From 9edb39b695fe0c61a9dcb955b647645391bd008c Mon Sep 17 00:00:00 2001
From: hanqiangqiang <1364346467@qq.com>
Date: Sun, 16 Jun 2024 10:05:43 +0800
Subject: [PATCH] =?UTF-8?q?1=E7=A3=81=E6=B5=81=E4=BD=93=E6=96=B0=E5=A2=9E?=
=?UTF-8?q?=E8=BF=9E=E8=B4=AF=E8=AE=BE=E7=BD=AE=EF=BC=8C=E5=86=99AO?=
=?UTF-8?q?=EF=BC=8C=E7=BD=AE=E4=BD=8DDO=202=E6=B7=BB=E5=8A=A0Load?=
=?UTF-8?q?=E5=A4=8D=E4=BD=8D=E7=8A=B6=E6=80=81=E8=AE=B0=E5=BD=95=EF=BC=8C?=
=?UTF-8?q?=E6=9C=AA=E5=AE=8C=E6=88=90?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.../Devices/IoCheckLoadLidClose.cs | 44 +++++++++++
.../Devices/SicMultipleServo.cs | 76 ++++++++++++-------
.../MECF.Framework.RT.EquipmentLibrary.csproj | 1 +
3 files changed, 94 insertions(+), 27 deletions(-)
create mode 100644 MECF.Framework.RT.EquipmentLibrary/Devices/IoCheckLoadLidClose.cs
diff --git a/MECF.Framework.RT.EquipmentLibrary/Devices/IoCheckLoadLidClose.cs b/MECF.Framework.RT.EquipmentLibrary/Devices/IoCheckLoadLidClose.cs
new file mode 100644
index 0000000..87bf941
--- /dev/null
+++ b/MECF.Framework.RT.EquipmentLibrary/Devices/IoCheckLoadLidClose.cs
@@ -0,0 +1,44 @@
+using Aitex.Core.RT.DataCenter;
+using Aitex.Core.RT.Device;
+using Aitex.Core.RT.IOCore;
+using Aitex.Core.RT.OperationCenter;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MECF.Framework.RT.EquipmentLibrary.Devices
+{
+ public class IoCheckLoadLidClose : BaseDevice, IDevice
+ {
+ protected readonly DIAccessor _diLoaderLidClosed;
+
+
+
+ public bool LoaderLidClose { get; set; }
+
+ public bool Initialize()
+ {
+ DATA.Subscribe($"{Module}.{Name}.ServoReady", () => LoaderLidClose);
+ return true;
+ }
+
+ protected override void HandleMonitor()
+ {
+
+ }
+
+ public void Terminate()
+ {
+
+ }
+
+ public void Reset()
+ {
+
+ }
+
+
+ }
+}
diff --git a/MECF.Framework.RT.EquipmentLibrary/Devices/SicMultipleServo.cs b/MECF.Framework.RT.EquipmentLibrary/Devices/SicMultipleServo.cs
index 5f20eea..0d6a1f3 100644
--- a/MECF.Framework.RT.EquipmentLibrary/Devices/SicMultipleServo.cs
+++ b/MECF.Framework.RT.EquipmentLibrary/Devices/SicMultipleServo.cs
@@ -34,6 +34,7 @@ namespace Aitex.Core.RT.Device.Devices
private readonly AOAccessor _aoSpindleLoadAngle;
private readonly AOAccessor _aoSpindleUnloadAngle;
+ private readonly AOAccessor _aoSpindleJogSpeed;
private readonly DIAccessor _diServoHome;
private readonly DIAccessor _diSpindleMoveComplete;
@@ -154,6 +155,7 @@ namespace Aitex.Core.RT.Device.Devices
_aoSpindleLoadAngle = ParseAoNode("aoSpindleLoadAngle", node, ioModule);
_aoSpindleUnloadAngle = ParseAoNode("aoSpindleUnloadAngle", node, ioModule);
+ _aoSpindleJogSpeed = ParseAoNode("aoSpindleJogSpeed", node, ioModule);
_diServoHome = ParseDiNode("diServoHome", node, ioModule);
_diServoEnable = ParseDiNode("diServoEnable", node, ioModule);
@@ -288,6 +290,24 @@ namespace Aitex.Core.RT.Device.Devices
return true;
}
+ public void SetActualSpeed(float target, int time)
+ {
+ SpeedSetpoint = target;
+ SetPulse(_doSpindleSpeedRun);
+ }
+
+ public void LoadAngleRun(float angle)
+ {
+ SpindleLoadAngleSet = angle;
+ SetPulse(_doSpindleLoadAngleRun);
+ }
+
+ public void UnloadAngleRun(float angle)
+ {
+ SpindleUnloadAngle = angle;
+ SetPulse(_doSpindleUnloadAngleRun);
+ }
+
private void SetPulse(DOAccessor doAccessor)
{
if (doAccessor?.Value == false)
@@ -381,35 +401,37 @@ namespace Aitex.Core.RT.Device.Devices
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;
- }
+ //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)
- //{
- // SetServoEnable(true, out _);
- //}
+ // if (target == 0 && ServoEnable)
+ // {
+ // _setValueIsZero = true;
+ // }
+ // else
+ // {
+ // _setValueIsZero = false;
+ // }
- _rampTimer.Stop();
- _rampInitValue = _aoSpindleSpeedSet.Value; //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);
- }
+ // //if (target > 0 && !ServoEnable)
+ // //{
+ // // SetServoEnable(true, out _);
+ // //}
+
+ // _rampTimer.Stop();
+ // _rampInitValue = _aoSpindleSpeedSet.Value; //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)
{
@@ -484,7 +506,7 @@ namespace Aitex.Core.RT.Device.Devices
protected override void HandleMonitor()
{
- MonitorRamping();
+ //MonitorRamping();
MonitorSet();
_trigEnable.CLK = ServoEnable;
diff --git a/MECF.Framework.RT.EquipmentLibrary/MECF.Framework.RT.EquipmentLibrary.csproj b/MECF.Framework.RT.EquipmentLibrary/MECF.Framework.RT.EquipmentLibrary.csproj
index a62c4c8..d4cd93d 100644
--- a/MECF.Framework.RT.EquipmentLibrary/MECF.Framework.RT.EquipmentLibrary.csproj
+++ b/MECF.Framework.RT.EquipmentLibrary/MECF.Framework.RT.EquipmentLibrary.csproj
@@ -78,6 +78,7 @@
+