现场优化2
This commit is contained in:
@@ -84,12 +84,12 @@ namespace DeviceCommand.Devices
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/// <summary>
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/// 轴使能控制
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/// </summary>
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/// <param name="axis">轴编号 (1 - 6)</param>
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/// <param name="enable">true: 使能轴, false: 禁用轴</param>
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/// <param name="ct">取消令牌</param>
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public async Task SetAxisEnableAsync(int axis, bool enable, CancellationToken ct = default)
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/// <param name="轴编号">轴编号 (1 - 6)</param>
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/// <param name="使能">true: 使能轴, false: 禁用轴</param>
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/// <param name="取消令牌">取消令牌</param>
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public async Task 设置轴使能(int 轴编号, bool 使能, CancellationToken 取消令牌 = default)
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{
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ushort address = axis switch
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ushort address = 轴编号 switch
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{
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1 => ADDR_HM_AXIS1_ENABLE,
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2 => ADDR_HM_AXIS2_ENABLE,
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@@ -97,64 +97,64 @@ namespace DeviceCommand.Devices
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4 => ADDR_HM_AXIS4_ENABLE,
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5 => ADDR_HM_AXIS5_ENABLE,
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6 => ADDR_HM_AXIS6_ENABLE,
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_ => throw new ArgumentException("轴通道错误，仅支持 1 - 6", nameof(axis))
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_ => throw new ArgumentException("轴通道错误，仅支持 1 - 6", nameof(轴编号))
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};
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await WriteSingleCoilAsync(_slaveAddress, address, enable, ct);
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await WriteSingleCoilAsync(_slaveAddress, address, 使能, 取消令牌);
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}
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/// <summary>
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/// 读取指定轴的使能状态
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/// </summary>
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/// <param name="axis">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="ct">取消令牌</param>
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/// <param name="轴编号">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="取消令牌">取消令牌</param>
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/// <returns>true: 已使能, false: 未使能</returns>
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public async Task<bool> GetAxisEnableAsync(int axis, CancellationToken ct = default)
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public async Task<bool> 查询轴使能(int 轴编号, CancellationToken 取消令牌 = default)
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{
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ushort address = axis switch
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ushort address = 轴编号 switch
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{
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1 => ADDR_HM_AXIS1_ENABLE,
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2 => ADDR_HM_AXIS2_ENABLE,
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3 => ADDR_HM_AXIS3_ENABLE,
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(轴编号))
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};
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bool[] coils = await ReadCoilsAsync(_slaveAddress, address, 1, ct);
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bool[] coils = await ReadCoilsAsync(_slaveAddress, address, 1, 取消令牌);
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return coils != null && coils.Length > 0 && coils[0];
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}
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/// <summary>
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/// 同时设置 X/Y/Z 轴的原点位置（带各自独立的范围检查）
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/// </summary>
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/// <param name="xPos">X轴原点位置 (范围: 0 ~ 50000)</param>
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/// <param name="yPos">Y轴原点位置 (范围: 0 ~ 50000)</param>
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/// <param name="zPos">Z轴原点位置 (范围: 0 ~ 20000)</param>
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/// <param name="ct">取消令牌</param>
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public async Task SetHomePositionAsync(int xPos, int yPos, int zPos, CancellationToken ct = default)
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/// <param name="X轴原点">X轴原点位置 (范围: 0 ~ 50000)</param>
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/// <param name="Y轴原点">Y轴原点位置 (范围: 0 ~ 50000)</param>
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/// <param name="Z轴原点">Z轴原点位置 (范围: 0 ~ 20000)</param>
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/// <param name="取消令牌">取消令牌</param>
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public async Task 设置原点位置(int X轴原点, int Y轴原点, int Z轴原点, CancellationToken 取消令牌 = default)
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{
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if (xPos < 0 || xPos > 50000)
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throw new ArgumentOutOfRangeException(nameof(xPos), $"X轴原点设置值 [{xPos}] 超出合法范围 (0 - 50000)");
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if (X轴原点 < 0 || X轴原点 > 50000)
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throw new ArgumentOutOfRangeException(nameof(X轴原点), $"X轴原点设置值 [{X轴原点}] 超出合法范围 (0 - 50000)");
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if (yPos < 0 || yPos > 50000)
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throw new ArgumentOutOfRangeException(nameof(yPos), $"Y轴原点设置值 [{yPos}] 超出合法范围 (0 - 50000)");
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if (Y轴原点 < 0 || Y轴原点 > 50000)
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throw new ArgumentOutOfRangeException(nameof(Y轴原点), $"Y轴原点设置值 [{Y轴原点}] 超出合法范围 (0 - 50000)");
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if (zPos < 0 || zPos > 20000)
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throw new ArgumentOutOfRangeException(nameof(zPos), $"Z轴原点设置值 [{zPos}] 超出合法范围 (0 - 20000)");
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if (Z轴原点 < 0 || Z轴原点 > 20000)
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throw new ArgumentOutOfRangeException(nameof(Z轴原点), $"Z轴原点设置值 [{Z轴原点}] 超出合法范围 (0 - 20000)");
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, Int32ToUshorts(xPos), ct);
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_HOME_POS, Int32ToUshorts(yPos), ct);
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_HOME_POS, Int32ToUshorts(zPos), ct);
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, Int32ToUshorts(X轴原点), 取消令牌);
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_HOME_POS, Int32ToUshorts(Y轴原点), 取消令牌);
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_HOME_POS, Int32ToUshorts(Z轴原点), 取消令牌);
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}
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/// <summary>
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/// 批量查询当前 X、Y、Z 三轴设定的原点位置值
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/// </summary>
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/// <param name="ct">取消令牌</param>
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/// <param name="取消令牌">取消令牌</param>
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/// <returns>返回包含三轴原点位置的元组 (X, Y, Z)</returns>
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public async Task<(int X, int Y, int Z)> GetHomePositionAsync(CancellationToken ct = default)
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public async Task<(int X, int Y, int Z)> 查询原点位置(CancellationToken 取消令牌 = default)
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{
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// 41218(Y) - 41198(X) = 20，加Y轴自身的 2 个寄存器，共批量读取 22 个连续寄存器
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, 22, ct);
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_X_HOME_POS, 22, 取消令牌);
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if (registers == null || registers.Length < 22)
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throw new InvalidOperationException("从 PLC 读取三轴原点位置失败，返回数据长度不足。");
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@@ -169,24 +169,24 @@ namespace DeviceCommand.Devices
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/// <summary>
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/// 设置回原点定位速度（带 0 - 100000 范围检查）
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/// </summary>
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/// <param name="speed">回原点定位速度 (范围: 0 - 100000)</param>
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/// <param name="ct">取消令牌</param>
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public async Task SetHomePositionSpeedAsync(int speed, CancellationToken ct = default)
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/// <param name="速度">回原点定位速度 (范围: 0 - 100000)</param>
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/// <param name="取消令牌">取消令牌</param>
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public async Task 设置回零速度(int 速度, CancellationToken 取消令牌 = default)
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{
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if (speed < 0 || speed > 100000)
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throw new ArgumentOutOfRangeException(nameof(speed), $"回原点定位速度值 [{speed}] 超出合法范围 (0 - 100000)");
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if (速度 < 0 || 速度 > 100000)
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throw new ArgumentOutOfRangeException(nameof(速度), $"回原点定位速度值 [{速度}] 超出合法范围 (0 - 100000)");
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, Int32ToUshorts(speed), ct);
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await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, Int32ToUshorts(速度), 取消令牌);
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}
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/// <summary>
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/// 查询当前设定的回原点定位速度
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/// </summary>
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/// <param name="ct">取消令牌</param>
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/// <param name="取消令牌">取消令牌</param>
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/// <returns>当前回原点定位速度值</returns>
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public async Task<int> GetHomePositionSpeedAsync(CancellationToken ct = default)
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public async Task<int> 查询回零速度(CancellationToken 取消令牌 = default)
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{
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, 2, ct);
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_HD_HOME_POS_SPEED, 2, 取消令牌);
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if (registers == null || registers.Length < 2)
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throw new InvalidOperationException("从 PLC 读取回原点定位速度失败，返回数据长度不足。");
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@@ -197,44 +197,44 @@ namespace DeviceCommand.Devices
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/// <summary>
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/// 设置指定轴的运行速度（带 0 - 100000 范围检查）
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/// </summary>
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/// <param name="axis">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="speed">运行速度 (范围: 0 - 100000)</param>
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/// <param name="ct">取消令牌</param>
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public async Task SetAxisSpeedAsync(int axis, int speed, CancellationToken ct = default)
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/// <param name="轴编号">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="速度">运行速度 (范围: 0 - 100000)</param>
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/// <param name="取消令牌">取消令牌</param>
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public async Task 设置轴速度(int 轴编号, int 速度, CancellationToken 取消令牌 = default)
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{
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if (speed < 0 || speed > 100000)
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throw new ArgumentOutOfRangeException(nameof(speed), $"轴速度设置值 [{speed}] 超出合法范围 (0 - 100000)");
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if (速度 < 0 || 速度 > 100000)
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throw new ArgumentOutOfRangeException(nameof(速度), $"轴速度设置值 [{速度}] 超出合法范围 (0 - 100000)");
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ushort address = axis switch
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ushort address = 轴编号 switch
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{
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1 => ADDR_HD_X_SPEED,
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2 => ADDR_HD_Y_SPEED,
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3 => ADDR_HD_Z_SPEED,
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(轴编号))
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};
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await WriteMultipleRegistersAsync(_slaveAddress, address, Int32ToUshorts(speed), ct);
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await WriteMultipleRegistersAsync(_slaveAddress, address, Int32ToUshorts(速度), 取消令牌);
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}
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/// <summary>
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/// 读取指定轴当前设定的运行速度
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/// </summary>
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/// <param name="axis">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="ct">取消令牌</param>
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/// <param name="轴编号">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="取消令牌">取消令牌</param>
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/// <returns>当前设定的运行速度值</returns>
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public async Task<int> GetAxisSpeedAsync(int axis, CancellationToken ct = default)
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public async Task<int> 查询轴速度(int 轴编号, CancellationToken 取消令牌 = default)
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{
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ushort address = axis switch
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ushort address = 轴编号 switch
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{
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1 => ADDR_HD_X_SPEED,
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2 => ADDR_HD_Y_SPEED,
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3 => ADDR_HD_Z_SPEED,
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(轴编号))
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};
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, 取消令牌);
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if (registers == null || registers.Length < 2)
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throw new InvalidOperationException($"从 PLC 读取轴 {axis} 速度失败。");
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throw new InvalidOperationException($"从 PLC 读取轴 {轴编号} 速度失败。");
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return UshortsToInt32(registers);
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}
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@@ -242,18 +242,18 @@ namespace DeviceCommand.Devices
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/// <summary>
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/// 写入指定轴的目标位置（动态安全校验：目标位置不能超过 [轴最大物理极限 - 当前轴原点设置值]）
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/// </summary>
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/// <param name="axis">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="targetPos">目标位置</param>
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/// <param name="ct">取消令牌</param>
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public async Task SetAxisTargetPositionAsync(int axis, int targetPos, CancellationToken ct = default)
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/// <param name="轴编号">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="目标位置">目标位置</param>
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/// <param name="取消令牌">取消令牌</param>
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public async Task 设置轴目标位置(int 轴编号, int 目标位置, CancellationToken 取消令牌 = default)
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{
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var (xHome, yHome, zHome) = await GetHomePositionAsync(ct);
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var (xHome, yHome, zHome) = await 查询原点位置(取消令牌);
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ushort targetAddress;
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int maxLimit;
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int currentHomePos;
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switch (axis)
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switch (轴编号)
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{
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case 1:
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targetAddress = ADDR_HD_X_TARGET;
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@@ -271,42 +271,42 @@ namespace DeviceCommand.Devices
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currentHomePos = zHome;
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break;
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default:
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throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis));
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throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(轴编号));
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}
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int allowedMaxLimit = maxLimit - currentHomePos;
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if (targetPos < 0 || targetPos > allowedMaxLimit)
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if (目标位置 < 0 || 目标位置 > allowedMaxLimit)
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{
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throw new ArgumentOutOfRangeException(
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nameof(targetPos),
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$"轴 {axis} 目标位置 [{targetPos}] 不合法！当前原点为 [{currentHomePos}]，允许的有效写入范围为: 0 - {allowedMaxLimit}"
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nameof(目标位置),
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$"轴 {轴编号} 目标位置 [{目标位置}] 不合法！当前原点为 [{currentHomePos}]，允许的有效写入范围为: 0 - {allowedMaxLimit}"
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);
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}
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await WriteMultipleRegistersAsync(_slaveAddress, targetAddress, Int32ToUshorts(targetPos), ct);
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await WriteMultipleRegistersAsync(_slaveAddress, targetAddress, Int32ToUshorts(目标位置), 取消令牌);
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}
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/// <summary>
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/// 读取指定轴当前设定的目标指定位置
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/// </summary>
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/// <param name="axis">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="ct">取消令牌</param>
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/// <param name="轴编号">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="取消令牌">取消令牌</param>
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/// <returns>当前设定的目标位置值</returns>
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public async Task<int> GetAxisTargetPositionAsync(int axis, CancellationToken ct = default)
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public async Task<int> 查询轴目标位置(int 轴编号, CancellationToken 取消令牌 = default)
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{
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ushort address = axis switch
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ushort address = 轴编号 switch
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{
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1 => ADDR_HD_X_TARGET,
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2 => ADDR_HD_Y_TARGET,
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3 => ADDR_HD_Z_TARGET,
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
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_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(轴编号))
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};
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
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ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, 取消令牌);
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if (registers == null || registers.Length < 2)
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throw new InvalidOperationException($"从 PLC 读取轴 {axis} 目标位置失败。");
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throw new InvalidOperationException($"从 PLC 读取轴 {轴编号} 目标位置失败。");
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return UshortsToInt32(registers);
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}
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@@ -314,60 +314,60 @@ namespace DeviceCommand.Devices
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/// <summary>
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/// 设置系统紧停锁定状态 (true: 锁定激活, false: 解除锁定)
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/// </summary>
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/// <param name="state">true: 锁定激活, false: 解除锁定</param>
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/// <param name="ct">取消令牌</param>
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public async Task SetEStopStateAsync(bool state, CancellationToken ct = default)
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/// <param name="状态">true: 锁定激活, false: 解除锁定</param>
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/// <param name="取消令牌">取消令牌</param>
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public async Task 设置急停状态(bool 状态, CancellationToken 取消令牌 = default)
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{
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await WriteSingleCoilAsync(_slaveAddress, ADDR_M_ESTOP, state, ct);
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await WriteSingleCoilAsync(_slaveAddress, ADDR_M_ESTOP, 状态, 取消令牌);
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}
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/// <summary>
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/// 设置指定轴的停止控制状态 (true: 持续输出停止信号, false: 释放停止信号)
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/// </summary>
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/// <param name="axis">1: X轴, 2: Y轴, 3: Z轴</param>
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/// <param name="state">true: 持续输出停止信号, false: 释放停止信号</param>
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/// <param name="ct">取消令牌</param>
|
||||
public async Task SetStopStateAsync(int axis, bool state, CancellationToken ct = default)
|
||||
/// <param name="轴编号">1: X轴, 2: Y轴, 3: Z轴</param>
|
||||
/// <param name="状态">true: 持续输出停止信号, false: 释放停止信号</param>
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
public async Task 设置轴停止状态(int 轴编号, bool 状态, CancellationToken 取消令牌 = default)
|
||||
{
|
||||
ushort address = axis switch
|
||||
ushort address = 轴编号 switch
|
||||
{
|
||||
1 => ADDR_M_X_STOP,
|
||||
2 => ADDR_M_Y_STOP,
|
||||
3 => ADDR_M_Z_STOP,
|
||||
_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis))
|
||||
_ => throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(轴编号))
|
||||
};
|
||||
|
||||
await WriteSingleCoilAsync(_slaveAddress, address, state, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, address, 状态, 取消令牌);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 全局回零（安全校验版：先检查回原点速度是否为 0，为0则拒绝触发）
|
||||
/// </summary>
|
||||
/// <param name="ct">取消令牌</param>
|
||||
public async Task HomeAsync(CancellationToken ct = default)
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
public async Task 回零(CancellationToken 取消令牌 = default)
|
||||
{
|
||||
int currentSpeed = await GetHomePositionSpeedAsync(ct);
|
||||
int currentSpeed = await 查询回零速度(取消令牌);
|
||||
|
||||
if (currentSpeed == 0)
|
||||
throw new InvalidOperationException("无法触发回原点！当前回原点定位速度为 0，请先设置合法的回零速度。");
|
||||
|
||||
await TriggerCoilAsync(ADDR_M_HOME_TRIGGER, ct);
|
||||
await TriggerCoilAsync(ADDR_M_HOME_TRIGGER, 取消令牌);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 单轴指定位置启动（含速度判定、使能自动补齐、动作目标位置独立范围校验）
|
||||
/// </summary>
|
||||
/// <param name="axis">1: X轴, 2: Y轴, 3: Z轴</param>
|
||||
/// <param name="ct">取消令牌</param>
|
||||
public async Task StartSingleAxisAsync(int axis, CancellationToken ct = default)
|
||||
/// <param name="轴编号">1: X轴, 2: Y轴, 3: Z轴</param>
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
public async Task 启动单轴(int 轴编号, CancellationToken 取消令牌 = default)
|
||||
{
|
||||
ushort startAddress;
|
||||
int maxLimit;
|
||||
int currentHomePos;
|
||||
|
||||
// 1. 获取基础参数与校验边界
|
||||
var (xHome, yHome, zHome) = await GetHomePositionAsync(ct);
|
||||
switch (axis)
|
||||
var (xHome, yHome, zHome) = await 查询原点位置(取消令牌);
|
||||
switch (轴编号)
|
||||
{
|
||||
case 1:
|
||||
startAddress = ADDR_M_X_START;
|
||||
@@ -385,50 +385,50 @@ namespace DeviceCommand.Devices
|
||||
currentHomePos = zHome;
|
||||
break;
|
||||
default:
|
||||
throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(axis));
|
||||
throw new ArgumentException("轴通道错误，仅支持 1(X), 2(Y), 3(Z)", nameof(轴编号));
|
||||
}
|
||||
|
||||
// 2. 检查动作轴的速度
|
||||
int currentSpeed = await GetAxisSpeedAsync(axis, ct);
|
||||
int currentSpeed = await 查询轴速度(轴编号, 取消令牌);
|
||||
if (currentSpeed == 0)
|
||||
throw new InvalidOperationException($"轴 {axis} 无法启动！当前设定速度为 0。");
|
||||
throw new InvalidOperationException($"轴 {轴编号} 无法启动！当前设定速度为 0。");
|
||||
|
||||
// 3. 检查动作轴使能，若为 false 则自动补写 true 激活驱动器
|
||||
bool isEnabled = await GetAxisEnableAsync(axis, ct);
|
||||
bool isEnabled = await 查询轴使能(轴编号, 取消令牌);
|
||||
if (!isEnabled)
|
||||
{
|
||||
await SetAxisEnableAsync(axis, true, ct);
|
||||
await Task.Delay(100, ct); // 等待硬件继电器响应与伺服驱动就绪
|
||||
await 设置轴使能(轴编号, true, 取消令牌);
|
||||
await Task.Delay(100, 取消令牌); // 等待硬件继电器响应与伺服驱动就绪
|
||||
}
|
||||
|
||||
// 4. 精准独立校验当前需要动作轴的目标定位是否越界
|
||||
int currentTarget = await GetAxisTargetPositionAsync(axis, ct);
|
||||
int currentTarget = await 查询轴目标位置(轴编号, 取消令牌);
|
||||
int allowedMaxLimit = maxLimit - currentHomePos;
|
||||
if (currentTarget < 0 || currentTarget > allowedMaxLimit)
|
||||
{
|
||||
throw new ArgumentOutOfRangeException($"轴 {axis} 无法启动！当前指定目标位置 [{currentTarget}] 超过了允许的最大安全极限值 [{allowedMaxLimit}]。");
|
||||
throw new ArgumentOutOfRangeException($"轴 {轴编号} 无法启动！当前指定目标位置 [{currentTarget}] 超过了允许的最大安全极限值 [{allowedMaxLimit}]。");
|
||||
}
|
||||
|
||||
// 5. 校验完成，边缘触发点动启动
|
||||
await TriggerCoilAsync(startAddress, ct);
|
||||
await TriggerCoilAsync(startAddress, 取消令牌);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 三轴同时启动（全开：严格校验全部运行轴速度、批量检测与补正1~6号轴使能、联动校验三轴目标范围极限）
|
||||
/// </summary>
|
||||
/// <param name="ct">取消令牌</param>
|
||||
public async Task StartAllAxesAsync(CancellationToken ct = default)
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
public async Task 启动全部轴(CancellationToken 取消令牌 = default)
|
||||
{
|
||||
// 1. 一次性读取三轴速度，严禁任何一轴速度为 0
|
||||
int xSpeed = await GetAxisSpeedAsync(1, ct);
|
||||
int ySpeed = await GetAxisSpeedAsync(2, ct);
|
||||
int zSpeed = await GetAxisSpeedAsync(3, ct);
|
||||
int xSpeed = await 查询轴速度(1, 取消令牌);
|
||||
int ySpeed = await 查询轴速度(2, 取消令牌);
|
||||
int zSpeed = await 查询轴速度(3, 取消令牌);
|
||||
|
||||
if (xSpeed == 0 || ySpeed == 0 || zSpeed == 0)
|
||||
throw new InvalidOperationException($"无法全开启动！存在运行速度为 0 的轴。当前速度 -> X:{xSpeed}, Y:{ySpeed}, Z:{zSpeed}");
|
||||
|
||||
// 2. 批量读取 1 ~ 6 号轴连续的使能状态线圈，极大地优化网络性能
|
||||
bool[] enableStates = await ReadCoilsAsync(_slaveAddress, ADDR_HM_AXIS1_ENABLE, 6, ct);
|
||||
bool[] enableStates = await ReadCoilsAsync(_slaveAddress, ADDR_HM_AXIS1_ENABLE, 6, 取消令牌);
|
||||
if (enableStates == null || enableStates.Length < 6)
|
||||
throw new InvalidOperationException("从 PLC 读取 1~6 号轴使能状态失败。");
|
||||
|
||||
@@ -439,21 +439,21 @@ namespace DeviceCommand.Devices
|
||||
{
|
||||
if (!enableStates[i])
|
||||
{
|
||||
await WriteSingleCoilAsync(_slaveAddress, enableAddresses[i], true, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, enableAddresses[i], true, 取消令牌);
|
||||
hasModifiedEnable = true;
|
||||
}
|
||||
}
|
||||
|
||||
// 如果执行过使能补齐补齐写入，在循环外进行统一延时，保证PLC时序安全
|
||||
if (hasModifiedEnable)
|
||||
await Task.Delay(100, ct);
|
||||
await Task.Delay(100, 取消令牌);
|
||||
|
||||
// 3. 获取三轴原点及当前设定的目标指定位置
|
||||
var (xHome, yHome, zHome) = await GetHomePositionAsync(ct);
|
||||
var (xHome, yHome, zHome) = await 查询原点位置(取消令牌);
|
||||
|
||||
int xTarget = await GetAxisTargetPositionAsync(1, ct);
|
||||
int yTarget = await GetAxisTargetPositionAsync(2, ct);
|
||||
int zTarget = await GetAxisTargetPositionAsync(3, ct);
|
||||
int xTarget = await 查询轴目标位置(1, 取消令牌);
|
||||
int yTarget = await 查询轴目标位置(2, 取消令牌);
|
||||
int zTarget = await 查询轴目标位置(3, 取消令牌);
|
||||
|
||||
// X轴安全范围联动校验
|
||||
int xMaxAllowed = 50000 - xHome;
|
||||
@@ -471,15 +471,15 @@ namespace DeviceCommand.Devices
|
||||
throw new ArgumentOutOfRangeException(nameof(zTarget), $"Z轴目标位置 [{zTarget}] 越界，当前原点下最大范围 0-{zMaxAllowed}");
|
||||
|
||||
// 4. 全部联动校验通过，三轴点动同步启动
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, true, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, true, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, true, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, true, 取消令牌);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, true, 取消令牌);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, true, 取消令牌);
|
||||
|
||||
await Task.Delay(100, ct); // 保持高电平状态以适配 PLC 扫描周期
|
||||
await Task.Delay(100, 取消令牌); // 保持高电平状态以适配 PLC 扫描周期
|
||||
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, false, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, false, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, false, ct);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_X_START, false, 取消令牌);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Y_START, false, 取消令牌);
|
||||
await WriteSingleCoilAsync(_slaveAddress, ADDR_M_Z_START, false, 取消令牌);
|
||||
}
|
||||
|
||||
#region 内部高低字工具转化方法
|
||||
@@ -521,12 +521,12 @@ namespace DeviceCommand.Devices
|
||||
/// <summary>
|
||||
/// 读取指定轴的绝对位置（相对原点的实时位置，只读）
|
||||
/// </summary>
|
||||
/// <param name="axis">轴编号 (1-6)</param>
|
||||
/// <param name="ct">取消令牌</param>
|
||||
/// <param name="轴编号">轴编号 (1-6)</param>
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
/// <returns>指定轴的绝对位置值</returns>
|
||||
public async Task<int> GetAbsolutePositionAsync(int axis, CancellationToken ct = default)
|
||||
public async Task<int> 查询轴绝对位置(int 轴编号, CancellationToken 取消令牌 = default)
|
||||
{
|
||||
ushort address = axis switch
|
||||
ushort address = 轴编号 switch
|
||||
{
|
||||
1 => ADDR_ABS_AXIS1_POS,
|
||||
2 => ADDR_ABS_AXIS2_POS,
|
||||
@@ -534,12 +534,12 @@ namespace DeviceCommand.Devices
|
||||
4 => ADDR_ABS_AXIS4_POS,
|
||||
5 => ADDR_ABS_AXIS5_POS,
|
||||
6 => ADDR_ABS_AXIS6_POS,
|
||||
_ => throw new ArgumentException("轴编号错误，仅支持 1-6", nameof(axis))
|
||||
_ => throw new ArgumentException("轴编号错误，仅支持 1-6", nameof(轴编号))
|
||||
};
|
||||
|
||||
ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, ct);
|
||||
ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, address, 2, 取消令牌);
|
||||
if (registers == null || registers.Length < 2)
|
||||
throw new InvalidOperationException($"读取轴 {axis} 绝对位置失败。");
|
||||
throw new InvalidOperationException($"读取轴 {轴编号} 绝对位置失败。");
|
||||
|
||||
return UshortsToInt32(registers);
|
||||
}
|
||||
@@ -547,12 +547,12 @@ namespace DeviceCommand.Devices
|
||||
/// <summary>
|
||||
/// 批量读取 1-6 轴的绝对位置（一次性读取 22 个寄存器，高效）
|
||||
/// </summary>
|
||||
/// <param name="ct">取消令牌</param>
|
||||
/// <param name="取消令牌">取消令牌</param>
|
||||
/// <returns>返回 6 轴绝对位置元组</returns>
|
||||
public async Task<(int Axis1, int Axis2, int Axis3, int Axis4, int Axis5, int Axis6)> GetAllAbsolutePositionsAsync(CancellationToken ct = default)
|
||||
public async Task<(int Axis1, int Axis2, int Axis3, int Axis4, int Axis5, int Axis6)> 查询全部轴绝对位置(CancellationToken 取消令牌 = default)
|
||||
{
|
||||
// 从 47232 开始连续读取 22 个寄存器（覆盖 47232-47253）
|
||||
ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_ABS_AXIS1_POS, 22, ct);
|
||||
ushort[] registers = await ReadHoldingRegistersAsync(_slaveAddress, ADDR_ABS_AXIS1_POS, 22, 取消令牌);
|
||||
if (registers == null || registers.Length < 22)
|
||||
throw new InvalidOperationException("批量读取 6 轴绝对位置失败，返回数据长度不足。");
|
||||
|
||||
|
||||
Reference in New Issue
Block a user