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台架驱动

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hsc
2026-07-17 17:36:08 +08:00
parent c4ec348217
commit c0a24af4cb
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164
BenchMovementModule/HardwareDrive/GantryControlBase.cs Normal file
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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
}
}

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BenchMovementModule/HardwareDrive/GantryControlRtu.cs Normal file
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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);
}
}
}

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BenchMovementModule/HardwareDrive/GantryControlTcp.cs Normal file
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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);
}
}
}