修改板卡

DH.Devices.Motion/SLDMotion.cs

@@ -2,9 +2,10 @@
 using DH.Devices.Motion;
 using MCDLL_NET;
 using System.Diagnostics;
+using static System.Collections.Specialized.BitVector32;
 
 
-namespace XKRS.Device.SolidMotionCard
+namespace DH.Devices.Motion
 {
 
 
@@ -150,22 +151,32 @@ namespace XKRS.Device.SolidMotionCard
                     .ToDictionary(a => a.AxisIndex, a => new ManualResetEvent(true));
 
                 // 初始化时关闭所有轴，停止筛选 begin =======
-                AllMoveStop();
-                AllAxisOff();
+                //AllMoveStop();
+              
+                 //  CMCDLL_NET.MCF_Axis_Stop_Net(0, AxisStopMode.AxisStopIMD, 0);
+             
+                 //CMCDLL_NET.MCF_Set_Axis_Stop_Profile_Net(0, 50000, 0, 0, 0);
+                 // CMCDLL_NET.MCF_Axis_Stop_Net(0, AxisStopMode.AxisStopDEC, 0);
+                AxisStop();
+                //AllAxisOff();
+                var ret = CMCDLL_NET.MCF_Set_Servo_Enable_Net(0, (ushort)ServoLogic.Servo_Open, 0);
 
                 StopSorting();
 
                 // 初始化时关闭所有轴，停止筛选 end ======= 
 
-                AllAxisOn();
+                //AllAxisOn();
                 Start();
                 MonitorPosition();
                 MonitorAxisStatus();
-                MonitorPieces();
+               
 
                 CustomStart();
+                
+
+                MonitorPieces();
                 isconnected = true;
-            
+
             }
             catch
             {
@@ -409,8 +420,10 @@ namespace XKRS.Device.SolidMotionCard
         public override void Stop()
         {
             //base.Stop();
-            AllMoveStop();
-            AllAxisOff();
+            AxisStop();
+            int ret = CMCDLL_NET.MCF_Set_Servo_Enable_Net(0, (ushort)ServoLogic.Servo_Open, 0);
+
+           // AllAxisOff();
 
             for (ushort station = 0; station < BoardCount; station++)
             {
@@ -849,7 +862,14 @@ namespace XKRS.Device.SolidMotionCard
                 return ret == (short)FuncRet.Function_Success;
             });
         }
-
+        //方案2：不使用外部文本框输入参数，直接写入参数
+       
+        public void JOGRun(double MaxV,double MaxA)
+        {
+            int ret = CMCDLL_NET.MCF_Set_Pulse_Mode_Net(0, (ushort)PulseMode.Pulse_Dir_H, 0);
+            ret = CMCDLL_NET.MCF_Set_Servo_Enable_Net(0, (ushort)ServoLogic.Servo_Close, 0);
+            ret=CMCDLL_NET.MCF_JOG_Net(0, MaxV, MaxA, 0);
+        }
         /// <summary>
         /// 点位到点位运动
         /// </summary>
@@ -1381,13 +1401,38 @@ namespace XKRS.Device.SolidMotionCard
             }
         }
 
+
+
+        public void AxisStop()
+        {
+            short rtn;
+            ushort StationNumber = 0;
+            for (ushort a = 0; a < 4; a++)
+            {
+                rtn = CMCDLL_NET.MCF_Set_Axis_Stop_Profile_Net(a, 10000, 100000, 1, StationNumber);//设置轴S型停止曲线参数
+                rtn = CMCDLL_NET.MCF_Axis_Stop_Net(a, 1, StationNumber);//设置轴为平滑停止模式
+            }
+        }
+        public  bool CArdReset()
+        {
+
+           // ConvertFromAxis(startAxisIndex, out ushort station, out ushort axis);
+
+            var ret = CMCDLL_NET.MCF_Set_Position_Net(0, 0, 0);
+            var ret2 = CMCDLL_NET.MCF_Set_Encoder_Net(0, 0, 0);
+            
+            return ret2 == 0 ? true : false; 
+
+        }
+
+
         /// <summary>
         /// 某个轴运动停止
         /// </summary>
         /// <param name="axisNum">axisNo</param>
         /// <param name="option">0表示平滑停止，1表示紧急停止</param>
         /// <returns></returns>
-        public  async Task<bool> MoveStop(int axisNum, int option)
+        public async Task<bool> MoveStop(int axisNum, int option)
         {
             return await _taskFactory.StartNew(() =>
             {