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Sic.Framework-Nanjing-Baishi/MECF.Framework.RT.Equipment.../Devices/SicServo.cs

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Add project files.
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using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Event;
using Aitex.Core.RT.IOCore;
using Aitex.Core.RT.OperationCenter;
using Aitex.Core.Util;
using System;
using System.Xml;
namespace Aitex.Core.RT.Device.Devices
{
public partial class SicServo : BaseDevice, IDevice
{
private DIAccessor _diServoReady;
private DIAccessor _diServoError;
private DOAccessor _doServoEnable;
private DOAccessor _doServoInital;
private DOAccessor _doServoReset;
private AIAccessor _aiActualSpeed = null;
private AIAccessor _aiActualCurrent = null;
private AIAccessor _aiAccSpeed = null;
private AIAccessor _aiDecSpeed = null;
private AOAccessor _aoActualSpeedSetPoint = null;
private AOAccessor _aoAccSpeedSetPoint = null;
private AOAccessor _aoDecSpeedSetPoint = null;
private R_TRIG _trigInital = new R_TRIG();
private R_TRIG _trigError = new R_TRIG();
private R_TRIG _trigDisable = new R_TRIG();
private R_TRIG _trigReady = new R_TRIG();
private R_TRIG _trigReset = new R_TRIG();
private R_TRIG _trigEnable = new R_TRIG();
#region AI
public bool ServoEnable
{
get
{
if (_doServoEnable != null)
return _doServoEnable.Value;
return false;
}
}
public bool ServoReady
{
get
{
if (_diServoReady != null)
return _diServoReady.Value;
return false;
}
}
public bool ServoError
{
get
{
if (_diServoError != null)
return !_diServoError.Value;
return false;
}
}
public float ActualSpeedFeedback
{
get
{
if (_aiActualSpeed != null)
return _aiActualSpeed.FloatValue;
return 0;
}
}
public float ActualCurrentFeedback
{
get
{
if (_aiActualCurrent != null)
return _aiActualCurrent.FloatValue;
return 0;
}
}
public float AccSpeedFeedback
{
get
{
if (_aiAccSpeed != null)
return _aiAccSpeed.FloatValue;
return 0;
}
}
public float DecSpeedFeedback
{
get
{
if (_aiDecSpeed != null)
return _aiDecSpeed.FloatValue;
return 0;
}
}
#endregion AI
#region AO
public float SpeedSetpoint
{
get
{
return _aoActualSpeedSetPoint == null ? 0 : _aoActualSpeedSetPoint.FloatValue;
}
set
{
_aoActualSpeedSetPoint.FloatValue = value;
}
}
#endregion
private DeviceTimer _rampTimer = new DeviceTimer();
private DeviceTimer _setTimer = new DeviceTimer();
private float _rampTarget;
private float _rampInitValue;
private int _rampTime;
private bool _setValueIsZero = false;
public SicServo(string module, XmlElement node, string ioModule = "")
{
var attrModule = node.GetAttribute("module");
base.Module = string.IsNullOrEmpty(attrModule) ? module : attrModule;
base.Name = node.GetAttribute("id");
base.Display = node.GetAttribute("display");
base.DeviceID = node.GetAttribute("schematicId");
_diServoReady = ParseDiNode("diServoReady", node, ioModule);
_diServoError = ParseDiNode("diServoError", node, ioModule);
_doServoEnable = ParseDoNode("doServoEnable", node, ioModule);
_doServoInital = ParseDoNode("doServoInital", node, ioModule);
_doServoReset = ParseDoNode("doServoReset", node, ioModule);
_aiActualSpeed = ParseAiNode("aiActualSpeed", node, ioModule);
_aiActualCurrent = ParseAiNode("aiActualCurrent", node, ioModule);
_aiAccSpeed = ParseAiNode("aiAccSpeed", node, ioModule);
_aiDecSpeed = ParseAiNode("aiDecSpeed", node, ioModule);
_aoActualSpeedSetPoint = ParseAoNode("aoActualSpeedSetPoint", node, ioModule);
_aoAccSpeedSetPoint = ParseAoNode("aoAccSpeedSetPoint", node, ioModule);
_aoDecSpeedSetPoint = ParseAoNode("aoDecSpeedSetPoint", node, ioModule);
}
public bool Initialize()
{
DATA.Subscribe($"{Module}.{Name}.ServoReady", () => ServoReady);
DATA.Subscribe($"{Module}.{Name}.ServoError", () => ServoError);
DATA.Subscribe($"{Module}.{Name}.ServoEnable", () => ServoEnable);
DATA.Subscribe($"{Module}.{Name}.ActualSpeedFeedback", () => ActualSpeedFeedback);
DATA.Subscribe($"{Module}.{Name}.ActualCurrentFeedback", () => ActualCurrentFeedback);
DATA.Subscribe($"{Module}.{Name}.AccSpeedFeedback", () => AccSpeedFeedback);
DATA.Subscribe($"{Module}.{Name}.DecSpeedFeedback", () => DecSpeedFeedback);
OP.Subscribe($"{Module}.{Name}.SetServoEnable", (function, args) =>
{
bool enable = Convert.ToBoolean(args[0].ToString());
SetServoEnable(enable, out string reason);
return true;
});
OP.Subscribe($"{Module}.{Name}.SetServoInital", (function, args) =>
{
SetServoInital();
return true;
});
OP.Subscribe($"{Module}.{Name}.SetServoReset", (function, args) =>
{
SetServoReset();
return true;
});
OP.Subscribe($"{Module}.{Name}.SetActualSpeed", (out string reason, int time, object[] param) =>
{
reason = "";
float target = Convert.ToSingle(param[0].ToString());
SetActualSpeed(target, time);
return true;
});
OP.Subscribe($"{Module}.{Name}.SetAccSpeed", (function, args) =>
{
float target = Convert.ToSingle(args[0].ToString());
SetAccSpeed(target);
return true;
});
OP.Subscribe($"{Module}.{Name}.SetDecSpeed", (function, args) =>
{
float target = Convert.ToSingle(args[0].ToString());
SetDecSpeed(target);
return true;
});
return true;
}
public bool SetServoEnable(bool enable, out string reason)
{
if (!_doServoEnable.Check(enable, out reason))
{
EV.PostWarningLog(Module, reason);
return false;
}
if (!_doServoEnable.SetValue(enable, out reason))
{
EV.PostWarningLog(Module, reason);
return false;
}
if (enable)
{
_trigDisable.RST = true;
}
return true;
}
public bool SetServoInital()
{
if (!ServoEnable)
{
[MECF.Framework.RT.EquipmentLibrary] 1：AE和昂坤测温添加通讯断联报警，输出DO_220作为InterLock使用 2：修改DI_288报警信息
2023-05-06 10:39:53 +08:00
EV.PostWarningLog(Module, "Information39 Servo Not Ready [DI-288]");
Add project files.
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return false;
}
bool dValue = true;
string reason = "";
if (!_doServoInital.Check(dValue, out reason))
{
EV.PostWarningLog(Module, reason);
return false;
}
if (!_doServoInital.SetValue(dValue, out reason))
{
EV.PostWarningLog(Module, reason);
return false;
}
_trigInital.RST = true;
_setTimer.Start(2000);
return true;
}
public bool SetServoReset()
{
//if (!ServoEnable)
//{
// EV.PostWarningLog(Module, "Servo is disable!");
// return false;
//}
bool dValue = true;
string reason = "";
if (!_doServoReset.Check(dValue, out reason))
{
EV.PostWarningLog(Module, reason);
return false;
}
if (!_doServoReset.SetValue(dValue, out reason))
{
EV.PostWarningLog(Module, reason);
return false;
}
//_trigInital.RST = true;
//_trigError.RST = true;
_trigReset.RST = true;
_setTimer.Start(2000);
return true;
}
public void SetActualSpeed(float target, int time)
{
//取消检查
//if (!ServoReady)
//{
// EV.PostWarningLog(Module, "Servo is not ready!");
// return;
//}
if (target == 0 && ServoEnable)
{
_setValueIsZero = true;
}
else
{
_setValueIsZero = false;
}
1.增加磁流体转速大于0时，若电机Enable未开启先开启Enable信号
2023-06-05 08:39:14 +08:00
if (target > 0 && !ServoEnable)
{
SetServoEnable(true, out _);
}
Add project files.
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_rampTimer.Stop();
_rampInitValue = _aoActualSpeedSetPoint.FloatValue; //ramp 初始值取当前设定值，而非实际读取值.零漂问题
_rampTime = time;
_rampTarget = target;
_rampTimer.Start(_rampTime);
}
public void SetAccSpeed(float dValue)
{
_aoAccSpeedSetPoint.FloatValue = (float)dValue;
}
public void SetDecSpeed(float dValue)
{
_aoDecSpeedSetPoint.FloatValue = (float)dValue;
}
private void MonitorRamping()
{
if (!_rampTimer.IsIdle())
{
if (_rampTimer.IsTimeout() || _rampTime == 0)
{
_rampTimer.Stop();
SpeedSetpoint = _rampTarget;
}
else
{
SpeedSetpoint = _rampInitValue + (_rampTarget - _rampInitValue) * (float)_rampTimer.GetElapseTime() / _rampTime;
}
}
}
private void MonitorSet()
{
if (_setTimer.IsTimeout())
{
//Reset和Inital 保持两秒清除
_trigInital.CLK = true;
if (_trigInital.Q)
{
_doServoInital.SetValue(false, out string reason);
_doServoReset.SetValue(false, out reason);
}
_trigReset.CLK = true;
if (_trigReset.Q)
{
_doServoReset.SetValue(false, out string reason);
}
_setTimer.Stop();
}
//错误将速度清0,Enable清0
_trigError.CLK = ServoError;
if (_trigError.Q)
{
SpeedSetpoint = 0;
_doServoEnable.SetValue(false, out string reason);
EV.PostAlarmLog(Module, "Alarm29 Rotation Servo Driver Error [DI-45]");
}
//Disable将速度清0
_trigDisable.CLK = !ServoEnable;
if (_trigDisable.Q)
{
SpeedSetpoint = 0;
}
//ServoReady
_trigReady.CLK = !ServoReady;
if (_trigReady.Q)
{
[MECF.Framework.RT.EquipmentLibrary] 1：AE和昂坤测温添加通讯断联报警，输出DO_220作为InterLock使用 2：修改DI_288报警信息
2023-05-06 10:39:53 +08:00
EV.PostWarningLog(Module, "Information39 Servo Not Ready [DI-288]");
Add project files.
2023-04-13 11:51:03 +08:00
}
}
[Common] IDevice接口和Entity对象中新增IsEnabled属性。 [RT.EquipmentLibrary] 从SicServo移除Monitor()方法并重载HandleMonitor()方法。 移除TcAds对象的IsEnabled属性。 移除RorzeEfem对象的IsEnabled属性。 修正AlarmView视图中Alarm详细信息中的显示错误并优化信息显示的代码。
2023-05-09 18:11:51 +08:00
protected override void HandleMonitor()
Add project files.
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{
MonitorRamping();
MonitorSet();
_trigEnable.CLK = ServoEnable;
if (_trigEnable.Q)
{
_setValueIsZero = false;
}
if (_setValueIsZero && ActualSpeedFeedback <= 1 && ServoEnable)
{
_doServoEnable.SetValue(false, out string reason);
_setValueIsZero = false;
EV.PostWarningLog(Module, "servo set speed is 0,Force set servoEnable false");
}
}
public void Reset()
{
//throw new NotImplementedException();
_trigReady.RST = true;
}
public void StopRamp()
{
SetActualSpeed(SpeedSetpoint, 0);
}
public void Terminate()
{
//throw new NotImplementedException();
}
}
}