/// <summary>
/// 切换轴运动为Jog运动
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <returns></returns>
public override short PrfJog(short nCardNum, short nAxis)
{
short nRtn = 0;
nRtn |= CMc.GT_PrfJog(nCardNum, nAxis);
return(nRtn);
}
/// <summary>
/// 清除插补坐标系数据
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="crd">坐标系号 1跟2</param>
/// <param name="count">不用管</param>
/// <param name="fifo">缓冲区号 fifo0 fifo1</param>
/// <returns></returns>
public override short CrdClear(short nCardNum, short crd, short fifo, short count = 1)
{
short nRtn = 0;
nRtn |= CMc.GT_CrdClear(nCardNum, crd, fifo);
return(nRtn);
}
/// <inheritdoc />
/// <summary>
/// 轴停止
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="mask">bit0--8 哪个轴</param>
/// <param name="option">bit0--8 对应的停止方式：1：急停， 0：平滑停止</param>
public override short Stop(short nCardNum, short mask, short option)
{
short nRtn = 0;
nRtn |= CMc.GT_Stop(nCardNum, mask, option);
return(nRtn);
}
/// <summary>
/// 轴启动
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <returns></returns>
public override short AxisOn(short nCardNum, short nAxis)
{
short nRtn = 0;
nRtn |= CMc.GT_AxisOn(nCardNum, nAxis);
return(nRtn);
}
public override short BufDelay(short nCardNum, short crd, ushort delayTime, short fifo = 0)
{
short nRtn = 0;
nRtn |= CMc.GT_BufDelay(nCardNum, crd, delayTime, fifo);
return(nRtn);
}
/// <summary>
/// 设置插补坐标系
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="crd"></param>
/// <param name="nDim">坐标系维数</param>
/// <param name="synVelMax">坐标系的最大合成速度</param>
/// <param name="synAccMax">坐标系的最大合成加速度</param>
/// <param name="evenTime">坐标系的最小匀速时间</param>
/// <param name="profile">规划器对应的轴</param>
/// <returns></returns>
public override short SetLineOrdi(short nCardNum, short crd, short nDim, double synVelMax, double synAccMax,
short evenTime, short[] profile)
{
short nRtn = 0;
var crdPrm = new CMc.CRD_PRM();
crdPrm.m_dimension = nDim; // 建立二/三/四维的坐标系
crdPrm.m_synVelMax = synVelMax; // 坐标系的最大合成速度是: 500 pulse/ms
crdPrm.m_synAccMax = synAccMax; // 坐标系的最大合成加速度是: 2 pulse/ms^2
crdPrm.m_evenTime = evenTime; // 坐标系的最小匀速时间为0
crdPrm.m_profile1 = profile[0];
crdPrm.m_profile2 = profile[1];
crdPrm.m_profile3 = profile[2];
crdPrm.m_profile4 = profile[3];
crdPrm.m_profile5 = profile[4];
crdPrm.m_profile6 = profile[5];
crdPrm.m_profile7 = profile[6];
crdPrm.m_profile8 = profile[7];
crdPrm.m_setOriginFlag = 1; // 需要设置加工坐标系原点位置
crdPrm.m_originPos1 = 0; // 加工坐标系原点位置在(0,0)，即与机床坐标系原点重合
crdPrm.m_originPos2 = 0;
crdPrm.m_originPos3 = 0;
crdPrm.m_originPos4 = 0;
crdPrm.m_originPos5 = 0;
crdPrm.m_originPos6 = 0;
crdPrm.m_originPos7 = 0;
crdPrm.m_originPos8 = 0;
nRtn |= CMc.GT_SetCrdPrm(nCardNum, 1, ref crdPrm);
return(nRtn);
}
/// <summary>
/// 设置捕获的电平状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="mode">方式 1：Home 捕获 2：Index 捕获</param>
/// <param name="sense">捕获电平 0:下降沿触发;1:上升沿触发</param>
/// <returns></returns>
public override short SetCaptureSense(short nCardNum, short nAxis, short mode, short sense)
{
short nRtn = 0;
nRtn |= CMc.GT_SetCaptureSense(nCardNum, nAxis, mode, sense); //0:下降沿触发;1:上升沿触发
return(nRtn);
}
/// <summary>
/// 位置置零
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="count">粥熟了</param>
/// <returns></returns>
public override short ZeroPos(short nCardNum, short nAxis, short count)
{
short nRtn = 0;
nRtn |= CMc.GT_ZeroPos(nCardNum, nAxis, count);
return(nRtn);
}
/// <summary>
/// 获取编码器位置
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴</param>
/// <param name="dVal">值</param>
/// <param name="count">轴数量</param>
/// <returns></returns>
public override short GetEncPos(short nCardNum, short nAxis, out double dVal, short count)
{
short nRtn = 0;
nRtn |= CMc.GT_GetEncPos(nCardNum, nAxis, out dVal, count, out m_oClk);
return(nRtn);
}
/// <summary>
/// 设置捕获的电平状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="mode">方式 1：Home 捕获 2：Index 捕获</param>
/// <returns></returns>
public override short SetCaptureMode(short nCardNum, short nAxis, short mode)
{
short nRtn = 0;
nRtn |= CMc.GT_SetCaptureMode(nCardNum, nAxis, mode);
return(nRtn);
}
/// <summary>
/// 扫描通用输出状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="status">状态信息</param>
/// <returns></returns>
public override short GetDo(short nCardNum, out int status)
{
short nRtn = 0;
nRtn |= CMc.GT_GetDo(nCardNum, CMc.m_c_MC_GPO, out status);
return(nRtn);
}
/// <summary>
/// 扫描输入状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="diType">类型</param>
/// <param name="diStatus">状态信息</param>
/// <returns></returns>
public override short GetDi(short nCardNum, short diType, out int diStatus)
{
short nRtn = 0;
nRtn |= CMc.GT_GetDi(nCardNum, diType, out diStatus);
return(nRtn);
}
/// <summary>
/// 设置位置
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="nPos">位置，单位脉冲</param>
/// <returns></returns>
public override short SetPos(short nCardNum, short nAxis, int nPos)
{
short nRtn = 0;
nRtn |= CMc.GT_SetPos(nCardNum, nAxis, nPos);
return(nRtn);
}
/// <summary>
/// 设置速度
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="vel">速度 单位是“脉冲/毫秒”</param>
/// <returns></returns>
public override short SetVel(short nCardNum, short nAxis, double vel)
{
short nRtn = 0;
nRtn |= CMc.GT_SetVel(nCardNum, nAxis, vel); //设置目标速度，单位是“脉冲/毫秒”
return(nRtn);
}
public override short BufIo(short nCardNum, short crd, ushort doType, ushort doMask, ushort doValue,
short fifo = 0)
{
short nRtn = 0;
nRtn |= CMc.GT_BufIO(nCardNum, crd, doType, doMask, doValue, fifo);
return(nRtn);
}
public override short LnXyza(short nCardNum, short crd, int x, int y, int z, int a, double synVel,
double synAcc, double velEnd = 0, short fifo = 0)
{
short nRtn = 0;
nRtn |= CMc.GT_LnXYZA(nCardNum, crd, x, y, z, a, synVel, synAcc, velEnd, fifo);
return(nRtn);
}
/// <summary>
/// 清除轴状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="count">数量</param>
/// <returns></returns>
public override short ClrSts(short nCardNum, short nAxis, short count)
{
short nRtn = 0;
nRtn |= CMc.GT_ClrSts(nCardNum, nAxis, count); // 清除指定轴的报警和限位
return(nRtn);
}
/// <summary>
/// 更新轴参数
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <returns></returns>
public override short Update(short nCardNum, int nAxis)
{
short nRtn = 0;
nRtn |= CMc.GT_Update(nCardNum, 1 << (nAxis - 1));
return(nRtn);
}
/// <summary>
/// 获取轴状态
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="count">轴数量</param>
/// <param name="status">轴状态</param>
/// <returns></returns>
public override short GetSts(short nCardNum, short nAxis, short count, out int status)
{
short nRtn = 0;
nRtn |= CMc.GT_GetSts(nCardNum, nAxis, out status, count, out m_oClk);
return(nRtn);
}
/// <summary>
/// 按索引值设置通用数字 I/O 的输出信号
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="doIndex"></param>
/// <param name="value"></param>
/// <returns></returns>
public override short SetDoBit(short nCardNum, short doIndex, short value)
{
short nRtn = 0;
nRtn |= CMc.GT_SetDoBit(nCardNum, CMc.m_c_MC_GPO, doIndex, value);
return(nRtn);
}
/// <summary>
/// 坐标系开始运行
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="mask">bit0 对应坐标系 1，bit1 对应坐标系 2。 0：不启动该坐标系，1：启动该坐标系。</param>
/// <param name="option">bit0 对应坐标系 1，bit1 对应坐标系 2。 0：启动坐标系中 FIFO0 的运动，1：启动坐标系中 FIFO1 的运动。</param>
/// <returns></returns>
public override short CrdStart(short nCardNum, short mask, short option = 0)
{
short nRtn = 0;
nRtn |= CMc.GT_CrdStart(nCardNum, mask, option);
return(nRtn);
}
public override short ArcXyc(short nCardNum, short crd, int x, int y, double dCenterX, double dCenterY, short circleDir,
double synVel, double synAcc, double velEnd = 0, short fifo = 0)
{
short nRtn = 0;
nRtn |= CMc.GT_ArcXYC(nCardNum, crd, x, y, dCenterX, dCenterY, circleDir, synVel, synAcc, velEnd, fifo);
return(nRtn);
}
/// <summary>
/// 使用前瞻时，把前瞻缓存区的数据压入运动缓存区
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="crd">坐标系号，取值范围[1,2]</param>
/// <param name="fifo">插补缓存区号，0：FIFO1 1：FIFO2</param>
/// <returns></returns>
public override short CrdData(short nCardNum, short crd, short fifo = 0)
{
short nRtn = 0;
nRtn |= CMc.GT_CrdData(nCardNum, crd, new IntPtr(), fifo);
return(nRtn);
}
/// <summary>
/// 读取坐标系缓冲区剩余空间大小
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="crd">坐标系号，取值范围[1,2]</param>
/// <param name="pSpace">插补缓存的剩余空间</param>
/// <param name="count">（灵猴）轴数</param>
/// <param name="fifo">插补缓存区号，0：FIFO1 1：FIFO2</param>
/// <returns></returns>
public override short CrdSpace(short nCardNum, short crd, out int pSpace, short count = 1, short fifo = 0)
{
short nRtn = 0;
nRtn |= CMc.GT_CrdSpace(nCardNum, crd, out pSpace, fifo);
return(nRtn);
}
/// <summary>
/// 启动二维位置比较
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="chn">通道号 0：HSIO1 ; 通道号 1: HSIO2</param>
/// <returns></returns>
public override short D2DCompareStart(short nCardNum, short chn)
{
short nRtn = 0;
nRtn |= CMc.GT_2DCompareStart(nCardNum, chn);
return(nRtn);
}
/// <summary>
/// 二维位置比较强制输出
/// </summary>
/// <param name="cardNo">卡号</param>
/// <param name="chn">通道号</param>
/// <param name="level">位置比较输出电平起始电平 0 1</param>
/// <param name="outputType">输出类型:0 表示脉冲输出，1 表示电平输出</param>
/// <param name="time">脉冲模式下输出脉冲的时间</param>
public override short D2DComparePulse(short cardNo, short chn, short level, short outputType, short time)
{
short nRtn = 0;
//清除
nRtn |= CMc.GT_2DCompareClear(cardNo, chn);
nRtn |= CMc.GT_2DComparePulse(cardNo, chn, level, outputType, time);
return(nRtn);
}
/// <summary>
/// 获取扩展Di的输入信号
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="address">第几个扩招卡</param>
/// <param name="status"></param>
/// <returns></returns>
public override short GetExtendDi(short nCardNum, short address, out ushort status)
{
short nRtn = 0;
nRtn |= CMc.GT_GetExtIoValue(nCardNum, 0, out status);
return(nRtn);
}
/// <summary>
/// 设置扩展数字 I/O 的输出信号
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="address">第几个扩展IO板</param>
/// <param name="doIndex">IO索引</param>
/// <param name="value">结果</param>
/// <returns></returns>
public override short SetExtendDoBit(short nCardNum, short address, short doIndex, short value)
{
short nRtn = 0;
var val = Convert.ToUInt16(value);
nRtn |= CMc.GT_SetExtIoValue(nCardNum, doIndex, val);
return(nRtn);
}
/// <summary>
/// 初始化插补前瞻缓存区
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="crd">坐标系号，取值范围[1,2]</param>
/// <param name="fifo">插补缓存区号，0：FIFO1 1：FIFO2</param>
/// <param name="T">拐弯时间，取值范围[0,100]，单位 ms</param>
/// <param name="accMax">最大加速度，单位 pulse/ms^2</param>
/// <param name="n">前瞻缓存区大小</param>
/// <param name="lenght">前瞻缓存区内存指针</param>
/// <returns></returns>
public override short InitLookAhead(short nCardNum, short crd, short fifo, double T, double accMax,
short lenght)
{
short nRtn = 0;
m_tsBufOfLookAhead = new CMc.CRD_DATA[lenght];
nRtn |= CMc.GT_InitLookAhead(nCardNum, crd, fifo, T, accMax, lenght, ref m_tsBufOfLookAhead[0]);
return(nRtn);
}
/// <summary>
/// 获取Jog运动参数
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="acc">加速度</param>
/// <param name="dec">减速度</param>
/// <param name="smooth">平滑系数</param>
/// <returns></returns>
public override short GetJogPrm(short nCardNum, short nAxis, out double acc, out double dec, out double smooth)
{
short nRtn = 0;
CMc.JOG_PRM trapPrm;
nRtn |= CMc.GT_GetJogPrm(nCardNum, nAxis, out trapPrm);
acc = trapPrm.m_acc;
dec = trapPrm.m_dec;
smooth = trapPrm.m_smooth;
return(nRtn);
}
