public int RelLine_P(int[] axisList, double[] posList, JFMotionParam mp)
{
_CheckAxisEnable(axisList, "RelLine_P");
if (posList == null || posList.Count() != axisList.Count())
{
throw new ArgumentException("RelLine_P(int[] axisList, double[] posList) failed By: posList.Count() != axisList.Count()");
}
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.Line(axisList, axisList.Count(), posList, 1.0, HTM.MotionMode.RS, ref _mp);
if (opt != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
/// <summary>
/// 以指定速度作速度运动
/// </summary>
/// <param name="axis"></param>
/// <param name="speed"></param>
/// <returns></returns>
public int VelMove(int axis, double velocity, bool isPositive)
{
_CheckAxisEnable(axis, "VelMove");
if (velocity <= 0)
{
return((int)ErrorDef.ParamError);
}
lock (ml)
{
HTM.MOTION_PARA mp = new HTM.MOTION_PARA()
{
vStart = _motionParams[axis].vs,
vMax = velocity,
vEnd = _motionParams[axis].ve,
acc = _motionParams[axis].acc,
dec = _motionParams[axis].dec,
sFactor = _motionParams[axis].curve,
timeout = double.MaxValue
};
int opt = HTM.Speed(axis, isPositive?1.0:-1.0, ref mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
/// <summary>运动控制卡初始化 </summary>
internal void Open()
{
AxisCount = HTM.GetAxisNum();
if (AxisCount > 0)
{
axisHomeDones = new bool[AxisCount];
detectHomeDones = new Thread[AxisCount];
_motionParams = new JFMotionParam[AxisCount];
for (int i = 0; i < AxisCount; i++)
{
HTM.AXIS_INFO ai;
HTM.GetAxisInfo(i, out ai);
HTM.MOTION_PARA mp = HTM.GetMotionPara(i);//HTM.GetMovePara(i, out mp);
//if (ret != 0)
//{
// AxisCount = 0;
// _motionParams = null;
// throw new Exception(string.Format("MC_Htm.Init Failed :HTM.GetMovePara(axis = {0}) return errorCode = {1}", i, ret));
//}
_motionParams[i] = new JFMotionParam();
_motionParams[i].vs = mp.vStart;
_motionParams[i].vm = mp.vMax;
_motionParams[i].ve = mp.vEnd;
_motionParams[i].acc = mp.acc;
_motionParams[i].dec = mp.dec;
_motionParams[i].curve = mp.sFactor;
_motionParams[i].jerk = 0;
axisHomeDones[i] = false;
detectHomeDones[i] = new Thread(new ParameterizedThreadStart(FuncDetectHomeDone));
}
}
IsOpen = true;
}
/// <summary>
/// 以指定运动参数做速度运动
/// </summary>
/// <param name="axis"></param>
/// <param name="mp"></param>
/// <returns></returns>
public int VelMove_P(int axis, JFMotionParam mp, bool isPositive)
{
_CheckAxisEnable(axis, "VelMove_P");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.Speed(axis, isPositive?1.0:-1.0, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
public int RelMove(int axis, double distance)
{
_CheckAxisEnable(axis, "RelMove");
lock (ml)
{
HTM.MOTION_PARA mp = new HTM.MOTION_PARA()
{
vStart = _motionParams[axis].vs,
vMax = _motionParams[axis].vm,
vEnd = _motionParams[axis].ve,
acc = _motionParams[axis].acc,
dec = _motionParams[axis].dec,
sFactor = _motionParams[axis].curve,
timeout = double.MaxValue
};
int opt = HTM.Move(axis, distance, 1.0, HTM.MotionMode.RS, ref mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
public int AbsArc2CE_P(int axis1, int axis2, double center1, double center2, double pos1, double pos2, bool isPositive, JFMotionParam mp)
{
_CheckAxisEnable(axis1, "AbsArc2CE_P");
_CheckAxisEnable(axis2, "AbsArc2CE_P");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.ArcCe(axis1, axis2, center1, center2, pos1, pos2, isPositive ? 1 : 0, 1.0, HTM.MotionMode.AS, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
public int BuffRelArc2CA(int axis1, int axis2, double center1, double center2, double angle, JFMotionParam mp)
{
_CheckAxisEnable(axis1, "BuffRelArc2CA");
_CheckAxisEnable(axis2, "BuffRelArc2CA");
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.ArcCa(axis1, axis2, center1, center2, angle, 1.0, HTM.MotionMode.RS | HTM.MotionMode.BUF, ref _mp);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
