public override bool ReadIoOutBit(int nIndex)
{
//输入口
short n = LTSMC.smc_read_outbit(_ConnecNo, (ushort)nIndex);
return(n == 0);
}
public override bool RelativeMove(int nAxisNo, double nPos, double nSpeed)
{
//LTSMC.smc_set_pulse_outmode(_ConnecNo, (ushort)nAxisNo, 0);//设置脉冲模式
//LTSMC.smc_set_s_profile(_ConnecNo, (ushort)nAxisNo, 0, 0.1);//设置S段时间（0-0.05s)
//LTSMC.smc_set_profile_unit(_ConnecNo, (ushort)nAxisNo, 5, nSpeed, m_MovePrm[nAxisNo].AccM, m_MovePrm[nAxisNo].DccM, 1000);//设置起始速度、运行速度、停止速度、加速时间、减速时间
//LTSMC.smc_set_dec_stop_time(_ConnecNo, (ushort)nAxisNo, m_MovePrm[nAxisNo].DccL);//设置减速停止时间
short ret = 0;
switch (nSpeed)
{
case 0:
ret = LTSMC.smc_set_profile_unit(_ConnecNo, (ushort)nAxisNo, 500, m_MovePrm[nAxisNo].VelH, m_MovePrm[nAxisNo].AccH, m_MovePrm[nAxisNo].DccH, 10000); //设置起始速度、运行速度、停止速度、加速时间、减速时间
break;
case 1:
ret = LTSMC.smc_set_profile_unit(_ConnecNo, (ushort)nAxisNo, 500, m_MovePrm[nAxisNo].VelM, m_MovePrm[nAxisNo].AccM, m_MovePrm[nAxisNo].DccM, 10000); //设置起始速度、运行速度、停止速度、加速时间、减速时间
break;
case 2:
ret = LTSMC.smc_set_profile_unit(_ConnecNo, (ushort)nAxisNo, 500, m_MovePrm[nAxisNo].VelL, m_MovePrm[nAxisNo].AccL, m_MovePrm[nAxisNo].DccL, 10000); //设置起始速度、运行速度、停止速度、加速时间、减速时间
break;
}
if (ret != 0)
{
return(false);
}
ret = LTSMC.smc_set_dec_stop_time(_ConnecNo, (ushort)nAxisNo, 0.1);//设置减速停止时间
if (ret != 0)
{
return(false);
}
LTSMC.smc_pmove_unit(_ConnecNo, (ushort)nAxisNo, nPos, 0);//连续运动
return(true);
}
/// <summary>
/// 轴当前位置计数器值
/// </summary>
/// <param name="mp"></param>
/// <returns></returns>
public static double GCode_axisLocation(MotionParameters mp)
{
double location = 0;
LTSMC.smc_get_position_unit(_ConnectNo, mp.axis, ref location);
return(location);
}
private void connect_Click(object sender, EventArgs e)
{
ushort CardNo = 0;
string connect_IP = textBox_IP.Text;
Console.WriteLine(connect_IP);
short res = LTSMC.smc_board_init(CardNo, 2, connect_IP, 0);
if (res != 0)
{
MessageBox.Show(string.Format("连接控制器失败，错误码：【0】", res), "错误");
}
else
{
timer1.Start();
}
LTSMC.smc_set_pulse_outmode(_ConnectNo, 0, 0); //设置脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 1, 0); //设置脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 2, 0); //设置脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 3, 0); //设置脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 4, 0); //设置脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 5, 0); //设置脉冲模式
Console.WriteLine("abc");
}
public override bool AddBufIo(object objGroup, string strIoName, bool bVal, int nAxisIndexInGroup = 0)
{
var nIoIndex = IOMgr.GetInstace().GetOutputDic()[strIoName]._IoIndex;
LTSMC.smc_conti_write_outbit(_ConnecNo, 0, (ushort)nIoIndex, (ushort)(bVal ? 1 : 0), 0);
return(true);
}
private void timer1_Tick_1(object sender, EventArgs e)
{
StringBuilder sb = new StringBuilder();
//
double pos = 0.0;
LTSMC.smc_get_position_unit(_ConnectNo, 0, ref pos);
sb.AppendFormat("X={0},", pos);
LTSMC.smc_get_position_unit(_ConnectNo, 1, ref pos);
sb.AppendFormat("Y={0},", pos);
LTSMC.smc_get_position_unit(_ConnectNo, 2, ref pos);
sb.AppendFormat("Z={0},", pos);
LTSMC.smc_get_position_unit(_ConnectNo, 3, ref pos);
sb.AppendFormat("U={0},", pos);
LTSMC.smc_get_position_unit(_ConnectNo, 4, ref pos);
sb.AppendFormat("V={0},", pos);
LTSMC.smc_get_position_unit(_ConnectNo, 5, ref pos);
sb.AppendFormat("W={0},", pos);
double speed = 0;
LTSMC.smc_read_current_speed_unit(_ConnectNo, 0, ref speed);
sb.AppendFormat("Speed={0},", speed);
//
textBox1.Text = sb.ToString();
Console.WriteLine("789");
}
/// <summary>
/// 轴回零运动
/// </summary>
public static void GCode_axisReturnToZero(MotionParameters mp)
{
LTSMC.smc_set_home_pin_logic(_ConnectNo, 0, 0, 0); //设置轴原点低电平有效
LTSMC.smc_set_homemode(_ConnectNo, mp.axis, 0, 1, 1, 0); //设置轴回零模式
LTSMC.smc_set_home_profile_unit(_ConnectNo, mp.axis, 5000, mp.returnToZeroSpeed, mp.accTime, mp.decTime); //设置X轴起始速度、起始速度、运行速度、加速时间、减速时间
LTSMC.smc_home_move(_ConnectNo, mp.axis); //启动回零
}
public override int GetAxisCmdPos(int nAxisNo)
{
double pos = 0;
var ret = LTSMC.smc_get_target_position_unit(_ConnecNo, (ushort)nAxisNo, ref pos);
return((int)pos);
}
public override long GetMotionIoState(int nAxisNo)
{
long lStandardIo = 0;
uint status = LTSMC.smc_axis_io_status(_ConnecNo, (ushort)nAxisNo);
if ((status & 1) == 1)
{
lStandardIo |= (0x01 << 0);
}
if ((status & (int)Math.Pow(2, 1)) == (int)Math.Pow(2, 1))
{
lStandardIo |= (0x01 << 1);
}
if ((status & (int)Math.Pow(2, 2)) == (int)Math.Pow(2, 2))
{
lStandardIo |= (0x01 << 2);
}
if ((status & (int)Math.Pow(2, 3)) == (int)Math.Pow(2, 3))
{
lStandardIo |= (0x01 << 4);
}
if (GetServoState(nAxisNo))
{
lStandardIo |= (0x01 << 7);
}
return(lStandardIo);
}
/// <summary>
/// 读取GCode运行状态
/// </summary>
/// <returns></returns>
public static ushort GCode_runningState()
{
ushort state = 0;
LTSMC.smc_gcode_state(_ConnectNo, ref state);
return(state);
}
private void disconnect_Click(object sender, EventArgs e)
{
ushort CardNo = 0;
short res = LTSMC.smc_board_close(CardNo);
timer1.Stop();
textBox1.Text = ("");
}
/// <summary>
/// 读取回零状态
/// </summary>
/// <returns></returns>
public static ushort GCode_returnToZeroState(MotionParameters mp)
{
ushort returnToZeroState = 0;
LTSMC.smc_get_home_result(_ConnectNo, mp.axis, ref returnToZeroState);
return(returnToZeroState);
}
private void SB_Stop_Click(object sender, EventArgs e)
{
ushort CardNo = 0; //卡号
ushort axis = 0; //运动轴号u
ushort mode = 0; //停止模式，0；减速停止，1；紧急停止
LTSMC.smc_stop(CardNo, axis, mode);
}
public override bool AddBufMove(object objGroup, BufMotionType type, int mode, int nAxisNum, double velHigh, double velLow, double[] Point1, double[] Point2)
{
if (type == BufMotionType.buf_Arc2dAbsCCW || type == BufMotionType.buf_Arc2dAbsCW)
{
var ret = LTSMC.smc_conti_arc_move_center_unit(_ConnecNo, 0, 2, axis, new double[] { Point2[0], Point2[1] }, Point1, 0, 0, 1, 1);
}
return(true);
}
private void SB_Clear_Click(object sender, EventArgs e)
{
LTSMC.smc_set_position_unit(_ConnectNo, 0, 0); //位置清零
LTSMC.smc_set_position_unit(_ConnectNo, 1, 0); //位置清零
LTSMC.smc_set_position_unit(_ConnectNo, 2, 0); //位置清零
LTSMC.smc_set_position_unit(_ConnectNo, 3, 0); //位置清零
LTSMC.smc_set_position_unit(_ConnectNo, 4, 0); //位置清零
LTSMC.smc_set_position_unit(_ConnectNo, 5, 0); //位置清零
}
public override bool Home(int nAxisNo, int nParam)
{
//LTSMC.smc_set_pulse_outmode(_ConnecNo, (ushort)nAxisNo, 0);//设置脉冲模式
//LTSMC.smc_set_home_pin_logic(_ConnecNo, (ushort)nAxisNo, 0, 0);//设置原点低电平有效
LTSMC.smc_set_home_profile_unit(_ConnecNo, (ushort)nAxisNo, m_HomePrm[nAxisNo].VelL, m_HomePrm[nAxisNo].VelH, m_MovePrm[nAxisNo].AccL, m_MovePrm[nAxisNo].DccL); //设置起始速度、运行速度、停止速度、加速时间、减速时间
LTSMC.smc_set_homemode(_ConnecNo, (ushort)nAxisNo, m_HomePrm[nAxisNo]._bHomeDir ? (ushort)1 : (ushort)0, 1, (ushort)m_HomePrm[nAxisNo]._nHomeMode, 0); //设置回零模式
LTSMC.smc_set_home_position_unit(_ConnecNo, (ushort)nAxisNo, 0, 0); //设置偏移模式
LTSMC.smc_home_move(_ConnecNo, (ushort)nAxisNo); //启动回零
return(true);
}
/// <summary>
/// 轴初始化
/// </summary>
/// <param name=""></param>
public static void GCode_axisInitialization()
{
LTSMC.smc_set_pulse_outmode(_ConnectNo, 0, 1); //设置X脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 1, 1); //设置Y脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 2, 1); //设置Z脉冲模式
LTSMC.smc_set_pulse_outmode(_ConnectNo, 3, 1); //设置U脉冲模式
LTSMC.smc_set_equiv(_ConnectNo, 0, 62.5); //设置X脉冲当量
LTSMC.smc_set_equiv(_ConnectNo, 1, 32.89); //设置Y脉冲当量
LTSMC.smc_set_equiv(_ConnectNo, 2, 2000); //设置Z脉冲当量
LTSMC.smc_set_equiv(_ConnectNo, 3, 2000); //设置U脉冲当量
}
/// <summary>
/// 读取当前文件名
/// </summary>
/// <returns></returns>
public static string GCode_fileName()
{
//string pFileNames = @"f:GCode.txt";
byte[] pFileName = BitConverter.GetBytes(0);
short fileid = 0;
LTSMC.smc_gcode_get_current_file(_ConnectNo, pFileName, ref fileid);
string pFileNames = Encoding.Default.GetString(pFileName);
return(pFileNames);
}
/// <summary>
/// 读取GCode运行行号
/// </summary>
/// <returns></returns>
public static uint GCode_lineNumber()
{
uint line = 0;
byte[] pCurLine = BitConverter.GetBytes(0);
//LTSMC.smc_gcode_current_line(_ConnectNo, ref line, pCurLine);
LTSMC.smc_gcode_get_current_line(_ConnectNo, ref line, pCurLine);
string pCurLine1 = Encoding.Default.GetString(pCurLine);
//int length = pCurLine1.Length;
return(line);
}
public override bool AddAxisToGroup(int[] nAxisarr, ref object groupId)
{
axis[0] = (ushort)nAxisarr[0];
axis[1] = (ushort)nAxisarr[1];
//LTSMC.smc_conti_set_lookahead_mode(_ConnecNo, 0, 2, 2, 0.1, 1000);
LTSMC.smc_set_vector_profile_unit(_ConnecNo, 0, 0,
m_MovePrm[nAxisarr[0]].VelM,
m_MovePrm[nAxisarr[0]].AccM,
m_MovePrm[nAxisarr[0]].DccM,
0
);
LTSMC.smc_conti_set_lookahead_mode(_ConnecNo, 0, 2, 20, 0.1, m_MovePrm[nAxisarr[0]].AccM);
var ret = LTSMC.smc_conti_open_list(_ConnecNo, 0, 2, axis);
return(true);
}
private void SB_Start_Click(object sender, EventArgs e)
{
ushort CardNo = 0; //卡号
ushort axis = 0; //运动轴号u
double start_speed = 0; //启动速度
double speed = 100; //最大运行速度
double stop_speed = 0; //停止速度
double tacc = 0.1; //加速时间
double tdec = 0.1; //减速时间
double s_pare = 0.05; //s形平滑系数
double dist = 10000; //运动距离
LTSMC.smc_set_profile_unit(CardNo, axis, start_speed, speed, tacc, tdec, stop_speed); //设置速度参数
LTSMC.smc_set_s_profile(CardNo, axis, 0, s_pare); //设置S平滑系数
LTSMC.smc_pmove_unit(CardNo, axis, dist, 0); //启动定长运动
Console.WriteLine("123"); //
}
/// <summary>
/// 读取轴当前位置
/// </summary>
/// <returns></returns>
public static gAxis GCode_axisCurrentLocation()
{
double xAxis = 0;
double yAxis = 0;
double zAxis = 0;
double uAxis = 0;
LTSMC.smc_get_position_unit(_ConnectNo, 0, ref xAxis);
LTSMC.smc_get_position_unit(_ConnectNo, 1, ref yAxis);
LTSMC.smc_get_position_unit(_ConnectNo, 2, ref zAxis);
LTSMC.smc_get_position_unit(_ConnectNo, 3, ref uAxis);
gAxis axis = new gAxis()
{
uAxis = (int)uAxis, xAxis = (int)xAxis, yAxis = (int)yAxis, zAxis = (int)zAxis
};
return(axis);
}
/// <summary>
/// 链接
/// </summary>
/// <returns></returns>
public static bool GCode_link()
{
try
{
short res = LTSMC.smc_board_init(_ConnectNo, 2, "192.168.5.11", 115200);//连接控制器
if (res != 0)
{
return(false);
}
else
{
return(true);
}
}
catch
{
return(false);
}
}
public override bool Open()
{
_ConnecNo = (ushort)m_nCardIndex;
short res = LTSMC.smc_board_init(_ConnecNo, 2, $"192.168.5.{m_nCardIndex}", 115200);//连接控制器
if (res != 0)
{
return(false);
}
string str = System.AppDomain.CurrentDomain.BaseDirectory;
string strConfigPath = "Motion_" + m_nCardIndex + ".cfg";
strConfigPath = str + strConfigPath;
string ext = Path.GetExtension(strConfigPath);
ushort type = 0;
if (string.Compare(ext, ".bas", true) == 0)
{
type = 0;
}
else if (string.Compare(ext, ".g", true) == 0 || string.Compare(ext, ".nc", true) == 0)
{
type = 1;
}
else if (string.Compare(ext, ".cfg", true) == 0)
{
type = 2;
}
FileStream fs = File.Open(strConfigPath, FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
StreamReader sr = new StreamReader(fs);
str = sr.ReadToEnd();
sr.Close();
fs.Close();
byte[] buffer = Encoding.UTF8.GetBytes(str);
byte[] name = Encoding.UTF8.GetBytes(Path.GetFileName(strConfigPath));
LTSMC.smc_download_memfile(_ConnecNo, buffer, (uint)buffer.Length, name, type);
m_bOpen = true;
return(true);
}
public override bool JogMove(int nAxisNo, bool bPositive, int bStart, double nSpeed)
{
//LTSMC.smc_set_pulse_outmode(_ConnecNo, (ushort)nAxisNo, 0);//设置脉冲模式
//LTSMC.smc_set_s_profile(_ConnecNo, (ushort)nAxisNo, 0, 0.01);//设置S段时间（0-0.05s)
short ret = 0;
switch (nSpeed)
{
case 0:
ret = LTSMC.smc_set_profile_unit(_ConnecNo, (ushort)nAxisNo, 500, m_MovePrm[nAxisNo].VelH, m_MovePrm[nAxisNo].AccH, m_MovePrm[nAxisNo].DccH, 10000); //设置起始速度、运行速度、停止速度、加速时间、减速时间
break;
case 1:
ret = LTSMC.smc_set_profile_unit(_ConnecNo, (ushort)nAxisNo, 500, m_MovePrm[nAxisNo].VelM, m_MovePrm[nAxisNo].AccM, m_MovePrm[nAxisNo].DccM, 10000); //设置起始速度、运行速度、停止速度、加速时间、减速时间
break;
case 2:
ret = LTSMC.smc_set_profile_unit(_ConnecNo, (ushort)nAxisNo, 500, m_MovePrm[nAxisNo].VelL, m_MovePrm[nAxisNo].AccL, m_MovePrm[nAxisNo].DccL, 10000); //设置起始速度、运行速度、停止速度、加速时间、减速时间
break;
}
LTSMC.smc_set_dec_stop_time(_ConnecNo, (ushort)nAxisNo, m_MovePrm[nAxisNo].DccL); //设置减速停止时间
LTSMC.smc_vmove(_ConnecNo, (ushort)nAxisNo, (ushort)(bPositive ? 1 : 0)); //连续运动
return(true);
}
public override bool WriteIoBit(int nIndex, bool bBit)
{
LTSMC.smc_write_outbit(_ConnecNo, (ushort)nIndex, bBit ? (ushort)0 : (ushort)1);
return(true);
}
public override bool ReadIOIn(ref int nData)
{
nData = (int)LTSMC.smc_read_inport(_ConnecNo, 0);
return(true);
}
/// <summary>
/// 文件下载
/// </summary>
public static void GCode_fileUpload(FileParameters fp)
{
LTSMC.smc_download_file(_ConnectNo, fp.fileName, fp.fileNameControl, fp.fileType);
}
/// <summary>
/// GCode 停止
/// </summary>
public static void GCode_stop()
{
LTSMC.smc_gcode_stop(_ConnectNo);
}
/// <summary>
/// GCode 暂停
/// </summary>
public static void GCode_pause()
{
LTSMC.smc_gcode_pause(_ConnectNo);
}
