//设置PWM连续插补
private void SetVPwm()
{
ushort channel = GetChannel();
double duty = Convert.ToDouble(this.txtDuty.Value) / 100;
double freq = Convert.ToDouble(this.txtFreq.Value);
m_main.PWMChannel = channel;
m_main.PWMDuty = duty;
m_main.PWMFreq = freq;
LTDMC.dmc_set_pwm_onoff_duty(m_cardId, 0, 0.8, 0.05);//设置PWM开关状态对应的占空比
LTDMC.dmc_set_pwm_enable(m_cardId, GetEnable());
LTDMC.dmc_set_pwm_output(m_cardId, channel, duty, freq);
//设置插补轴脉冲
LTDMC.dmc_set_equiv(m_cardId, 0, 100);
LTDMC.dmc_set_equiv(m_cardId, 1, 100);
//设置插补速度曲线参数,Crd坐标系
LTDMC.dmc_set_vector_profile_unit(m_cardId, 0, 0, 100, 0.1, 0, 0);
//设置跟随速度参数
LTDMC.dmc_conti_set_pwm_follow_speed(m_cardId, 0, channel, GetPwmMode(), 100, 0, 0);
//PWM跟随模式模式为0、1、2时，MaxValue/MaxVel/OutValue此三个参数无效
ushort onOff = 1; //PWM输出状态为：打开
ushort deMode = 0; //滞后模式为：滞后时间
double deTime = 2; //滞后时间：2S
double revTime = 0; //保留参数：固定为0
//设置轨迹段起点滞后时间
LTDMC.dmc_conti_delay_pwm_to_start(m_cardId, 0, channel, onOff, deTime, deMode, revTime);
//打开连续插补缓冲区
LTDMC.dmc_conti_open_list(m_cardId, 0, 2, new ushort[] { 0, 1 });
//第一段轨迹直线插补，绝对模式
ushort[] axiss = { 0, 1 };
//目标位置
double[] tPos = { 200, 0 };
LTDMC.dmc_conti_line_unit(m_cardId, 0, 2, axiss, tPos, 0, 1);
//相当于轨迹终点，提前1S关闭使能
double ahValue = 1; //提前1秒
ushort ahMode = 0; //输出提前模式：提前时间
LTDMC.dmc_conti_ahead_pwm_to_stop(m_cardId, 0, channel, 0, ahValue, ahMode, 0);
//禁止PWM输出
//LTDMC.dmc_set_pwm_enable(m_cardId, 0);
//设置第二段轨迹直线插补，绝对模式
//目标位置
double[] ePos = { 0, 0 };
LTDMC.dmc_conti_line_unit(m_cardId, 0, 2, axiss, ePos, 0, 1);
//开始连续插补
LTDMC.dmc_conti_start_list(m_cardId, 0);
//关闭连续插补缓冲区
LTDMC.dmc_conti_close_list(m_cardId, 0);
}
