现场优化3
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"IsSave": false,
|
||||
"VariableName": null,
|
||||
"VariableID": null,
|
||||
"IsOutputToReport": false
|
||||
},
|
||||
{
|
||||
"ID": "d3c52228-bfa2-4b6a-8bd5-249055461360",
|
||||
"IsVisible": true,
|
||||
"Name": "功率分析仪通道2",
|
||||
"Type": "System.Int32, System.Private.CoreLib",
|
||||
"Category": 0,
|
||||
"IsGlobal": false,
|
||||
"InitialValue": null,
|
||||
"Value": "2",
|
||||
"LowerLimit": null,
|
||||
"UpperLimit": null,
|
||||
"Result": true,
|
||||
"IsUseVar": false,
|
||||
"IsSave": false,
|
||||
"VariableName": null,
|
||||
"VariableID": null,
|
||||
"IsOutputToReport": false
|
||||
}
|
||||
],
|
||||
"Devices": []
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
@@ -1,164 +0,0 @@
|
||||
using DeviceCommand.Base;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace BenchMovementModule.HardwareDrive
|
||||
{
|
||||
public abstract class GantryControlBase
|
||||
{
|
||||
protected readonly IModbusDevice _device;
|
||||
protected readonly byte _slaveAddress;
|
||||
|
||||
// 默认 PLC Modbus 映射地址
|
||||
protected const ushort ADDR_HM_X_ENABLE = 0xC100; // HM0: X轴使能
|
||||
protected const ushort ADDR_HM_Y_ENABLE = 0xC101; // HM1: Y轴使能
|
||||
protected const ushort ADDR_HM_Z_ENABLE = 0xC102; // HM2: Z轴使能
|
||||
|
||||
protected const ushort ADDR_M_X_START = 30; // M30: X轴指定位置启动
|
||||
protected const ushort ADDR_M_Y_START = 31; // M31: Y轴指定位置启动
|
||||
protected const ushort ADDR_M_Z_START = 35; // M35: Z轴指定位置启动
|
||||
|
||||
protected const ushort ADDR_M_ALL_STOP = 40; // M40: 全停
|
||||
protected const ushort ADDR_M_X_STOP = 41; // M41: X轴停止
|
||||
protected const ushort ADDR_M_Y_STOP = 42; // M42: Y轴停止
|
||||
protected const ushort ADDR_M_Z_STOP = 43; // M43: Z轴停止
|
||||
|
||||
protected const ushort ADDR_M_HOME = 100; // M100: 回原点触发
|
||||
|
||||
protected const ushort ADDR_HD_X_SPEED = 0xA166; // HD230: X轴速度 (32位)
|
||||
protected const ushort ADDR_HD_Y_SPEED = 0xA17A; // HD250: Y轴速度 (32位)
|
||||
protected const ushort ADDR_HD_Z_SPEED = 0xA170; // HD240: Z轴速度 (32位)
|
||||
|
||||
protected const ushort ADDR_HD_X_TARGET = 0xA10C; // HD140: X轴指定位置 (32位)
|
||||
protected const ushort ADDR_HD_Y_TARGET = 0xA120; // HD160: Y轴指定位置 (32位)
|
||||
protected const ushort ADDR_HD_Z_TARGET = 0xA116; // HD150: Z轴指定位置 (32位)
|
||||
|
||||
public bool IsConnected => _device?.IsConnected ?? false;
|
||||
|
||||
protected GantryControlBase(IModbusDevice device, byte slaveAddress = 1)
|
||||
{
|
||||
_device = device ?? throw new ArgumentNullException(nameof(device));
|
||||
_slaveAddress = slaveAddress;
|
||||
}
|
||||
|
||||
public async Task<bool> ConnectAsync(CancellationToken ct = default)
|
||||
{
|
||||
return await _device.ConnectAsync(ct);
|
||||
}
|
||||
|
||||
public void Close()
|
||||
{
|
||||
_device.Close();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 轴使能控制
|
||||
/// </summary>
|
||||
public async Task SetAxisEnableAsync(int axis, bool enable, CancellationToken ct = default)
|
||||
{
|
||||
ushort address = axis switch
|
||||
{
|
||||
1 => ADDR_HM_X_ENABLE, // X
|
||||
2 => ADDR_HM_Y_ENABLE, // Y
|
||||
3 => ADDR_HM_Z_ENABLE, // Z
|
||||
_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)")
|
||||
};
|
||||
|
||||
await _device.WriteSingleCoilAsync(_slaveAddress, address, enable, ct);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 左右移动（X轴）
|
||||
/// </summary>
|
||||
/// <param name="position">目标绝对位置（脉冲数/单位值）</param>
|
||||
/// <param name="speed">运行速度</param>
|
||||
public async Task MoveLeftRightAsync(int position, int speed, CancellationToken ct = default)
|
||||
{
|
||||
// 1. 写入速度与目标位置（32位数据，写入连续的2个保持寄存器）
|
||||
await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_SPEED, Int32ToUshorts(speed), ct);
|
||||
await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_TARGET, Int32ToUshorts(position), ct);
|
||||
|
||||
// 2. 边缘触发启动信号 M30
|
||||
await TriggerCoilAsync(ADDR_M_X_START, ct);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 上下移动（Z轴）
|
||||
/// </summary>
|
||||
/// <param name="position">目标绝对位置</param>
|
||||
/// <param name="speed">运行速度</param>
|
||||
public async Task MoveUpDownAsync(int position, int speed, CancellationToken ct = default)
|
||||
{
|
||||
// 1. 写入速度与目标位置（32位数据）
|
||||
await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_SPEED, Int32ToUshorts(speed), ct);
|
||||
await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_TARGET, Int32ToUshorts(position), ct);
|
||||
|
||||
// 2. 边缘触发启动信号 M35
|
||||
await TriggerCoilAsync(ADDR_M_Z_START, ct);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 前后移动（Y轴 - 预留拓展）
|
||||
/// </summary>
|
||||
public async Task MoveFrontBackAsync(int position, int speed, CancellationToken ct = default)
|
||||
{
|
||||
await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_SPEED, Int32ToUshorts(speed), ct);
|
||||
await _device.WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_TARGET, Int32ToUshorts(position), ct);
|
||||
await TriggerCoilAsync(ADDR_M_Y_START, ct);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 全局回零
|
||||
/// </summary>
|
||||
public async Task HomeAsync(CancellationToken ct = default)
|
||||
{
|
||||
await TriggerCoilAsync(ADDR_M_HOME, ct);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 轴停止
|
||||
/// </summary>
|
||||
/// <param name="axis">1:X轴, 2:Y轴, 3:Z轴, 0:全停</param>
|
||||
public async Task StopAsync(int axis = 0, CancellationToken ct = default)
|
||||
{
|
||||
ushort address = axis switch
|
||||
{
|
||||
0 => ADDR_M_ALL_STOP,
|
||||
1 => ADDR_M_X_STOP,
|
||||
2 => ADDR_M_Y_STOP,
|
||||
3 => ADDR_M_Z_STOP,
|
||||
_ => ADDR_M_ALL_STOP
|
||||
};
|
||||
|
||||
await TriggerCoilAsync(address, ct);
|
||||
}
|
||||
|
||||
#region 内部工具方法
|
||||
|
||||
/// <summary>
|
||||
/// 触发一个点动信号（置 1 后，延时 100ms 自动置 0）
|
||||
/// </summary>
|
||||
protected async Task TriggerCoilAsync(ushort address, CancellationToken ct = default)
|
||||
{
|
||||
await _device.WriteSingleCoilAsync(_slaveAddress, address, true, ct);
|
||||
await Task.Delay(100, ct); // 给予 PLC 扫描周期足够的响应时间
|
||||
await _device.WriteSingleCoilAsync(_slaveAddress, address, false, ct);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将 32 位整型数据转换为 Modbus 的 2 个 16 位无符号整数（高低字转换）
|
||||
/// </summary>
|
||||
protected ushort[] Int32ToUshorts(int value)
|
||||
{
|
||||
// 本处采用低字在前（CDAB），如果PLC高字在前（ABCD），可将返回数组顺序颠倒
|
||||
ushort lowWord = (ushort)(value & 0xFFFF);
|
||||
ushort highWord = (ushort)((value >> 16) & 0xFFFF);
|
||||
return new ushort[] { lowWord, highWord };
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
@@ -1,28 +0,0 @@
|
||||
using DeviceCommand.Base;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.IO.Ports;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace BenchMovementModule.HardwareDrive
|
||||
{
|
||||
public class GantryControlRtu : GantryControlBase
|
||||
{
|
||||
// 暴露出底层的 ModbusRtu 实例以便修改串口配置
|
||||
public ModbusRtu RtuDevice => (ModbusRtu)_device;
|
||||
|
||||
public GantryControlRtu(string portName, int baudRate = 9600, byte slaveAddress = 1)
|
||||
: base(new ModbusRtu(), slaveAddress)
|
||||
{
|
||||
RtuDevice.ConfigureDevice(portName, baudRate);
|
||||
}
|
||||
|
||||
public GantryControlRtu(string portName, int baudRate, int dataBits, StopBits stopBits, Parity parity, byte slaveAddress = 1)
|
||||
: base(new ModbusRtu(), slaveAddress)
|
||||
{
|
||||
RtuDevice.ConfigureDevice(portName, baudRate, dataBits, stopBits, parity);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,27 +0,0 @@
|
||||
using DeviceCommand.Base;
|
||||
using Model.Models;
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.Threading.Tasks;
|
||||
|
||||
namespace BenchMovementModule.HardwareDrive
|
||||
{
|
||||
public class GantryControlTcp : GantryControlBase
|
||||
{
|
||||
// 暴露出底层的 ModbusTcp 实例以便修改网络配置
|
||||
public ModbusTcp TcpDevice => (ModbusTcp)_device;
|
||||
|
||||
public GantryControlTcp(TcpConfig config, byte slaveAddress = 1)
|
||||
: base(new ModbusTcp(config), slaveAddress)
|
||||
{
|
||||
}
|
||||
|
||||
public GantryControlTcp(string ipAddress, int port = 502, byte slaveAddress = 1)
|
||||
: base(new ModbusTcp(), slaveAddress)
|
||||
{
|
||||
TcpDevice.ConfigureDevice(ipAddress, port);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -26,7 +26,7 @@ namespace DeviceCommand.Devices
|
||||
// =================================================================
|
||||
// ------------------ Coil / Bit 状态与控制 (位元件) ------------------
|
||||
// =================================================================
|
||||
private const ushort ADDR_M_ESTOP = 20496; // 0x5010: 紧停
|
||||
private const ushort ADDR_M_ESTOP = 40; // 0x5010: 紧停
|
||||
private const ushort ADDR_M_X_STOP = 41; // 0x29: X轴停止
|
||||
private const ushort ADDR_M_Y_STOP = 42; // 0x2A: Y轴停止
|
||||
private const ushort ADDR_M_Z_STOP = 43; // 0x2B: Z轴停止
|
||||
@@ -393,14 +393,26 @@ namespace DeviceCommand.Devices
|
||||
if (currentSpeed == 0)
|
||||
throw new InvalidOperationException($"轴 {轴编号} 无法启动！当前设定速度为 0。");
|
||||
|
||||
// 3. 检查动作轴使能，若为 false 则自动补写 true 激活驱动器
|
||||
bool isEnabled = await 查询轴使能(轴编号, 取消令牌);
|
||||
if (!isEnabled)
|
||||
// 3. 批量检查 1~6 号轴使能状态，若任意轴未使能则全部补写 true
|
||||
bool[] allEnableStates = await ReadCoilsAsync(_slaveAddress, ADDR_HM_AXIS1_ENABLE, 6, 取消令牌);
|
||||
if (allEnableStates == null || allEnableStates.Length < 6)
|
||||
throw new InvalidOperationException("从 PLC 读取 1~6 号轴使能状态失败。");
|
||||
|
||||
bool hasModifiedEnable = false;
|
||||
ushort[] enableAddresses = { ADDR_HM_AXIS1_ENABLE, ADDR_HM_AXIS2_ENABLE, ADDR_HM_AXIS3_ENABLE, ADDR_HM_AXIS4_ENABLE, ADDR_HM_AXIS5_ENABLE, ADDR_HM_AXIS6_ENABLE };
|
||||
|
||||
for (int i = 0; i < 6; i++)
|
||||
{
|
||||
await 设置轴使能(轴编号, true, 取消令牌);
|
||||
await Task.Delay(100, 取消令牌); // 等待硬件继电器响应与伺服驱动就绪
|
||||
if (!allEnableStates[i])
|
||||
{
|
||||
await WriteSingleCoilAsync(_slaveAddress, enableAddresses[i], true, 取消令牌);
|
||||
hasModifiedEnable = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (hasModifiedEnable)
|
||||
await Task.Delay(100, 取消令牌); // 等待硬件继电器响应与伺服驱动就绪
|
||||
|
||||
// 4. 精准独立校验当前需要动作轴的目标定位是否越界
|
||||
int currentTarget = await 查询轴目标位置(轴编号, 取消令牌);
|
||||
int allowedMaxLimit = maxLimit - currentHomePos;
|
||||
@@ -568,5 +580,61 @@ namespace DeviceCommand.Devices
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region 位置到达判定（超时轮询）
|
||||
|
||||
/// <summary>
|
||||
/// 轮询等待三轴绝对位置均回到零点（容差 ±10），超时则抛出异常
|
||||
/// </summary>
|
||||
/// <param name="超时秒数">最大等待时间（秒）</param>
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
public async Task 等待到达零点(int 超时秒数, CancellationToken 取消令牌 = default)
|
||||
{
|
||||
var deadline = DateTime.Now.AddSeconds(超时秒数);
|
||||
|
||||
while (DateTime.Now < deadline)
|
||||
{
|
||||
取消令牌.ThrowIfCancellationRequested();
|
||||
|
||||
var pos = await 查询全部轴绝对位置(取消令牌);
|
||||
if (Math.Abs(pos.Axis1) <= 10 && Math.Abs(pos.Axis2) <= 10 && Math.Abs(pos.Axis3) <= 10)
|
||||
return;
|
||||
|
||||
await Task.Delay(100, 取消令牌);
|
||||
}
|
||||
|
||||
throw new TimeoutException($"等待 {超时秒数} 秒后，三轴仍未回到零点");
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 轮询等待三轴绝对位置均到达各自设定的目标位置（容差 ±10），超时则抛出异常
|
||||
/// </summary>
|
||||
/// <param name="超时秒数">最大等待时间（秒）</param>
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
public async Task 等待到达指定位置(int 超时秒数, CancellationToken 取消令牌 = default)
|
||||
{
|
||||
var targetX = await 查询轴目标位置(1, 取消令牌);
|
||||
var targetY = await 查询轴目标位置(2, 取消令牌);
|
||||
var targetZ = await 查询轴目标位置(3, 取消令牌);
|
||||
|
||||
var deadline = DateTime.Now.AddSeconds(超时秒数);
|
||||
|
||||
while (DateTime.Now < deadline)
|
||||
{
|
||||
取消令牌.ThrowIfCancellationRequested();
|
||||
|
||||
var pos = await 查询全部轴绝对位置(取消令牌);
|
||||
if (Math.Abs(pos.Axis1 - targetX) <= 10
|
||||
&& Math.Abs(pos.Axis2 - targetY) <= 10
|
||||
&& Math.Abs(pos.Axis3 - targetZ) <= 10)
|
||||
return;
|
||||
|
||||
await Task.Delay(100, 取消令牌);
|
||||
}
|
||||
|
||||
throw new TimeoutException($"等待 {超时秒数} 秒后，三轴仍未到达指定位置 (X:{targetX}, Y:{targetY}, Z:{targetZ})");
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user