/// <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);
}
/// <summary>
/// 绝对坐标走位
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="dPos">位置,脉冲为单位</param>
/// <param name="dVel">速度</param>
/// <param name="dAcce">加减速度</param>
/// <returns></returns>
public override short AbsMove(short nCardNum, short nAxis, int dPos, double dVel, double dAcce)
{
short nRtn = 0;
if (nAxis > m_maxAxisNum)
{
return(-1);
}
//lock (m_lockMove)
int sts;
//获取标志位状态
nRtn |= CMc.GT_GetSts(nCardNum, nAxis, out sts, 1, out m_oClk);
if ((sts & 0x400) == 0) //该轴必须静止
{
//设定Trap运动模式，失败则返回
int mode;
nRtn |= CMc.GT_GetPrfMode(nCardNum, nAxis, out mode, 1, out m_oClk);
if (mode != 0)
{
nRtn |= CMc.GT_ClrSts(nCardNum, nAxis, 1);
nRtn |= CMc.GT_PrfTrap(nCardNum, nAxis);
}
}
//设定Trap运动参数
CMc.TRAP_PRM trap;
trap.m_acc = dAcce;
trap.m_dec = dAcce;
trap.m_velStart = 0;
trap.m_smoothTime = 10;
nRtn |= CMc.GT_SetTrapPrm(nCardNum, nAxis, ref trap);
//开始运动
nRtn |= CMc.GT_SetPos(nCardNum, nAxis, dPos);
nRtn |= CMc.GT_SetVel(nCardNum, nAxis, dVel);
nRtn |= CMc.GT_Update(nCardNum, 1 << (nAxis - 1));
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);
}
