QI Mingxuan
323 lines
10 KiB
Markdown
323 lines
10 KiB
Markdown
# 运动控制模块集成指南 | Motion Control Module Integration Guide
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## 1. 模块注册 | Module Registration
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在 `App.xaml.cs` 中注册模块：
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```csharp
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using XP.Hardware.MotionControl.Module;
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protected override void ConfigureModuleCatalog(IModuleCatalog moduleCatalog)
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{
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moduleCatalog.AddModule<MotionControlModule>();
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}
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```
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模块启动时自动完成：
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- 从 App.config 加载配置（轴范围、几何原点、轮询周期）
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- 注册 `IMotionSystem`、`IMotionControlService`、`GeometryCalculator` 为单例
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- 注册多语言资源到 Fallback Chain
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- 启动 PLC 状态轮询（100ms 周期）
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---
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## 2. 获取轴状态和位置 | Reading Axis Status and Position
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通过 DI 注入 `IMotionSystem`：
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```csharp
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using XP.Hardware.MotionControl.Abstractions;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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public class YourService
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{
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private readonly IMotionSystem _motionSystem;
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public YourService(IMotionSystem motionSystem)
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{
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_motionSystem = motionSystem;
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}
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public void ReadStatus()
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{
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// 获取直线轴 | Get linear axis
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ILinearAxis sourceZ = _motionSystem.GetLinearAxis(AxisId.SourceZ);
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double position = sourceZ.ActualPosition; // 实际位置（mm）
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AxisStatus status = sourceZ.Status; // Idle/Moving/Homing/Error/Alarm
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bool posLimit = sourceZ.PositiveLimitHit; // 正限位
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bool negLimit = sourceZ.NegativeLimitHit; // 负限位
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// 获取旋转轴 | Get rotary axis
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IRotaryAxis stageRot = _motionSystem.GetRotaryAxis(RotaryAxisId.StageRotation);
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double angle = stageRot.ActualAngle; // 实际角度（度）
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bool enabled = stageRot.Enabled; // 是否启用
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// 获取安全门 | Get safety door
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ISafetyDoor door = _motionSystem.SafetyDoor;
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DoorStatus doorStatus = door.Status; // Unknown/Opening/Open/Closing/Closed/Locked/Error
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bool interlocked = door.IsInterlocked; // 联锁信号
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// 遍历所有轴 | Iterate all axes
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foreach (var kvp in _motionSystem.LinearAxes)
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{
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AxisId id = kvp.Key;
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ILinearAxis axis = kvp.Value;
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// ...
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}
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foreach (var kvp in _motionSystem.RotaryAxes)
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{
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RotaryAxisId id = kvp.Key;
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IRotaryAxis axis = kvp.Value;
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// ...
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}
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}
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}
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```
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---
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## 3. 下发运动控制命令 | Sending Motion Commands
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通过 DI 注入 `IMotionControlService`：
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```csharp
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using XP.Hardware.MotionControl.Abstractions;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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using XP.Hardware.MotionControl.Services;
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public class YourController
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{
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private readonly IMotionControlService _mc;
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public YourController(IMotionControlService motionControlService)
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{
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_mc = motionControlService;
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}
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// 单轴移动 | Single axis move
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public void MoveSingleAxis()
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{
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MotionResult result = _mc.MoveToTarget(AxisId.SourceZ, 100.0);
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if (!result.Success)
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Console.WriteLine($"移动失败: {result.ErrorMessage}");
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// 带速度参数 | With speed parameter
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_mc.MoveToTarget(AxisId.SourceZ, 100.0, speed: 50.0);
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// 旋转轴 | Rotary axis
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_mc.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, 15.0);
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_mc.MoveRotaryToTarget(RotaryAxisId.DetectorSwing, 15.0, speed: 30.0);
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}
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// 多轴联动 | Multi-axis coordinated move
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public void MoveMultipleAxes()
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{
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var targets = new Dictionary<AxisId, double>
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{
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{ AxisId.SourceZ, 100.0 },
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{ AxisId.DetectorZ, 400.0 },
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{ AxisId.StageX, 0.0 },
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{ AxisId.StageY, 0.0 }
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};
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// 原子性边界检查：任意轴越界则全部拒绝
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MotionResult result = _mc.MoveAllToTarget(targets);
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}
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// 停止和回零 | Stop and Home
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public void StopAndHome()
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{
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_mc.StopAll(); // 停止所有已启用轴
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_mc.HomeAll(); // 所有已启用轴回零
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}
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// Jog 点动 | Jog
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public void JogAxis()
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{
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_mc.JogStart(AxisId.SourceZ, positive: true); // 正向 Jog
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// ... 用户松开按钮时 ...
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_mc.JogStop(AxisId.SourceZ); // 停止 Jog
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// 旋转轴 Jog
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_mc.JogRotaryStart(RotaryAxisId.DetectorSwing, positive: false);
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_mc.JogRotaryStop(RotaryAxisId.DetectorSwing);
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}
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// 安全门控制 | Safety door control
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public void DoorControl()
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{
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MotionResult openResult = _mc.OpenDoor(); // 含联锁检查
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_mc.CloseDoor();
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_mc.StopDoor();
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}
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}
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```
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---
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## 4. 几何计算 | Geometry Calculation
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```csharp
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public class YourGeometryUser
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{
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private readonly IMotionControlService _mc;
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private readonly GeometryCalculator _calc;
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public YourGeometryUser(
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IMotionControlService mc,
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GeometryCalculator calc)
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{
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_mc = mc;
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_calc = calc;
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}
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// 正算：获取当前 FOD/FDD/放大倍率 | Forward: get current geometry
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public void GetCurrentGeometry()
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{
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var (fod, fdd, magnification) = _mc.GetCurrentGeometry();
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Console.WriteLine($"FOD={fod:F2}mm, FDD={fdd:F2}mm, M={magnification:F3}");
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}
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// 反算：由目标 FOD+FDD 移动轴 | Inverse: move axes by target FOD+FDD
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public void ApplyGeometry()
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{
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MotionResult result = _mc.ApplyGeometry(targetFOD: 200.0, targetFDD: 500.0);
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}
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// 反算：由目标 FOD+放大倍率 移动轴 | Inverse: move axes by target FOD+magnification
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public void ApplyByMagnification()
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{
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MotionResult result = _mc.ApplyGeometryByMagnification(targetFOD: 200.0, magnification: 2.5);
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}
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// 直接使用 GeometryCalculator | Use GeometryCalculator directly
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public void DirectCalculation()
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{
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double fod = _calc.CalcFOD(sourceZAbsolute: 100.0, stageRotationCenterZ: 300.0);
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double fdd = _calc.CalcFDD(sourceZAbsolute: 100.0, detectorZAbsolute: 600.0);
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double mag = _calc.CalcMagnification(fdd, fod); // FOD < 0.001 时返回 NaN
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// 反算轴目标位置
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var (szTarget, dzTarget) = _calc.CalcAxisTargets(
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targetFOD: 200.0, targetFDD: 500.0,
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stageRotationCenterZ: 300.0,
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sourceZOrigin: 0.0, detectorZOrigin: 600.0);
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}
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}
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```
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---
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## 5. 事件订阅 | Event Subscription
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通过 Prism `IEventAggregator` 被动接收状态变化：
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```csharp
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using Prism.Events;
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using XP.Hardware.MotionControl.Abstractions.Enums;
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using XP.Hardware.MotionControl.Abstractions.Events;
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public class YourMonitor
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{
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public YourMonitor(IEventAggregator eventAggregator)
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{
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// 轴状态变化 | Axis status changed
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eventAggregator.GetEvent<AxisStatusChangedEvent>()
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.Subscribe(data =>
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{
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Console.WriteLine($"轴 {data.AxisId} 状态变为 {data.Status}");
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}, ThreadOption.UIThread);
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// 门状态变化 | Door status changed
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eventAggregator.GetEvent<DoorStatusChangedEvent>()
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.Subscribe(status =>
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{
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Console.WriteLine($"门状态: {status}");
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}, ThreadOption.UIThread);
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// 门联锁状态变化 | Door interlock status changed
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eventAggregator.GetEvent<DoorInterlockChangedEvent>()
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.Subscribe(isInterlocked =>
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{
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Console.WriteLine($"联锁状态: {(isInterlocked ? "已联锁" : "未联锁")}");
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}, ThreadOption.UIThread);
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// 几何参数更新（每轮询周期触发）| Geometry updated (every polling cycle)
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eventAggregator.GetEvent<GeometryUpdatedEvent>()
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.Subscribe(data =>
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{
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Console.WriteLine($"FOD={data.FOD:F2}, FDD={data.FDD:F2}, M={data.Magnification:F3}");
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}, ThreadOption.UIThread);
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// 运动错误（轴进入 Error/Alarm）| Motion error
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eventAggregator.GetEvent<MotionErrorEvent>()
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.Subscribe(data =>
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{
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Console.WriteLine($"运动错误: 轴 {data.AxisId} - {data.ErrorMessage}");
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}, ThreadOption.UIThread);
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}
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}
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```
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---
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## 6. PLC 信号定义 | PLC Signal Definitions
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信号名称硬编码在 `MotionSignalNames.cs` 中，信号地址定义在 `PlcAddrDfn.xml`。
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每个轴包含以下信号（以 SourceZ 为例）：
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| 信号名 | 方向 | 类型 | 说明 |
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|--------|------|------|------|
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| `MC_SourceZ_Pos` | Read | single | 实际位置 |
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| `MC_SourceZ_Target` | Write | single | 目标位置 |
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| `MC_SourceZ_Speed` | Write | single | 运动速度 |
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| `MC_SourceZ_JogPos` | Write | byte | 正向 Jog |
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| `MC_SourceZ_JogNeg` | Write | byte | 反向 Jog |
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| `MC_SourceZ_Home` | Write | byte | 回零 |
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| `MC_SourceZ_Stop` | Write | byte | 停止 |
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安全门信号：
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| 信号名 | 方向 | 说明 |
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|--------|------|------|
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| `MC_Door_Open` | Write | 开门 |
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| `MC_Door_Close` | Write | 关门 |
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| `MC_Door_Stop` | Write | 停门 |
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| `MC_Door_Status` | Read | 门状态（int: 0-6） |
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| `MC_Door_Interlock` | Read | 联锁信号 |
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---
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## 7. 安全机制 | Safety Mechanisms
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| 机制 | 说明 |
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|------|------|
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| 边界检查 | 目标位置超出 Min/Max 范围时拒绝移动 |
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| 运动中防重入 | 轴处于 Moving 状态时拒绝新的移动命令 |
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| 联锁检查 | 联锁信号有效时禁止开门 |
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| 禁用轴检查 | Enabled=false 的旋转轴拒绝所有命令 |
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| Homing 中拒绝 Jog | 回零过程中不允许 Jog 操作 |
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| 多轴原子性检查 | MoveAllToTarget 任意轴越界则全部拒绝 |
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| 轮询异常不中断 | 轮询中 PLC 异常被捕获，不影响下一轮 |
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| UI 异常保护 | ViewModel 命令通过 SafeRun 包裹，PLC 异常弹窗而非崩溃 |
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---
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## 8. 轮询机制 | Polling Mechanism
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`MotionControlService` 使用 `System.Threading.Timer` 以配置的 `PollingInterval`（默认 100ms）周期执行：
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1. 检查 PLC 连接状态（通过 `IPlcService.IsConnected`），未连接时跳过
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2. 缓存所有轴、门状态和联锁状态的旧值
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3. 调用 `IMotionSystem.UpdateAllStatus()` 从 PLC 读取最新状态
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4. 重新计算几何参数，发布 `GeometryUpdatedEvent`
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5. 检测状态变化，发布 `AxisStatusChangedEvent`、`DoorStatusChangedEvent`、`DoorInterlockChangedEvent`
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6. 轴进入 Error/Alarm 时额外发布 `MotionErrorEvent`
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7. 异常捕获并记录 Error 日志，不中断轮询
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通过 `StartPolling()` / `StopPolling()` 控制轮询生命周期。
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---
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**最后更新 | Last Updated**: 2026-04-14
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