/// <summary>
/// 停止运动
/// </summary>
/// <param name="cardInfo">控制卡实体类</param>
/// <param name="axis">轴号</param>
/// <param name="option">急停方式，0=平滑，1=急停</param>
/// <returns></returns>
public static short GT_Stop(ControlCard cardInfo, int axis, int option)
{
int mask = 1 << (axis - 1);
short sRtn = Gts.GT_Stop(cardInfo.CardNumber, mask, option);
return(sRtn);
}
/// <summary>
/// 初始化运动控制器
/// </summary>
/// <param name="cardInfo">控制卡实体类</param>
/// <param name="pFile">配置文件路径</param>
public static short GT_LoadConfig(ControlCard cardInfo, string pFile)
{
short sRtn = Gts.GT_LoadConfig(cardInfo.CardNumber, pFile);
if (sRtn != 0)
{
return(sRtn);
}
sRtn = GT_ClrSts(cardInfo, 1, cardInfo.AxisCount);
return(sRtn);
}
/// <summary>
/// 设置指定轴为点位运动模式
/// </summary>
/// <param name="cardInfo">控制卡实体类</param>
/// <param name="axis">轴号</param>
/// <returns></returns>
public static short GT_PrfTrap(ControlCard cardInfo, short axis)
{
short sRtn = Gts.GT_PrfTrap(cardInfo.CardNumber, axis);
//当前轴再规划运动，先停止GT_Stop
if (sRtn == 1)
{
sRtn = GT_Stop(cardInfo, 1 << (axis - 1), 0);
if (sRtn == 0)
{
GT_PrfTrap(cardInfo, axis);
}
}
return(sRtn);
}
/// <summary>
/// 关闭驱动器使能
/// </summary>
/// <param name="cardInfo">控制卡实体类</param>
/// <param name="axis">轴号</param>
/// <returns></returns>
public static short GT_AxisOff(ControlCard cardInfo, short axis)
{
short sRtn = Gts.GT_AxisOff(cardInfo.CardNumber, axis);
return(sRtn);
}
/// <summary>
/// 关闭运动控制器
/// </summary>
/// <param name="cardInfo">控制卡实体类</param>
/// <returns></returns>
public static short GT_Close(ControlCard cardInfo)
{
short sRtn = Gts.GT_Close(cardInfo.CardNumber);
return(sRtn);
}
/// <summary>
/// 打开运动控制器
/// </summary>
/// <param name="cardInfo">控制卡实体类</param>
/// <param name="channel">打开运动控制器的方式,0=正常打开，1=调试模式</param>
/// <param name="param">channel=1时生效</param>
/// <returns></returns>
public static short GT_Open(ControlCard cardInfo, short channel, short param)
{
short sRtn = Gts.GT_Open(cardInfo.CardNumber, channel, param);
return(sRtn);
}
/// <summary>
/// 清除驱动器报警标志
/// </summary>
/// <param name="cardInfo">控制卡实体类</param>
/// <param name="axis">起始轴号</param>
/// <param name="count">读取的轴数，默认为1</param>
public static short GT_ClrSts(ControlCard cardInfo, short axis, short count)
{
short sRtn = Gts.GT_ClrSts(cardInfo.CardNumber, axis, count);
return(sRtn);
}
