初版本AxisControl（Viscom风格）控件。

2026-04-22 20:48:00 +08:00
parent 4390ad1e9f
commit 1279885924
16 changed files with 1656 additions and 0 deletions
@@ -488,6 +488,60 @@ namespace XP.Hardware.MotionControl.Services
            return result;
        }

+        /// <summary>
+        /// 设置直线轴 Jog 速度 | Set linear axis jog speed
+        /// 根据速度百分比计算实际速度并写入 PLC | Calculates actual speed from percentage and writes to PLC
+        /// </summary>
+        public MotionResult SetJogSpeed(AxisId axisId, double speedPercent)
+        {
+            var axis = _motionSystem.GetLinearAxis(axisId);
+            var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0;
+            var result = axis.SetJogSpeed(actualSpeed);
+
+            if (result.Success)
+            {
+                _logger.Debug("直线轴 {AxisId} Jog 速度已设置，百分比={SpeedPercent}%，实际速度={ActualSpeed} | Linear axis {AxisId} jog speed set, percent={SpeedPercent}%, actual={ActualSpeed}",
+                    axisId, speedPercent, actualSpeed);
+            }
+            else
+            {
+                _logger.Warn("直线轴 {AxisId} 设置 Jog 速度被拒绝：{Reason} | Linear axis {AxisId} set jog speed rejected: {Reason}", axisId, result.ErrorMessage);
+            }
+
+            return result;
+        }
+
+        /// <summary>
+        /// 设置旋转轴 Jog 速度 | Set rotary axis jog speed
+        /// 根据速度百分比计算实际速度并写入 PLC | Calculates actual speed from percentage and writes to PLC
+        /// </summary>
+        public MotionResult SetJogRotarySpeed(RotaryAxisId axisId, double speedPercent)
+        {
+            var axis = _motionSystem.GetRotaryAxis(axisId);
+
+            // 禁用轴检查 | Disabled axis check
+            if (!axis.Enabled)
+            {
+                _logger.Warn("旋转轴 {AxisId} 已禁用，拒绝设置 Jog 速度命令 | Rotary axis {AxisId} is disabled, set jog speed rejected", axisId);
+                return MotionResult.Fail($"旋转轴 {axisId} 已禁用 | Rotary axis {axisId} is disabled");
+            }
+
+            var actualSpeed = _config.DefaultVelocity * speedPercent / 100.0;
+            var result = axis.SetJogSpeed(actualSpeed);
+
+            if (result.Success)
+            {
+                _logger.Debug("旋转轴 {AxisId} Jog 速度已设置，百分比={SpeedPercent}%，实际速度={ActualSpeed} | Rotary axis {AxisId} jog speed set, percent={SpeedPercent}%, actual={ActualSpeed}",
+                    axisId, speedPercent, actualSpeed);
+            }
+            else
+            {
+                _logger.Warn("旋转轴 {AxisId} 设置 Jog 速度被拒绝：{Reason} | Rotary axis {AxisId} set jog speed rejected: {Reason}", axisId, result.ErrorMessage);
+            }
+
+            return result;
+        }
+
        #endregion

        #region 安全门控制 | Safety Door Control