public void MoveArc2(int[] axis, double[] firstpoint, double[] centerpoint, double radian)
{
try
{
if (!_isConnect)
{
throw new AcsMotionException("<MoveArc2>", "ACS未连接");
}
ACS.SPiiPlusNET.Axis[] axisGroup = new ACS.SPiiPlusNET.Axis[axis.Length + 1];
for (int i = 0; i < axis.Length; i++)
{
axisGroup[i] = (ACS.SPiiPlusNET.Axis)axis[i];
if (!IsMotorEnable(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴未上使能，请先上使能", ((AxisIndex)axis[i]).ToString()));
}
if (IsMotorMoving(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴还在运动中，请稍后再试", ((AxisIndex)axis[i]).ToString()));
}
if (!IsMotorHome(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴还没回过原点，请回原点后再试", ((AxisIndex)axis[i]).ToString()));
}
}
axisGroup[axis.Length] = ACS.SPiiPlusNET.Axis.ACSC_NONE;
_acs_api.Segment(MotionFlags.ACSC_NONE, axisGroup, firstpoint);
_acs_api.SegmentArc2(MotionFlags.ACSC_NONE, axisGroup, centerpoint, radian, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
this._acs_api.EndSequenceM(axisGroup);
}
catch (Exception ex)
{
throw new AcsMotionException("<MoveArc2>", "错误信息：MoveArc1 fail， " + ex.ToString());
}
}
public void MoveGroupRelativePosition(int[] axis, double[] points)
{
try
{
if (!_isConnect)
{
throw new AcsMotionException("<MoveGroupRelativePosition>", "ACS未连接");
}
ACS.SPiiPlusNET.Axis[] axisGroup = new ACS.SPiiPlusNET.Axis[axis.Length + 1];
for (int i = 0; i < axis.Length; i++)
{
axisGroup[i] = (ACS.SPiiPlusNET.Axis)axis[i];
if (!IsMotorEnable(axis[i]))
{
throw new AcsMotionException("<MoveGroupRelativePosition>", string.Format("{0}轴未上使能，请先上使能", ((AxisIndex)axis[i]).ToString()));
}
if (IsMotorMoving(axis[i]))
{
throw new AcsMotionException("<MoveGroupRelativePosition>", string.Format("{0}轴还在运动中，请稍后再试", ((AxisIndex)axis[i]).ToString()));
}
if (!IsMotorHome(axis[i]))
{
throw new AcsMotionException("<MoveGroupRelativePosition>", string.Format("{0}轴还没回过原点，请回原点后再试", ((AxisIndex)axis[i]).ToString()));
}
}
axisGroup[axis.Length] = ACS.SPiiPlusNET.Axis.ACSC_NONE;
this._acs_api.ToPointM(MotionFlags.ACSC_AMF_RELATIVE, axisGroup, points);
this._acs_api.EndSequenceM(axisGroup);
}
catch (Exception ex)
{
throw new AcsMotionException("<MoveGroupRelativePosition>", "错误信息：群组运动失败， " + ex.ToString());
}
}
public void WaitGroupMotionEnd(int[] axis)
{
try
{
ACS.SPiiPlusNET.Axis[] axisGroup = new ACS.SPiiPlusNET.Axis[axis.Length];
for (int i = 0; i < axis.Length; i++)
{
axisGroup[i] = (ACS.SPiiPlusNET.Axis)axis[i];
this._acs_api.WaitMotionEnd(axisGroup[i], int.MaxValue);
}
}
catch (Exception ex)
{
throw new AcsMotionException("WaitGroupMotionEnd", "错误信息：群组运动到位失败， " + ex.ToString());
}
}
public void MultPoint(int[] axis, List <double> axis1, List <double> axis2)
{
ACS.SPiiPlusNET.Axis[] axisGroup = new ACS.SPiiPlusNET.Axis[axis.Length + 1];
for (int i = 0; i < axis.Length; i++)
{
axisGroup[i] = (ACS.SPiiPlusNET.Axis)axis[i];
if (!IsMotorEnable(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴未上使能，请先上使能", ((AxisIndex)axis[i]).ToString()));
}
if (IsMotorMoving(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴还在运动中，请稍后再试", ((AxisIndex)axis[i]).ToString()));
}
if (!IsMotorHome(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴还没回过原点，请回原点后再试", ((AxisIndex)axis[i]).ToString()));
}
}
axisGroup[axis.Length] = ACS.SPiiPlusNET.Axis.ACSC_NONE;
_acs_api.EnableM(axisGroup);
_acs_api.MultiPointM(MotionFlags.ACSC_AMF_WAIT, axisGroup, 0);
double[] poit = { 0, 0 };
for (int i = 0; i < axis1.Count; i++)
{
poit[0] = axis1[i];
poit[1] = axis2[i];
try
{
// _acs_api.ExtAddPointM(axisGroup, poit, 0.1);
_acs_api.AddPointM(axisGroup, poit);
}
catch (Exception e)
{
MessageBox.Show($"第{i}点：" + e.Message);
_acs_api.DisableM(axisGroup);
goto Flag;
}
}
_acs_api.EndSequenceM(axisGroup);
_acs_api.GoM(axisGroup);
Flag :;
}
public void MovePathTest()
{
try
{
//int[] axis = new int[2];
//axis[0] = 0;
//axis[1] = 2;
//double[] firstpoint = new double[2];
//firstpoint[0] = 100;
//firstpoint[1] = 200;
//double[] centerpoint = new double[2];
//centerpoint[0] = 100;
//centerpoint[1] = 210;
//double radian = -3.1415926;
//double[] point1 = new double[2];
//point1[0] = 120;
//point1[1] = 220;
//double[] point2 = new double[2];
//point2[0] = 120;
//point2[1] = 210;
//double radian2 = -3.1415926;
//ACS.SPiiPlusNET.Axis[] axisGroup = new ACS.SPiiPlusNET.Axis[axis.Length + 1];
//for (int i = 0; i < axis.Length; i++)
//{
// axisGroup[i] = (ACS.SPiiPlusNET.Axis)axis[i];
//}
//axisGroup[axis.Length] = ACS.SPiiPlusNET.Axis.ACSC_NONE;
//_acs_api.Segment(MotionFlags.ACSC_NONE, axisGroup, firstpoint);
//_acs_api.SegmentArc2(MotionFlags.ACSC_NONE, axisGroup, centerpoint, radian, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
//_acs_api.SegmentLine(MotionFlags.ACSC_NONE, axisGroup, point1, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
//_acs_api.SegmentArc2(MotionFlags.ACSC_NONE, axisGroup, point2, radian2, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
//_acs_api.SegmentLine(MotionFlags.ACSC_NONE, axisGroup, firstpoint, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
//this._acs_api.EndSequenceM(axisGroup);
int[] axis = new int[2];
axis[0] = 0;
axis[1] = 2;
ACS.SPiiPlusNET.Axis[] axisGroup = new ACS.SPiiPlusNET.Axis[axis.Length + 1];
for (int i = 0; i < axis.Length; i++)
{
axisGroup[i] = (ACS.SPiiPlusNET.Axis)axis[i];
}
axisGroup[axis.Length] = ACS.SPiiPlusNET.Axis.ACSC_NONE;
double[] firstpoint = new double[2];
firstpoint[0] = 100;
firstpoint[1] = 200;
double[] centerpoint1 = new double[2];
centerpoint1[0] = 100;
centerpoint1[1] = 220;
double radian1 = -3.1415926;
double[] linepoint1 = new double[2];
linepoint1[0] = 120;
linepoint1[1] = 240;
double[] centerpoint2 = new double[2];
centerpoint2[0] = 120;
centerpoint2[1] = 220;
double radian2 = -3.1415926;
_acs_api.Segment(MotionFlags.ACSC_NONE, axisGroup, firstpoint);
_acs_api.SegmentArc2(MotionFlags.ACSC_NONE, axisGroup, centerpoint1, radian1, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
_acs_api.SegmentLine(MotionFlags.ACSC_NONE, axisGroup, linepoint1, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
_acs_api.SegmentArc2(MotionFlags.ACSC_NONE, axisGroup, centerpoint2, radian2, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
_acs_api.SegmentLine(MotionFlags.ACSC_NONE, axisGroup, firstpoint, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
this._acs_api.EndSequenceM(axisGroup);
}
catch (Exception ex)
{
throw new AcsMotionException("MovePathTest", "错误信息：MoveArc1 fail， " + ex.ToString());
}
}
