量，轴启用，回家判断等
 		{
 			//运动相关变量初始化
@@ -777,6 +746,18 @@ namespace HexcalMC
 			_currentMotionState = MotionStates.None;
 			_currentMotionState = MotionStates.None;
 
+			if (!_mAcsConnected)
+			{
+				MessageBox.Show("未连接运动平台，请先连接运动平台");
+				return;
+			}
+
+			if (_acs == null)
+			{
+				DebugDfn.AddLogText("运动控制对象不存在");
+				return;
+			}
+
 			//轴启用，加电
 			_acs.EnableM(USE_AXIS);
 			for (int i = 0; i < USE_AXIS.Length; i++)
@@ -788,6 +769,39 @@ namespace HexcalMC
 
 			//回家
 			Ishome();
+
+			SetSpeedXyz();
+
+			//注册到位事件
+			_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
+			_acs.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
+		}
+
+		private void ACS_PHYSICALMOTIONEND(AxisMasks axis)
+		{
+			int bit = 0x01;
+			int axisNo = 0;
+			// Param value is bit number 
+			// Bit Number = Axis Number
+			for (int i = 0; i < 64; i++)
+			{
+				if ((int)axis == bit)
+				{
+					axisNo = i;
+					break;
+				}
+
+				bit = bit << 1;
+			}
+
+			// Add log to ListBox
+			Invoke((MethodInvoker)delegate
+			{
+				DebugDfn.AddLogText("运动到位");
+				_currentMotionState = MotionStates.InPos;
+				DebugDfn.AddLogText("运动到位");
+
+			});
 		}
 
 		private bool IsWithinStrokes(Point3D point) //判断点是否在行程范围内
@@ -804,7 +818,7 @@ namespace HexcalMC
 
 		private void SetPositionXyz(Point3D point3D) //运动到指定位置
 		{
-			if (!_mBConnected)
+			if (!_mAcsConnected)
 			{
 				DebugDfn.AddLogText("ACS平台未连接,请先点击连接");
 				MessageBox.Show("ACS平台未连接,请先点击连接", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -821,22 +835,22 @@ namespace HexcalMC
 					{
 						double[] pointsArray =
 						{
-							point3D.Y,
 							point3D.X,
+							point3D.Y,
 							point3D.Z
 						};
 
 						//执行运动指令
 						_acs.ToPointM(MotionFlags.ACSC_NONE, USE_AXIS, pointsArray); //多轴运动到指定位置
 
-						//等待运动完成
-						for (int i = 0; i < USE_AXIS.Length; i++)
-						{
-							_acs.WaitMotionEnd(USE_AXIS[i], _motionTimeout); //等待回家完成
-						}
+						////等待运动完成
+						//for (int i = 0; i < USE_AXIS.Length; i++)
+						//{
+						//	_acs.WaitMotionEnd(USE_AXIS[i], _motionTimeout); //等待回家完成
+						//}
 
-						_currentMotionState = MotionStates.InPos;
-						DebugDfn.AddLogText("运动到位");
+						//_currentMotionState = MotionStates.InPos;
+						//DebugDfn.AddLogText("运动到位");
 					}
 					else
 					{
@@ -852,12 +866,11 @@ namespace HexcalMC
 			}
 		}
 
-
 		private Point3D GetPositionXyz(int positionMode = 1) //获取当前位置
 		{
 			double xPosition = 0, yPosition = 0, zPosition = 0;
 			Point3D point3D = new Point3D(xPosition, yPosition, zPosition);
-			if (!_mBConnected)
+			if (!_mAcsConnected)
 			{
 				DebugDfn.AddLogText("ACS平台未连接,请先点击连接");
 				MessageBox.Show("ACS平台未连接,请先点击连接", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
@@ -882,9 +895,6 @@ namespace HexcalMC
 				DebugDfn.AddLogText("参考位置: " + xPosition + " " + yPosition + " " + zPosition);
 			}
 
-			//获取位置误差
-			double positionError = (double)_acs.ReadVariable("PE", ProgramBuffer.ACSC_NONE, 0, 2);
-			DebugDfn.AddLogText("位置误差: " + positionError);
 
 			//构造point3D格式
 			point3D = new Point3D(xPosition, yPosition, zPosition);
@@ -892,14 +902,30 @@ namespace HexcalMC
 			return point3D;
 		}
 
-		private void GetSpeedXyz() //获取运动参数
+		private void SetSpeedXyz() //获取运动参数
 		{
 			//获取实际速度
-			double feedbackVelocity = (double)_acs.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, 0, 2);
+			double feedbackVelocity = (double)_acs.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, 0, 0);
 			DebugDfn.AddLogText("实际速度: " + feedbackVelocity);
+
+			//设置Y轴 速度参数
+			_acs.SetVelocity(Axis.ACSC_AXIS_0, MOTION_SPEED);
+			_acs.SetAcceleration(Axis.ACSC_AXIS_0,MOTION_SPEED*10);
+			_acs.SetDeceleration(Axis.ACSC_AXIS_0,MOTION_SPEED*10);
+
+			//设置X轴速度参数
+			_acs.SetVelocity(Axis.ACSC_AXIS_1, MOTION_SPEED);
+			_acs.SetAcceleration(Axis.ACSC_AXIS_1, MOTION_SPEED * 10);
+			_acs.SetDeceleration(Axis.ACSC_AXIS_1, MOTION_SPEED * 10);
+
+			//设置Z轴速度参数
+			_acs.SetVelocity(Axis.ACSC_AXIS_8, MOTION_SPEED);
+			_acs.SetAcceleration(Axis.ACSC_AXIS_8, MOTION_SPEED * 10);
+			_acs.SetDeceleration(Axis.ACSC_AXIS_8, MOTION_SPEED * 10);
+
 		}
 
-		private void openGLControl1_OpenGLDraw(object sender, SharpGL.RenderEventArgs args)
+		private void openGLControl1_OpenGLDraw(object sender, RenderEventArgs args)
 		{
 			OpenGL gl = openGLControl1.OpenGL;
 
@@ -908,7 +934,6 @@ namespace HexcalMC
 
 			gl.LoadIdentity();
 			//gl.Translate(0.0f, 0.0f, -5.0f);  // 平移场景
-
 		}
 
 		private void LoadPoints(List<Point3D> points)
@@ -931,6 +956,7 @@ namespace HexcalMC
 				gl.PointSize(5.0f); // 大小为5个单位
 				gl.Vertex(point.X, point.Y, point.Z);
 			}
+
 			gl.End();
 
 			gl.Flush();
@@ -938,24 +964,18 @@ namespace HexcalMC
 
 		private void openGLControl1_OpenGLInitialized(object sender, EventArgs e)
 		{
-
 		}
 
 		private void openGLControl1_Resized(object sender, EventArgs e)
 		{
-
 		}
 
-		private void openGLControl1_GDIDraw(object sender, SharpGL.RenderEventArgs args)
-		{
-
-		}
-
-		private void SetSpeedXyz() //设置运动参数
-
+		private void openGLControl1_GDIDraw(object sender, RenderEventArgs args)
 		{
 		}
 
+
+
 		#endregion ACS平台相关
 
 		#region 菜单栏
@@ -976,14 +996,14 @@ namespace HexcalMC
 		private void Timer_RefreshUI_Tick(object sender, EventArgs e) //UI刷新
 		{
 			//状态灯刷新
-			lamp_acs.State = _mBConnected ? LampColor.Green : LampColor.Silver;
+			lamp_acs.State = _mAcsConnected ? LampColor.Green : LampColor.Silver;
 			lamp_hexcal.State = _mBHexcalConnected ? LampColor.Green : LampColor.Silver;
 
 			//时间栏
 			//获取当前时间，构造形如 精确到秒,例如 2023-10-08 16:01:23
 			rle_timer.Text = "当前时间: " + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
 
-			Plot2D(_pointCloud);//绘图
+			Plot2D(_pointCloud); //绘图
 		}
 
 		#endregion 菜单栏

HexcalMC/Motion/Motion.cs

@@ -852,7 +852,7 @@ namespace HexcalMC
 
 		private void BtnEventMotionEnd_Click(object sender, EventArgs e)
 		{
-			//_ACS.PHYSICALMOTIONEND +=_ACS_PHYSICALMOTIONEND;
+			_acs.PHYSICALMOTIONEND +=ACS_PHYSICALMOTIONEND;
 			_acs.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
 			lstLog.Items.Add("PHYSICAL_MOTION_END event enabled");
 		}

Motion/ACS Motion/obj/x86/Debug/ACS Motion.csproj.FileListAbsolute.txt

@@ -14,3 +14,19 @@ E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\bi
 E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS_Motion.exe.licenses
 E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS_Motion.exe
 E:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\obj\x86\Debug\ACS_Motion.pdb
+D:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\bin\Debug\ACS_Motion.exe
+D:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\bin\Debug\ACS_Motion.pdb
+D:\HexagonProjects\2022-05-直线电机平台\LM-Middleware\Motion\ACS Motion\bin\Debug\Telerik.WinControls.dll
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