/// <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>
/// JOG移动
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="dVel"></param>
/// <param name="dAcce"></param>
/// <returns></returns>
public override short JogMove(short nCardNum, short nAxis, double dVel, double dAcce)
{
short nRtn = 0;
if (nCardNum < 0 || nAxis > m_maxAxisNum)
{
return(-1);
}
//获取标志位状态
nRtn |= CMc.GT_ClrSts(nCardNum, 1, m_maxAxisNum);
int sts;
nRtn |= CMc.GT_GetSts(nCardNum, nAxis, out sts, 1, out m_oClk);
int mode;
nRtn |= CMc.GT_GetPrfMode(nCardNum, nAxis, out mode, 1,
out m_oClk); //mode值 //0：trap 1：Jog 2：S 3：PT 4：PVS 5：interpolation 6：gear
if ((sts & 0x400) != 0) //运动情况下可以改变速度和加速度
{
if (1 != mode)
{
return(nRtn);
}
}
else //静止情况下才能修改运动模式
{
if (1 != mode)
{
nRtn |= CMc.GT_PrfJog(nCardNum, nAxis);
}
}
//设置Jog运动参数
CMc.JOG_PRM jogPrm;
jogPrm.m_acc = dAcce; //加速度，单位“脉冲/毫秒2”
jogPrm.m_dec = dAcce; //减速度，单位“脉冲/毫秒2”
jogPrm.m_smooth = 0.625; //平滑系数，取值范围[0,1]
nRtn |= CMc.GT_SetJogPrm(nCardNum, nAxis, ref jogPrm);
//启动运动
nRtn |= CMc.GT_SetVel(nCardNum, nAxis, dVel); //设置目标速度，单位是“脉冲/毫秒”
nRtn |= CMc.GT_Update(nCardNum, 1 << (nAxis - 1));
return(nRtn);
}
/// <summary>
/// 设置Jog运动参数
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="acc">加速度 单位“脉冲/毫秒2”</param>
/// <param name="dec">减速度 单位“脉冲/毫秒2”</param>
/// <param name="smooth">平滑系数，取值范围[0,1]</param>
/// <returns></returns>
public override short SetJogPrm(short nCardNum, short nAxis, double acc, double dec, double smooth = 0)
{
//设置Jog运动参数
short nRtn = 0;
CMc.GT_PrfJog(nCardNum, nAxis);
CMc.JOG_PRM mytprfvel;
mytprfvel.m_acc = acc; //加速度，单位“脉冲/毫秒2”
mytprfvel.m_dec = dec; //减速度，单位“脉冲/毫秒2”
mytprfvel.m_smooth = smooth; //平滑系数，取值范围[0,1]
nRtn |= CMc.GT_SetJogPrm(nCardNum, nAxis, ref mytprfvel);
return(nRtn);
}
