private short AddLineToCrd(short crdNo, IReadOnlyList <short> listOfAxisNo, STRUCT_CRD_PARA sCrdPara)
{
short sRtn = 0;
int pulseNumOfAxis1, pulseNumOfAxis2, pulseNumOfAxis3, pulseNumOfAxis4;
switch (listOfAxisNo.Count)
{
case 2:
pulseNumOfAxis1 = (int)UnitToPulse(listOfAxisNo[0], sCrdPara.m_dPositionOfAxis1);
pulseNumOfAxis2 = (int)UnitToPulse(listOfAxisNo[1], sCrdPara.m_dPositionOfAxis2);
sRtn |= m_oMotionBase.LnXy(m_sCardNo, crdNo, pulseNumOfAxis1, pulseNumOfAxis2, sCrdPara.m_dVel, sCrdPara.m_dAcc);
break;
case 3:
pulseNumOfAxis1 = (int)UnitToPulse(listOfAxisNo[0], sCrdPara.m_dPositionOfAxis1);
pulseNumOfAxis2 = (int)UnitToPulse(listOfAxisNo[1], sCrdPara.m_dPositionOfAxis2);
pulseNumOfAxis3 = (int)UnitToPulse(listOfAxisNo[2], sCrdPara.m_dPositionOfAxis3);
sRtn |= m_oMotionBase.LnXyz(m_sCardNo, crdNo, pulseNumOfAxis1, pulseNumOfAxis2, pulseNumOfAxis3, sCrdPara.m_dVel, sCrdPara.m_dAcc);
break;
case 4:
pulseNumOfAxis1 = (int)UnitToPulse(listOfAxisNo[0], sCrdPara.m_dPositionOfAxis1);
pulseNumOfAxis2 = (int)UnitToPulse(listOfAxisNo[1], sCrdPara.m_dPositionOfAxis2);
pulseNumOfAxis3 = (int)UnitToPulse(listOfAxisNo[2], sCrdPara.m_dPositionOfAxis3);
pulseNumOfAxis4 = (int)UnitToPulse(listOfAxisNo[3], sCrdPara.m_dPositionOfAxis4);
sRtn |= m_oMotionBase.LnXyza(m_sCardNo, crdNo, pulseNumOfAxis1, pulseNumOfAxis2, pulseNumOfAxis3, pulseNumOfAxis4, sCrdPara.m_dVel, sCrdPara.m_dAcc);
break;
}
return(sRtn);
}
/// <summary>
/// 添加数据到插补空间
/// </summary>
/// <param name="crdNo">坐标系号</param>
/// <param name="listOfAxisNo">轴号链表</param>
/// <param name="sCrdPara">插补数据结构体</param>
/// <returns></returns>
private short AddDataToCrd(short crdNo, IReadOnlyList <short> listOfAxisNo, STRUCT_CRD_PARA sCrdPara)
{
short sRtn = 0;
switch (sCrdPara.m_datatype)
{
case 0: //直线
sRtn |= AddLineToCrd(crdNo, listOfAxisNo, sCrdPara);
break;
case 1: //IO
sRtn |= m_oMotionBase.BufIo(m_sCardNo, crdNo, 12, sCrdPara.m_usDoMask, sCrdPara.m_usDoValue);
break;
case 2: //延时
sRtn |= m_oMotionBase.BufDelay(m_sCardNo, crdNo, sCrdPara.m_usDelayTime);
break;
case 3: //圆弧
sRtn |= AddCircleToCrd(crdNo, sCrdPara);
break;
}
return(sRtn);
}
private short AddCircleToCrd(short crdNo, STRUCT_CRD_PARA sCrdPara)
{
short sRtn = 0;
int nCircleX = (int)UnitToPulse(1, sCrdPara.m_dCircleX);
int nCircleY = (int)UnitToPulse(2, sCrdPara.m_dCircleY);
double dCenterX = (int)UnitToPulse(2, sCrdPara.m_dCenterX);
double dCenterY = (int)UnitToPulse(2, sCrdPara.m_dCenterY);
sRtn |= m_oMotionBase.ArcXyc(m_sCardNo, crdNo, nCircleX, nCircleY, dCenterX, dCenterY, sCrdPara.m_sDir, sCrdPara.m_dVel, sCrdPara.m_dAcc);
return(sRtn);
}
