int Row, Col; double[,] Date; int wether_loading_pointa = 0;
public static double[] G_X; public static double[] G_Y; public static double[] G_Z; public static double[] posi_mode;
private void button_datainput_Click(object sender, EventArgs e)
{
if (machine_origin == 0)
{
MessageBox.Show("原点未校准!");
return;
}
OpenFileDialog openDlg = new OpenFileDialog();
openDlg.Title = "打开数据文件";
openDlg.Filter = "数据文件 (*.txt)|*.txt|All|*.*";
bool result = false;
string FilePath;
string[] TempData;
string[] TempArry;
Row = 0;
Col = 0;
if (openDlg.ShowDialog() == DialogResult.OK)
{
FilePath = openDlg.FileName;
TempData = System.IO.File.ReadAllLines(FilePath, System.Text.Encoding.Default);
Row = TempData.GetLength(0); //行数
TempArry = TempData[1].Split(',');
Col = TempArry.GetLength(0); //列数
Date = new double[Row, Col];
for (int i = 0; i < Row; i++)
{
string[] Arry = TempData[i].Split(',');
for (int j = 0; j < Col; j++)
{
Date[i, j] = Convert.ToDouble(Arry[j]);
}
}
result = true;
}
if (result)
{
G_X = new double[Row]; G_Y = new double[Row]; G_Z = new double[Row];
for (int j = 0; j < Row; j++)
{
posi_mode[j] = Date[j, 0];//插补模式
G_X[j] = Date[j, 1]; G_Y[j] = Date[j, 2]; G_Z[j] = Date[j, 3];
}
wether_loading_pointa = 1;
MessageBox.Show("路径读取完成！");
}
else
{
MessageBox.Show("路径读取错误！");
return;
}
textBox_pointnum.Text = Convert.ToString(Row);
}
private void button_run_Click(object sender, EventArgs e)
{
if (wether_link == 0)
{
MessageBox.Show("请先打开设备!");
return;
}
if (SF == 0)
{
MessageBox.Show("伺服未开启!");
return;
}
if (LTSMC.smc_check_done_multicoor(CardNum, 0) == 0)
{
MessageBox.Show("电机运动中,请稍后尝试!", "提示");
return;
}
if (wether_loading_pointa == 0)
{
MessageBox.Show("未导入轨迹!", "提示");
return;
}
for (int i = 0; i < axis_all.Length; i = i + 1)
{
LTSMC.smc_set_alm_mode(CardNum, axis_all[i], 0, 0, 0);//设置报警使能，关闭报警
LTSMC.smc_write_sevon_pin(CardNum, axis_all[i], 0);//打开伺服使能
}
double speed = decimal.ToDouble(run_speed.Value) * (fp / (2 * Math.PI)); //单位：unit/s
ThreadPool.QueueUserWorkItem(
delegate
{
int start_num;
ushort[] AxisList = { 0, 1, 2 };
LTSMC.smc_conti_set_lookahead_mode(CardNum, 0, 0, 0, 0, 0);
LTSMC.smc_conti_open_list(CardNum, 0, 3, AxisList);
LTSMC.smc_set_vector_profile_unit(CardNum, 0, speed, speed, acc / 2, dec / 2, speed);//设置插补运动速度参数
LTSMC.smc_set_vector_s_profile(CardNum, 0, 0, acc / 2);//设置s曲线平滑时间
//LTSMC.smc_conti_change_speed_ratio(CardNum, 0, 0.1); //设置加工起始速度：50*0.1
if (Row < 500)
{
start_num = 0;
loadinging_interpolation(start_num, Row);
processing = 1;
LTSMC.smc_conti_start_list(CardNum, 0);//启动插补
LTSMC.smc_conti_close_list(CardNum, 0);//关闭插补缓冲区
}
else
{
start_num = 0;
loadinging_interpolation(start_num, 500);
int loaded_num = 500; int memory_num; int current_loading_num = 40;
processing = 1;
LTSMC.smc_conti_start_list(CardNum, 0);//启动插补
while (loaded_num < Row)
{
memory_num = LTSMC.smc_conti_remain_space(CardNum, 0);
if (memory_num >= current_loading_num)
{
if (Row - loaded_num >= current_loading_num)
{
start_num = loaded_num;
loadinging_interpolation(start_num, current_loading_num);
loaded_num = loaded_num + current_loading_num;
}
else
{
start_num = loaded_num;
loadinging_interpolation(start_num, Row - loaded_num);
loaded_num = Row;
}
}
else
{
Thread.Sleep(10);
}
}
LTSMC.smc_conti_close_list(CardNum, 0);//关闭插补缓冲区
}
}
);
}
public void loadinging_interpolation(int start_num, int loading_point_num)
{
ushort[] AxisList = { 0, 1, 2 };
for (int i = start_num; i < start_num + loading_point_num; i = i + 1)
if (posi_mode[i] == 0)//直线插补运动模式
{
LTSMC.smc_conti_line_unit(CardNum, 0, 3, AxisList, new double[] { Inverse.C1[i, 0], Inverse.C1[i, 1], Inverse.C1[i, 2] }, 0, 0);//运动模式，0： 相对坐标模式，跑相对坐标模式，首先回到原点
}
else
{
MessageBox.Show("轨迹点格式错误!");
}
}
//暂停
int processing = 1;
private void button_stop0_Click(object sender, EventArgs e)
{
if (processing == 1)
{
LTSMC.smc_conti_pause_list(CardNum, 0);
button_stop0.Text = "继续";
button_stop0.ForeColor = Color.Blue;
processing = 0;
}
else
{
LTSMC.smc_conti_start_list(CardNum, 0);
button_stop0.Text = "暂停";
button_stop0.ForeColor = Color.Red;
processing = 1;
}
}
//停止
private void button_stop1_Click(object sender, EventArgs e)
{
button_stop0.Text = "暂停";
progressBar_processing.Value = 0;
LTSMC.smc_set_pwm_output(CardNum, 0, 0, 0);
wether_loading_pointa = 0;
LTSMC.smc_conti_stop_list(CardNum, 0, 0);//停止模式， 0： 减速停止， 1： 立即停止
}
//程序关闭
private void main_FormClosing(object sender, FormClosingEventArgs e)
{
DialogResult result_zero = MessageBox.Show("机器是否已回零？", "提示：",
MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (result_zero == DialogResult.Yes)
{
LTSMC.smc_write_outbit(CardNum, 17, 1); //打开抱闸的IO（0，低电平。1，高电平打开抱闸）
LTSMC.smc_conti_stop_list(CardNum, 0, 0);//停止模式， 0： 减速停止， 1： 立即停止
LTSMC.smc_set_pwm_output(CardNum, 0, 0, 0);
LTSMC.smc_handwheel_set_mode(CardNum, 0, 0);//设置手轮运动模式，硬件或软件模式
LTSMC.smc_handwheel_stop(CardNum);//手轮关闭
for (int i = 0; i < axis_all.Length; i = i + 1)
{
LTSMC.smc_write_sevon_pin(CardNum, axis_all[i], 1);//关闭伺服使能
}
timer4.Enabled = true;
timer4.Interval = 500;//执行间隔时间,单位为毫秒
timer4.Start();
Application.ExitThread();
}
if (result_zero == DialogResult.No)
{
e.Cancel = true;
DialogResult result_ifzero = MessageBox.Show("机器是否现在回零？", "提示：",
MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (result_ifzero == DialogResult.Yes)
{
comeback();
}
if (result_ifzero == DialogResult.No)
{
this.Show();
}
}
}