public bool LineXYZMove(short num, short AxisX, short AxisY, short AxisZ, double dAcc, double dDec, double dSpeed, double posX, double posY, double posZ)
{
bool sRtn = false;
double[] PositionArray = new double[] { posX, posY };
double TransPara = 0;
APS168_W64.ASYNCALL p = new APS168_W64.ASYNCALL();
int[] Axis_ID_Array = new int[] { AxisX, AxisY };
// config speed profile
APS168_W64.APS168.APS_set_axis_param_f(Axis_ID_Array[0], (int)APS_Define_W32.APS_Define.PRA_SF, 0.5);
APS168_W64.APS168.APS_set_axis_param_f(Axis_ID_Array[0], (int)APS_Define_W32.APS_Define.PRA_ACC, dAcc);
APS168_W64.APS168.APS_set_axis_param_f(Axis_ID_Array[0], (int)APS_Define_W32.APS_Define.PRA_DEC, dDec);
APS168_W64.APS168.APS_set_axis_param_f(Axis_ID_Array[0], (int)APS_Define_W32.APS_Define.PRA_VM, dSpeed);
////servo on
//APS168_W64.APS168.APS_set_servo_on(Axis_ID_Array[0], 1);
//Thread.Sleep(500); // Wait stable.
////servo on
//APS168_W64.APS168.APS_set_servo_on(Axis_ID_Array[1], 1);
//Thread.Sleep(500); // Wait stable.
// Start a 2 dimension linear interpolation
sRtn = APS168_W64.APS168.APS_line(
2 // I32 Dimension
, Axis_ID_Array // I32 *Axis_ID_Array
, (int)APS_Define_W32.APS_Define.OPT_ABSOLUTE // I32 Option
, PositionArray // F64 *PositionArray
, ref TransPara // F64 *TransPara
, ref p // ASYNCALL *Wait
) == 0 ? true : false;
return(sRtn);
}
public bool ArcXYMove(short num, short AxisX, short AxisY, short AxisZ, double dAcc, double dDec, double dSpeed, double posX, double posY, double dR, short iCCW)
{
if (!bInitOK)
{
return(false);
}
try
{
double[] centerArray = new double[] { 1000.0, 0.0 };
double angle = (90.0 * 3.14159265 / 180.0);
double transPara = 0;
APS168_W64.ASYNCALL p = new APS168_W64.ASYNCALL();
int[] axisArr = new int[] { AxisX, AxisY };
double[] endArr = new double[] { posX, posY };
// config speed profile
APS168_W64.APS168.APS_set_axis_param_f(AxisX, (Int32)APS_Define_W32.APS_Define.PRA_SF, 0.5);
APS168_W64.APS168.APS_set_axis_param_f(AxisX, (Int32)APS_Define_W32.APS_Define.PRA_ACC, dAcc / 0.001);
APS168_W64.APS168.APS_set_axis_param_f(AxisX, (Int32)APS_Define_W32.APS_Define.PRA_DEC, dDec / 0.001);
APS168_W64.APS168.APS_set_axis_param_f(AxisX, (Int32)APS_Define_W32.APS_Define.PRA_VM, dSpeed);
////servo on
//APS168_W64.APS168.APS_set_servo_on(Axis_ID_Array[0], 1);
//Thread.Sleep(500); // Wait stable.
//servo on
//APS168.APS_set_servo_on(Axis_ID_Array[1], 1);
//Thread.Sleep(500); // Wait stable.
// Start a 2 dimension linear interpolation
APS168_W64.APS168.APS_arc2_ce(
axisArr,
0,
centerArray,
endArr,
iCCW,
ref transPara,
ref p
);
return(true);
}
catch (Exception e)
{
// Global.logger.ErrorFormat("凌华运动控制卡圆弧插补运动失败，错误：{0}。", e.Message);
return(false);
}
}
