public static short arcInterpolation(long[] targetPos, long[] centerPos, ushort arcDir, PositionMode positionMode) // 圆弧查补
{
short m;
if (mInpterplaType.run_flag == RUN)
{
return(-1);
}
//运行到起点坐标
ushort[] axis1 = new ushort[] { 0, 1, 2, 3 };
RFIDControl.dmc_set_vector_profile_multicoor(mInpterplaType.card_num, mInpterplaType.car_num, mInpterplaType.m_speed_min, mInpterplaType.m_speed_max, mInpterplaType.m_acc_time, mInpterplaType.m_dcc_time, 0); //设置插补速度
//运行到起点
mInpterplaType.m_ndist[X] = mInpterplaType.m_start[X] - mAxis[X].m_positon;
mInpterplaType.m_ndist[Y] = mInpterplaType.m_start[Y] - mAxis[Y].m_positon;
m = RFIDControl.dmc_line_multicoor(mInpterplaType.card_num, mInpterplaType.car_num, mInpterplaType.axis_cout, axis1, mInpterplaType.m_ndist, REL_MODE); //执行
mInpterplaType.run_flag = RUN;
checkDmcMessage(m);
while (mInpterplaType.run_flag == RUN)
{
;
}
//开始画轨迹
RFIDControl.dmc_set_vector_profile_multicoor(mInpterplaType.card_num, mInpterplaType.car_num, mInpterplaType.m_speed_min, mInpterplaType.m_speed_max, mInpterplaType.m_acc_time, mInpterplaType.m_dcc_time, 0); //设置插补速度
ushort[] axis = new ushort[] { X, Y };
m = RFIDControl.dmc_arc_move_multicoor(mInpterplaType.card_num, mInpterplaType.car_num, axis, targetPos, centerPos, arcDir, (ushort)positionMode); //以当前点为起点，半径为2000 pulse,顺时针走一个半圆，相对模式
mInpterplaType.run_flag = RUN;
checkDmcMessage(m);
return(m);
}
public static short lineInterpolation()
{
short m;
if (mInpterplaType.run_flag == RUN)
{
return(-1);
}
ushort[] axis = new ushort[] { 0, 1, 2, 3 };
RFIDControl.dmc_set_vector_profile_multicoor(mInpterplaType.card_num, mInpterplaType.car_num, mInpterplaType.m_speed_min, mInpterplaType.m_speed_max, mInpterplaType.m_acc_time, mInpterplaType.m_dcc_time, 0); //设置插补速度
//运行到起点
mInpterplaType.m_ndist[X] = mInpterplaType.m_start[X] - mAxis[X].m_positon;
mInpterplaType.m_ndist[Y] = mInpterplaType.m_start[Y] - mAxis[Y].m_positon;
m = RFIDControl.dmc_line_multicoor(mInpterplaType.card_num, mInpterplaType.car_num, mInpterplaType.axis_cout, axis, mInpterplaType.m_ndist, REL_MODE); //执行
mInpterplaType.run_flag = RUN;
checkDmcMessage(m);
while (mInpterplaType.run_flag == RUN)
{
;
}
//运行到终点
mInpterplaType.m_ndist[X] = mInpterplaType.m_end[X] - mInpterplaType.m_start[X];
mInpterplaType.m_ndist[Y] = mInpterplaType.m_end[Y] - mInpterplaType.m_start[Y];
m = RFIDControl.dmc_line_multicoor(mInpterplaType.card_num, mInpterplaType.car_num, mInpterplaType.axis_cout, axis, mInpterplaType.m_ndist, REL_MODE); //执行
mInpterplaType.run_flag = RUN;
checkDmcMessage(m);
return(m);
}