From 8d941d92f0ff046abab4c5f8454d862ee958438c Mon Sep 17 00:00:00 2001 From: hsc Date: Fri, 14 Aug 2026 09:43:25 +0800 Subject: [PATCH] =?UTF-8?q?=E7=8E=B0=E5=9C=BA=E4=BC=98=E5=8C=963?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ADP测试项条例/01_测试前期.adp | 211 + ...SU-AC侧电网输入电压范围测试.adp | 2815 ++ .../03_PSU-AC侧电网频率范围测试.adp | 2815 ++ .../04_PSU-AC侧启动冲击电流测试.adp | 4343 ++ .../05_PSU-AC侧电网最大输入电流.adp | 1435 + .../06_总谐波电流畸变iTHD.adp | 1447 + .../07_PSU-AC侧输入过压保护.adp | 9199 ++++ .../08_PSU-AC侧输入欠压保护.adp | 9979 +++++ .../09_急停断电保护测试.adp | 1435 + ...SU-AC侧输入电压上报精度测试.adp | 2031 + ...SU-AC侧输入电流上报精度测试.adp | 2031 + .../12_PSU-AC侧待机功耗测试.adp | 599 + .../13_金属异物检测保护FOD.adp | 2391 + .../14_活物入侵检测保护LOD.adp | 2293 + .../15_VA低压12V输入过压保护.adp | 5115 +++ .../16_VA低压12V输入欠压保护.adp | 6855 +++ .../17_WPT系统启动输出时间测试.adp | 3695 ++ .../18_VA-HV侧输出电压控制精度.adp | 1167 + .../19_VA-HV侧输出电流控制精度.adp | 1167 + .../20_WPT系统关闭输出时间测试.adp | 1279 + .../21_系统输出电压稳定性.adp | 1225 + 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zp3E54Av=7E@#ab;sd#K6s(@)KuYhq!Wjtz#CmF{8NOtr_9oBBG-1M!|8;Z%_;Ms9` zI+bZ7oPyY*=Yz<%zmdfp~9HB64{CjCTWR zf=#;z`rNuFy)BT~`a~8)>;&~anTH`83lXr}4B~W&6PbP_K}rjt7`EAryR)CTp{=*k za}aN<0vNo4at=j5_O09PfzlF|I69$Tk_BLdk2Hx?LRg<_`AP!O{!P68v;9744X{7b&HttF zca&s!|06&Bv!nk^WWW9ViIV+)s{OCD_D?(iTvGp+9j1?a|GzD;|EGn27U}-7K*aE; zg@2dq{{Nr*=10}(9!-J14DUg96Kjat$ Iet-J^0A}CSUH||9 literal 0 HcmV?d00001 diff --git a/BenchMovementModule/HardwareDrive/GantryControlBase.cs b/BenchMovementModule/HardwareDrive/GantryControlBase.cs deleted file mode 100644 index 4240e31..0000000 --- a/BenchMovementModule/HardwareDrive/GantryControlBase.cs +++ /dev/null @@ -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 ConnectAsync(CancellationToken ct = default) - { - return await _device.ConnectAsync(ct); - } - - public void Close() - { - _device.Close(); - } - - ///

- /// 轴使能控制 - /// - 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); - } - - /// - /// 左右移动（X轴） - /// - /// 目标绝对位置（脉冲数/单位值） - /// 运行速度 - 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); - } - - /// - /// 上下移动（Z轴） - /// - /// 目标绝对位置 - /// 运行速度 - 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); - } - - /// - /// 前后移动（Y轴 - 预留拓展） - /// - 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); - } - - /// - /// 全局回零 - /// - public async Task HomeAsync(CancellationToken ct = default) - { - await TriggerCoilAsync(ADDR_M_HOME, ct); - } - - /// - /// 轴停止 - /// - /// 1:X轴, 2:Y轴, 3:Z轴, 0:全停 - 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 - - /// - /// 触发一个点动信号（置 1 后，延时 100ms 自动置 0） - /// - 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); - } - - /// - /// 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） - /// - 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 - } -} diff --git a/BenchMovementModule/HardwareDrive/GantryControlRtu.cs b/BenchMovementModule/HardwareDrive/GantryControlRtu.cs deleted file mode 100644 index 8ce5fa3..0000000 --- a/BenchMovementModule/HardwareDrive/GantryControlRtu.cs +++ /dev/null @@ -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); - } - } -} diff --git a/BenchMovementModule/HardwareDrive/GantryControlTcp.cs b/BenchMovementModule/HardwareDrive/GantryControlTcp.cs deleted file mode 100644 index dae9bd9..0000000 --- a/BenchMovementModule/HardwareDrive/GantryControlTcp.cs +++ /dev/null @@ -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); - } - } -} diff --git a/DeviceCommand/Devices/GantryControlTcp.cs b/DeviceCommand/Devices/GantryControlTcp.cs index b251c3a..1350fd7 100644 --- a/DeviceCommand/Devices/GantryControlTcp.cs +++ b/DeviceCommand/Devices/GantryControlTcp.cs @@ -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($"轴 {轴编号} 无法启动！当前设定速度为 0。"); - // 3. 检查动作轴使能，若为 false 则自动补写 true 激活驱动器 - bool isEnabled = await 查询轴使能(轴编号, 取消令牌); - if (!isEnabled) + // 3. 批量检查 1~6 号轴使能状态，若任意轴未使能则全部补写 true + bool[] allEnableStates = await ReadCoilsAsync(_slaveAddress, ADDR_HM_AXIS1_ENABLE, 6, 取消令牌); + if (allEnableStates == null || allEnableStates.Length < 6) + throw new InvalidOperationException("从 PLC 读取 1~6 号轴使能状态失败。"); + + bool hasModifiedEnable = false; + ushort[] enableAddresses = { ADDR_HM_AXIS1_ENABLE, ADDR_HM_AXIS2_ENABLE, ADDR_HM_AXIS3_ENABLE, ADDR_HM_AXIS4_ENABLE, ADDR_HM_AXIS5_ENABLE, ADDR_HM_AXIS6_ENABLE }; + + for (int i = 0; i < 6; i++) { - await 设置轴使能(轴编号, true, 取消令牌); - await Task.Delay(100, 取消令牌); // 等待硬件继电器响应与伺服驱动就绪 + if (!allEnableStates[i]) + { + await WriteSingleCoilAsync(_slaveAddress, enableAddresses[i], true, 取消令牌); + hasModifiedEnable = true; + } } + if (hasModifiedEnable) + await Task.Delay(100, 取消令牌); // 等待硬件继电器响应与伺服驱动就绪 + // 4. 精准独立校验当前需要动作轴的目标定位是否越界 int currentTarget = await 查询轴目标位置(轴编号, 取消令牌); int allowedMaxLimit = maxLimit - currentHomePos; @@ -568,5 +580,61 @@ namespace DeviceCommand.Devices } #endregion + + #region 位置到达判定（超时轮询） + + /// + /// 轮询等待三轴绝对位置均回到零点（容差 ±10），超时则抛出异常 + /// + /// 最大等待时间（秒） + /// 取消令牌 + public async Task 等待到达零点(int 超时秒数, CancellationToken 取消令牌 = default) + { + var deadline = DateTime.Now.AddSeconds(超时秒数); + + while (DateTime.Now < deadline) + { + 取消令牌.ThrowIfCancellationRequested(); + + var pos = await 查询全部轴绝对位置(取消令牌); + if (Math.Abs(pos.Axis1) <= 10 && Math.Abs(pos.Axis2) <= 10 && Math.Abs(pos.Axis3) <= 10) + return; + + await Task.Delay(100, 取消令牌); + } + + throw new TimeoutException($"等待 {超时秒数} 秒后，三轴仍未回到零点"); + } + + /// + /// 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 + /// + /// 最大等待时间（秒） + /// 取消令牌 + 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 } }

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