private void timer1_Tick(object sender, EventArgs e)
{
// ushort axis = GetAxis(); //轴号
double dcurrent_speedX = 0, dcurrent_speedY = 0, dcurrent_speedZ = 0, dcurrent_speedW = 0; //速度值
// double dunitPosX, dunitPosY, dunitPosZ, dunitPosW; //脉冲当量转换后指令值
int PosX, PosY, PosZ, PosW; //脉冲值
LTDMC.dmc_read_current_speed_unit(_CardID, 0, ref dcurrent_speedX); // 读取轴当前速度
LTDMC.dmc_read_current_speed_unit(_CardID, 1, ref dcurrent_speedY);
LTDMC.dmc_read_current_speed_unit(_CardID, 2, ref dcurrent_speedZ);
LTDMC.dmc_read_current_speed_unit(_CardID, 3, ref dcurrent_speedW);
txtCurrentSpeedX.Text = dcurrent_speedX.ToString();
txtCurrentSpeedY.Text = dcurrent_speedY.ToString();
txtCurrentSpeedZ.Text = dcurrent_speedZ.ToString();
txtCurrentSpeedW.Text = dcurrent_speedW.ToString();
//LTDMC.dmc_get_position_unit(_CardID, 0, ref dunitPosX); //读取指定轴指令位置值
//txtFinalPosY.Text = dunitPosX.ToString();
PosX = LTDMC.dmc_get_position(_CardID, 0);//读取指定轴的脉冲值
PosY = LTDMC.dmc_get_position(_CardID, 1);
PosZ = LTDMC.dmc_get_position(_CardID, 2);
PosW = LTDMC.dmc_get_position(_CardID, 3);
txtCurrentPosX.Text = PosX.ToString();
txtCurrentPosY.Text = PosY.ToString();
txtCurrentPosZ.Text = PosZ.ToString();
txtCurrentPosW.Text = PosW.ToString();
if (LTDMC.dmc_check_done(_CardID, 0) == 0) // 读取指定轴运动状态
{
txtStateX.Text = "运行中";
}
else
{
txtStateX.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 1) == 0) // 读取指定轴运动状态
{
txtStateY.Text = "运行中";
}
else
{
txtStateY.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 2) == 0) // 读取指定轴运动状态
{
txtStateZ.Text = "运行中";
}
else
{
txtStateZ.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 3) == 0) // 读取指定轴运动状态
{
txtStateW.Text = "运行中";
}
else
{
txtStateW.Text = "停止中";
}
}
public override string ToString()
{
return(String.Format("[{0}][{1}],[{2}],[{3}],[{4}],[{5}],[{6}],[{7}],[{8}],[{9}]", (Frame + 1).ToString().PadLeft(5),
PosX.ToString().ToFixedString(size, ' ').PadRight(padding),
PosY.ToString().ToFixedString(size, ' ').PadRight(padding),
PosZ.ToString().ToFixedString(size, ' ').PadRight(padding),
RotX.ToString().ToFixedString(size, ' ').PadRight(padding),
RotY.ToString().ToFixedString(size, ' ').PadRight(padding),
RotZ.ToString().ToFixedString(size, ' ').PadRight(padding),
RotW.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaX.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaY.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaZ.ToString().ToFixedString(size, ' ').PadRight(padding)));
}