/// <summary>
/// Jog
/// </summary>
/// <param name="Axis"></param>
/// <param name="dir"></param>
/// <param name="JogVel"></param>
/// <param name="JogAcc"></param>
/// <param name="JogDcc"></param>
public void Jog(short Axis, short dir, decimal JogVel, decimal JogAcc, decimal JogDcc)
{
//定义Jog运动参数变量
MC.TJogPrm prfJog = new MC.TJogPrm();
//将轴设置为Jog模式
Gts_Return = MC.GT_PrfJog(Axis);
LogErr?.Invoke("Motion--将轴设置为Jog模式", Gts_Return);
//读取轴jog运动参数
Gts_Return = MC.GT_GetJogPrm(Axis, out prfJog);
LogErr?.Invoke("Motion--读取轴jog运动参数", Gts_Return);
//设置要修改的参数
prfJog.acc = Convert.ToDouble(JogAcc / Program.SystemContainer.SysPara.Gts_Acc_reference); //加速度
prfJog.dec = Convert.ToDouble(JogDcc / Program.SystemContainer.SysPara.Gts_Acc_reference); //减速度
//设置jog运动参数
Gts_Return = MC.GT_SetJogPrm(Axis, ref prfJog);
LogErr?.Invoke("Motion--设置jog运动参数", Gts_Return);
//设置轴Jog运行速度
if (dir == 0) //Jog+
{
Gts_Return = MC.GT_SetVel(Axis, Convert.ToDouble(JogVel / Program.SystemContainer.SysPara.Gts_Vel_reference));
LogErr?.Invoke("Motion--设置轴Jog运行速度", Gts_Return);
}
else // Jog-
{
Gts_Return = MC.GT_SetVel(Axis, Convert.ToDouble(-JogVel / Program.SystemContainer.SysPara.Gts_Vel_reference));
LogErr?.Invoke("Motion--设置轴Jog运行速度", Gts_Return);
}
//启动轴运动
Gts_Return = MC.GT_Update(1 << (Axis - 1));
LogErr?.Invoke("Motion--启动轴运动", Gts_Return);
}
