PMAC应用八-SDK的使用2

PMAC应用八-SDK的使用2

  • 主窗口
    • 主窗口介绍
  • 利用终端进行PMAC的控制
    • 终端的使用
    • 运动控制窗口
    • 窗口的实现
  • FTP文件操作
    • FTP窗口
    • FTP文件操作
  • 结后语

主窗口

主窗口介绍

这里我们只讲FTP文件上传和异步通讯的使用,其他的都是C#的操作。PMAC所有的功能都可以通过终端就行操作,就像上一节演示的小案例,和IDE的终端是一样的,可以对PMAC进行任何的操作,变量的增删改查,参数的查看和修改,添加运动程序、plc程序到缓存,执行程序等。
主窗口的代码就是昨天演示里的,只是在登陆后显示了一下连接状态。
PMAC应用八-SDK的使用2_第1张图片

		deviceProperties currentDevProp = new deviceProperties();//通讯属性类
        ISyncGpasciiCommunicationInterface communication = null;//异步通讯接口
         String commands = String.Empty;//指令发送内容
        String response = String.Empty;//指令接受内容
        private string connectedToFormat = "连接成功!";
        private string notConnected = "连接失败";
private void LoginStatus()
        {

            if (this.communication == null)
            {
                this.toolStripStatusLabel3.Text = this.invalidLicense;//授权无效
                return;
            }

            var devicePage = new DevicePropertyPage(this.currentDevProp, this.communication.GpAsciiConnected);
            devicePage.OnConnect += this.devicePage_OnConnect;//连接失败
            devicePage.OnDisConnect += this.devicePage_OnDisConnect;//连接成功
            devicePage.ShowDialog();
        }
        #endregion 

        #region 连接失败
        private bool devicePage_OnDisConnect()
        {
            if (this.communication == null)
            {
                this.toolStripStatusLabel3.Text = this.invalidLicense;
                return false;
            }

            var bSuccess = false;
            if (this.communication.GpAsciiConnected)
            {
                bSuccess = this.communication.DisconnectGpascii();
                this.toolStripStatusLabel3.Text = this.notConnected;
            }

            return bSuccess;
        }
        #endregion

        #region 连接成功
        private bool devicePage_OnConnect(deviceProperties properties)
        {
            if (this.communication == null)
            {
                this.toolStripStatusLabel3.Text = this.invalidLicense;
                return false;
            }

            this.communication = Connect.CreateSyncGpascii(properties.Protocol, this.communication);
            var bSuccess = this.communication.ConnectGpAscii(properties.IPAddress, properties.PortNumber, properties.User, properties.Password);
            if (bSuccess)
            {
                this.currentDevProp.IPAddress = properties.IPAddress;
                this.currentDevProp.Password = properties.Password;
                this.currentDevProp.PortNumber = properties.PortNumber;
                this.currentDevProp.User = properties.User;
                this.toolStripStatusLabel3.Text = this.connectedToFormat + properties.IPAddress;
            }
            return bSuccess;
        }
        #endregion
        

利用终端进行PMAC的控制

终端的使用

前面介绍了如何使用异步通讯及终端的使用,下一步是利用终端实现一些功能。

		 /// /运动控制界面属性//
        private ControlForm myChildFrmControl = null; //定义子窗口对象
        private void 运动控制ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (myChildFrmControl != null)
            {
                if (myChildFrmControl.IsDisposed)
                    myChildFrmControl = new ControlForm(communication);//如果已经销毁,则重新创建子窗口对象
                myChildFrmControl.Show();
                myChildFrmControl.Focus();
            }
            else
            {
                myChildFrmControl = new ControlForm(communication);
                myChildFrmControl.Show();
                myChildFrmControl.Focus();
            }
        } 
        我们要把异步通讯的接口从主窗口传到子窗口下去/    

运动控制窗口

PMAC应用八-SDK的使用2_第2张图片

窗口的实现

新建一个通讯接口,用来接收主窗口传过来的

 ISyncGpasciiCommunicationInterface Communication = null;//新建一个通讯接口,用来接收主窗口传过来的
        public ControlForm(ISyncGpasciiCommunicationInterface communication)
        {
            InitializeComponent();
            Communication = communication;
            String response = String.Empty;
        }

编写一个对终端操作的通用方法

 //对终端操作的通用方法/
        private bool ReadWritePmacVariables(string command)
        {
            var commads = new List<string>();
            List<string> response;
            commads.Add(command.ToString());
            var communicationStatus = this.Communication.GetResponse(commads, out response, 3);
            if (communicationStatus == Status.Ok)
            {
                responses = string.Join("", response.ToArray());
                command = null;
                return Decide = true;
            }
            else
            {
                return Decide = false;
            }
        }

案例中出现的PMAC类的方法在手册上都有介绍,这里不详细讲解。
PMAC应用八-SDK的使用2_第3张图片
PMAC应用八-SDK的使用2_第4张图片
PMAC应用八-SDK的使用2_第5张图片
使用终端操作PMAC

 #region 电机上电
        private void button5_Click(object sender, EventArgs e)
        {
            ReadWritePmacVariables("#1..4j/");
            if (Decide == true)
            {
                toolStripStatusLabel1.Text = "电机已上电!";
            }
            else
            {
                toolStripStatusLabel1.Text = "上电失败!";
            }
        }
        #endregion
private void button6_Click(object sender, EventArgs e)
        {
            ReadWritePmacVariables("#1..4k");
            if (Decide == true)
            {
                toolStripStatusLabel1.Text = "电机已下电!";
            }
            else
            {
                toolStripStatusLabel1.Text = "下电失败!";
            }
        }
        #endregion

点动正反向

 #region Jog正方向移动
        private void button1_MouseDown(object sender, MouseEventArgs e)
        {
            if (comboBox1.Text == "X" || comboBox1.Text == "Y" || comboBox1.Text == "Z" || comboBox1.Text == "A")
            {
                if (comboBox1.Text == "X")//x正方向
                {
                    ReadWritePmacVariables("Motor[1].AmpEna");
                    System.Threading.Thread.Sleep(100);
                    int CheckPowerOn1 = int.Parse(responses);
                    if (CheckPowerOn1 == 1)
                    {
                        ReadWritePmacVariables("#1jog+");
                        if (Decide == true)
                        {
                            toolStripStatusLabel1.Text = "X轴正方向";
                        }
                        else
                        {
                            toolStripStatusLabel1.Text = "移动失败!";
                        }
                    }
                    else
                    {
                        toolStripStatusLabel1.Text = "请上电";
                    }

                }
                if (comboBox1.Text == "Y")//y正方向
                {
                    ReadWritePmacVariables("Motor[2].AmpEna");
                    System.Threading.Thread.Sleep(100);
                    int CheckPowerOn2 = int.Parse(responses);
                    if (CheckPowerOn2 == 1)
                    {
                        ReadWritePmacVariables("#2jog+");
                        if (Decide == true)
                        {
                            toolStripStatusLabel1.Text = "Y轴正方向";
                        }
                        else
                        {
                            toolStripStatusLabel1.Text = "移动失败!";
                        }
                    }
                    else
                    {
                        toolStripStatusLabel1.Text = "请上电";
                    }
                }
                if (comboBox1.Text == "Z")//z正方向
                {
                    ReadWritePmacVariables("Motor[3].AmpEna");
                    System.Threading.Thread.Sleep(100);
                    int CheckPowerOn3 = int.Parse(responses);
                    if (CheckPowerOn3 == 1)
                    {
                        ReadWritePmacVariables("#3jog+");
                        if (Decide == true)
                        {
                            toolStripStatusLabel1.Text = "Z轴正方向";
                        }
                        else
                        {
                            toolStripStatusLabel1.Text = "移动失败!";
                        }
                    }
                    else
                    {
                        toolStripStatusLabel1.Text = "请上电";
                    }
                }
                if (comboBox1.Text == "A")//a正方向
                {
                    ReadWritePmacVariables("Motor[4].AmpEna");
                    System.Threading.Thread.Sleep(100);
                    int CheckPowerOn4 = int.Parse(responses);
                    if (CheckPowerOn4 == 1)
                    {
                        ReadWritePmacVariables("#4jog+");
                        if (Decide == true)
                        {
                            toolStripStatusLabel1.Text = "A轴正方向";
                        }
                        else
                        {
                            toolStripStatusLabel1.Text = "移动失败!";
                        }
                    }
                    else
                    {
                        toolStripStatusLabel1.Text = "请上电";
                    }
                }
            }
            else
            {
                toolStripStatusLabel1.Text = "移动前请先选择电机";
            }

        }
        #endregion

点动停止

#region Jog正方向移动停止
        private void button1_MouseUp(object sender, MouseEventArgs e)
        {
            if (comboBox1.Text == "X" || comboBox1.Text == "Y" || comboBox1.Text == "Z" || comboBox1.Text == "A")
            {
                ReadWritePmacVariables("Motor[1].AmpEna");
                System.Threading.Thread.Sleep(10);
                int CheckPowerOn1 = int.Parse(responses);
                ReadWritePmacVariables("Motor[2].AmpEna");
                System.Threading.Thread.Sleep(10);
                int CheckPowerOn2 = int.Parse(responses);
                ReadWritePmacVariables("Motor[3].AmpEna");
                System.Threading.Thread.Sleep(10);
                int CheckPowerOn3 = int.Parse(responses);
                ReadWritePmacVariables("Motor[4].AmpEna");
                System.Threading.Thread.Sleep(10);
                int CheckPowerOn4 = int.Parse(responses);
                if (CheckPowerOn1 == 1 || CheckPowerOn2 == 1 || CheckPowerOn3 == 1 || CheckPowerOn4 == 1)
                {
                    ReadWritePmacVariables("#1..4jog/");
                    if (Decide == true)
                    {
                        toolStripStatusLabel1.Text = "电机停止移动";
                    }
                    else
                    {
                        toolStripStatusLabel1.Text = "停止失败!";
                    }
                }
            }
        }
        #endregion

位置状态显示,一次性全查出来,拆分显示就可以了。

 #region 位置状态显示
        private void timer1_Tick(object sender, EventArgs e)
        {
            ReadWritePmacVariables("Motor[1].JogSpeed,4");
            string JogSpeed0 = responses;
            string[] JogSpeed = JogSpeed0.Split(',');
            textBox5.Text = JogSpeed[0];
            textBox6.Text = JogSpeed[1];
            textBox7.Text = JogSpeed[2];
            textBox8.Text = JogSpeed[3];

            ReadWritePmacVariables("Motor[1].ActPos,4");
            string ActPos0 = responses;
            string[] ActPos = ActPos0.Split(',');
            textBox1.Text = ActPos[0];
            textBox2.Text = ActPos[1];
            textBox3.Text = ActPos[2];
            textBox4.Text = ActPos[3];
        }
        #endregion

通过异步通讯使用终端,利用终端可以对PMAC进行控制。

FTP文件操作

FTP窗口

PMAC应用八-SDK的使用2_第6张图片

FTP文件操作

同样,先把异步通讯接口传进来。
在这里插入图片描述
FTP接口

 this.FtpCommunication = Connect.CreateFTPClient(CommunicationGlobals.FTPConnectionTypes.FTP, null);

            try
            {
                if (PublicParameter.Globals.IsValidLicense)
                {
                    this.FtpCommunication = Connect.CreateFTPClient(CommunicationGlobals.FTPConnectionTypes.FTP, null);
                    PublicParameter.Globals.IsValidLicense = true;
                }
            }
            catch (Exception ex)
            {
                PublicParameter.Globals.IsValidLicense = false;
                this.AppendTextToOutPut(ex.Message);
            }

打开要上传的文件

private string uploadFileName = string.Empty;

 private void button3_Click(object sender, EventArgs e)
        {
            var openFileDialog = new OpenFileDialog();

            try
            {
                openFileDialog.Filter = $"{this.allFilesText} (*.pmc)|*.pmc";
                openFileDialog.FilterIndex = 0;
                openFileDialog.RestoreDirectory = true;
                openFileDialog.InitialDirectory = "@c:\\temp";

                if (openFileDialog.ShowDialog() == DialogResult.OK)
                {
                    this.uploadFileNameWithFolder = openFileDialog.FileName;
                    this.uploadFileName = Path.GetFileName(this.uploadFileNameWithFolder);
                    this.UploadFileTextBox.Text = openFileDialog.FileName;
                }
            }
            catch (Exception)
            {
                // ignored
            }
        }

上传到PMAC中

private void button5_Click(object sender, EventArgs e)
        {
            if (this.Communication == null)
            {
                this.AppendTextToOutPut(this.invalidLicenseText);
                return;
            }

            if (string.IsNullOrEmpty(this.ServerTextBox.Text))
            {
                this.AppendTextToOutPut(this.pleaseSelectFtpServerFirstText);
                return;
            }

            if (string.IsNullOrEmpty(this.uploadFileName))
            {
                this.AppendTextToOutPut(this.pleaseSelectFileToUploadFirstText);
                return;
            }

            this.AppendTextToOutPut(string.Format(this.tryingToConnectToFtpServerFormat, this.ServerTextBox.Text));
            var ftp = Connect.CreateFTPClient(CommunicationGlobals.FTPConnectionTypes.FTP, null);
            ftp.ConnectFTP(this.ServerTextBox.Text, "root", "deltatau");

            if (!ftp.FTPConnected)
            {
                this.AppendTextToOutPut(string.Format(this.couldNotConnectToFtpServerFormat, this.ServerTextBox.Text));
            }
            else
            {
                this.AppendTextToOutPut(string.Format(this.deletingFileFormat, this.uploadFileName, FtpFilename, this.ServerTextBox.Text));
                ftp.RemoveFile(FtpFilename + this.uploadFileName);
                var destnationfile = FtpFilename + "/" + uploadFileName;
                if (ftp.GetFileSize(destnationfile) > 0)
                {
                    this.AppendTextToOutPut(string.Format(this.couldNotDeleteTheFileFormat, this.uploadFileName, FtpFilename));
                }
                else
                {
                    var ret = ftp.DownloadFile(this.uploadFileNameWithFolder, destnationfile);
                    if (ret)
                    {
                        this.AppendTextToOutPut(ftp.GetFileSize(FtpFilename + this.uploadFileName) > 0
                            ? string.Format(this.fileUploadeSuccessfullyFormat, this.uploadFileName, FtpFilename)
                            : this.fileCouldNotBeUploadedText);
                    }
                    else
                    {
                        this.AppendTextToOutPut(this.fileCouldNotBeUploadedText);
                    }
                }
            }
            ftp.DisconnectFTP();
        }

PMAC下载到上位机

private void button4_Click(object sender, EventArgs e)
        {
            if (this.Communication == null)
            {
                this.AppendTextToOutPut(this.invalidLicenseText);
                return;
            }

            if (string.IsNullOrEmpty(this.ServerTextBox.Text))
            {
                this.AppendTextToOutPut(this.pleaseSelectFtpServerFirstText);
                return;
            }
            this.downloadFileName = this.DownloadFileTextBox.Text;

            if (string.IsNullOrEmpty(this.downloadFileName))
            {
                this.AppendTextToOutPut(this.pleaseSelectFileToDownloadFirstText);
                return;
            }

            this.AppendTextToOutPut(string.Format(this.tryingToConnectToFtpServerFormat, this.ServerTextBox.Text));
            var ftp = Connect.CreateFTPClient(CommunicationGlobals.FTPConnectionTypes.FTP, null);
            ftp.ConnectFTP(this.ServerTextBox.Text, "root", "deltatau");

            if (!ftp.FTPConnected)
            {
                this.AppendTextToOutPut(string.Format(this.couldNotConnectToFtpServerFormat, this.ServerTextBox.Text));
            }
            else
            {
                var sourcefilename = FtpFilename + '/' + downloadFileName;
                if (ftp.GetFileSize(sourcefilename) <= 0)
                {
                    this.AppendTextToOutPut(string.Format(this.fileDoesNotExistFormat, this.downloadFileName, FtpFilename, this.ServerTextBox.Text));
                }
                else
                {

                    var destinationfilename = this.downLoadFilePath + @"\" + downloadFileName;
                    var ret = ftp.UploadFile(sourcefilename, destinationfilename);

                    this.AppendTextToOutPut(ret
                        ? string.Format(this.fileDownloadedSuccessfullyFormat, this.downloadFileName, this.downLoadFilePath)
                        : this.fileCouldNotBeDownloadedText);
                }
            }

            ftp.DisconnectFTP();
        }

这个程序是很早之前写的一个测试程序,写的比较急,很多地方没写注释,但是一行行看还是可以看懂的,没有什么复杂的地方,和普通的API调用时一样的。

结后语

  这应该是PMAC应用的最后一节,以后有再补充吧,写这个系列第一是为了总结自己在应用中所学到的东西,以免以后忘记了有迹可循,第二是想向大家分享自PMAC的使用。PMAC是我接触过最好的运动控制器,但是偏冷门,资源很少,网上很难查到资料,也有一些博主写过关于PMAC应用的分享,但都不是很详细,我使用的是PowerPMAC(CK3M),我有看到罗伯特祥写过这款控制器,但是没有完全写完,挺遗憾的,我刚上手的时候也是在铺天盖地的在网上找资料,国内的话资源很匮乏,我建议大家去外面找,以前官网的论坛很好,大部分的问题可以在里面找到答案,上个月我去看的时候论坛好像关掉了,不知道现在有没有开。

  加油!坚持下去一直写!接下来写一个对机器人学导论总结的系列。
这个问题的回答里有开发套件的License,License,注册后的使用方法使用方法。

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