private short MoveHSpeedSearch(int nAxisNo, bool bPositive)
{
nAxisNo += 1;
short sRtn = 0;
sRtn |= gts.mc.GT_Stop((short)m_nCardIndex, 1 << (nAxisNo - 1), 0);
sRtn |= gts.mc.GT_PrfTrap((short)m_nCardIndex, (short)nAxisNo);
gts.mc.TTrapPrm trap = new gts.mc.TTrapPrm();
trap.acc = m_HomePrm[nAxisNo - 1].AccH; //3;
trap.dec = m_HomePrm[nAxisNo - 1].DccH; //3;
trap.velStart = 0;
trap.smoothTime = 20; //20;
gts.mc.GT_SetTrapPrm((short)m_nCardIndex, (short)nAxisNo, ref trap);
sRtn |= gts.mc.GT_SetVel((short)m_nCardIndex, (short)nAxisNo, m_HomePrm[nAxisNo - 1].VelH);
int extPos = 0;
gts.mc.GT_GetPos((short)m_nCardIndex, (short)nAxisNo, out extPos);
if (bPositive)//m_HomePrm[nAxisNo - 1]._bHomeDir
{
sRtn |= gts.mc.GT_SetPos((short)m_nCardIndex, (short)nAxisNo,
extPos + (int)m_HomePrm[nAxisNo - 1]._iSeachDistancePluse);
}
else
{
sRtn |= gts.mc.GT_SetPos((short)m_nCardIndex, (short)nAxisNo,
extPos - (int)m_HomePrm[nAxisNo - 1]._iSeachDistancePluse);
}
sRtn |= gts.mc.GT_Update((short)m_nCardIndex, 1 << (nAxisNo - 1));
return(sRtn);
}
public override bool AbsMove(int nAxisNo, double nPos, double nSpeed)
{
short rtn = 0;
nAxisNo += 1;
uint axisMark = (uint)1 << (nAxisNo - 1);
rtn |= gts.mc.GT_SetAxisBand((short)m_nCardIndex, (short)nAxisNo, 20, 10);// 5);
gts.mc.TTrapPrm trap = new gts.mc.TTrapPrm();
double speed = nSpeed;
double Acc = 0;
double Dcc = 0;
TranMMToPluse(nAxisNo, ref speed, ref Acc, ref Dcc);
trap.acc = Acc; //3;
trap.dec = Dcc; //3;
trap.velStart = 0;
trap.smoothTime = (short)m_nSmoothTimes[nAxisNo - 1]; //20;
rtn |= gts.mc.GT_ClrSts((short)m_nCardIndex, (short)nAxisNo, 8);
rtn |= gts.mc.GT_PrfTrap((short)m_nCardIndex, (short)nAxisNo);
rtn |= gts.mc.GT_SetTrapPrm((short)m_nCardIndex, (short)nAxisNo, ref trap);
rtn |= gts.mc.GT_SetVel((short)m_nCardIndex, (short)nAxisNo, (double)nSpeed);
rtn |= gts.mc.GT_SetPos((short)m_nCardIndex, (short)nAxisNo, (int)nPos);
rtn |= gts.mc.GT_Update((short)m_nCardIndex, 1 << (nAxisNo - 1));
if (rtn == 0)
{
return(true);
}
else
{
return(false);
}
}
public override bool RelativeMove(int nAxisNo, double nPos, double nSpeed)
{
nAxisNo += 1;
uint axisMark = (uint)1 << (nAxisNo - 1);
short nRtn = 0;
uint clk = 0;
double dAxisCurPos = 0;
// nRtn |= gts.mc.GT_GetEncPos((short)m_nCardIndex, (short)nAxisNo, out dAxisCurPos, 1, out clk);s
gts.mc.GT_SetAxisBand((short)m_nCardIndex, (short)nAxisNo, 20, 10);// 5);
double speed = nSpeed;
double Acc = m_MovePrm[nAxisNo - 1].AccH;
double Dcc = m_MovePrm[nAxisNo - 1].AccL;
switch (nSpeed)
{
case 0:
Acc = m_MovePrm[nAxisNo - 1].AccH;
Dcc = m_MovePrm[nAxisNo - 1].DccH;
speed = m_MovePrm[nAxisNo - 1].VelH;
break;
case 1:
Acc = m_MovePrm[nAxisNo - 1].AccM;
Dcc = m_MovePrm[nAxisNo - 1].DccM;
speed = m_MovePrm[nAxisNo - 1].VelM;
break;
case 2:
Acc = m_MovePrm[nAxisNo - 1].AccL;
Dcc = m_MovePrm[nAxisNo - 1].DccL;
speed = m_MovePrm[nAxisNo - 1].VelL;
break;
break;
}
gts.mc.TTrapPrm trap = new gts.mc.TTrapPrm();
trap.acc = Acc; //3;
trap.dec = Dcc; //3;
trap.velStart = 0;
trap.smoothTime = (short)m_nSmoothTimes[nAxisNo - 1]; //20;
int extPos = 0;
if (0 == gts.mc.GT_ClrSts((short)m_nCardIndex, (short)nAxisNo, 8) &&
0 == gts.mc.GT_PrfTrap((short)m_nCardIndex, (short)nAxisNo) &&
0 == gts.mc.GT_SetTrapPrm((short)m_nCardIndex, (short)nAxisNo, ref trap) &&
0 == gts.mc.GT_SetVel((short)m_nCardIndex, (short)nAxisNo, (double)speed) &&
0 == gts.mc.GT_GetPos((short)m_nCardIndex, (short)nAxisNo, out extPos) &&
0 == gts.mc.GT_SetPos((short)m_nCardIndex, (short)nAxisNo, extPos + (int)nPos) &&
0 == gts.mc.GT_Update((short)m_nCardIndex, 1 << (nAxisNo - 1))
)
{
return(true);
}
return(false);
}
public override bool AbsMove(int nAxisNo, double nPos, double nSpeed)
{
short rtn = 0;
nAxisNo += 1;
uint axisMark = (uint)1 << (nAxisNo - 1);
rtn |= gts.mc.GT_SetAxisBand((short)m_nCardIndex, (short)nAxisNo, 20, 10);// 5);
gts.mc.TTrapPrm trap = new gts.mc.TTrapPrm();
double speed = nSpeed;
double Acc = m_MovePrm[nAxisNo - 1].AccH;
double Dcc = m_MovePrm[nAxisNo - 1].AccL;
switch (nSpeed)
{
case 0:
Acc = m_MovePrm[nAxisNo - 1].AccH;
Dcc = m_MovePrm[nAxisNo - 1].DccH;
speed = m_MovePrm[nAxisNo - 1].VelH;
break;
case 1:
Acc = m_MovePrm[nAxisNo - 1].AccM;
Dcc = m_MovePrm[nAxisNo - 1].DccM;
speed = m_MovePrm[nAxisNo - 1].VelM;
break;
case 2:
Acc = m_MovePrm[nAxisNo - 1].AccL;
Dcc = m_MovePrm[nAxisNo - 1].DccL;
speed = m_MovePrm[nAxisNo - 1].VelL;
break;
}
trap.acc = Acc; //3;
trap.dec = Dcc; //3;
trap.velStart = 0;
trap.smoothTime = (short)m_nSmoothTimes[nAxisNo - 1]; //20;
rtn |= gts.mc.GT_ClrSts((short)m_nCardIndex, (short)nAxisNo, 8);
rtn |= gts.mc.GT_PrfTrap((short)m_nCardIndex, (short)nAxisNo);
rtn |= gts.mc.GT_SetTrapPrm((short)m_nCardIndex, (short)nAxisNo, ref trap);
rtn |= gts.mc.GT_SetVel((short)m_nCardIndex, (short)nAxisNo, (double)nSpeed);
rtn |= gts.mc.GT_SetPos((short)m_nCardIndex, (short)nAxisNo, (int)nPos);
rtn |= gts.mc.GT_Update((short)m_nCardIndex, 1 << (nAxisNo - 1));
if (rtn == 0)
{
return(true);
}
else
{
return(false);
}
}
public override bool RelativeMove(int nAxisNo, double nPos, double nSpeed)
{
nAxisNo += 1;
uint axisMark = (uint)1 << (nAxisNo - 1);
short nRtn = 0;
uint clk = 0;
double dAxisCurPos = 0;
// nRtn |= gts.mc.GT_GetEncPos((short)m_nCardIndex, (short)nAxisNo, out dAxisCurPos, 1, out clk);s
gts.mc.GT_SetAxisBand((short)m_nCardIndex, (short)nAxisNo, 20, 10);// 5);
double speed = nSpeed;
double Acc = 0;
double Dcc = 0;
TranMMToPluse(nAxisNo, ref speed, ref Acc, ref Dcc);
gts.mc.TTrapPrm trap = new gts.mc.TTrapPrm();
speed = (1 * speed / m_MovePrm[nAxisNo - 1].AxisLeadRange) * m_MovePrm[nAxisNo - 1].PlusePerRote / 1000;
Acc = (1 * Acc / m_MovePrm[nAxisNo - 1].AxisLeadRange) * m_MovePrm[nAxisNo - 1].PlusePerRote / 1000000;
Dcc = (1 * Dcc / m_MovePrm[nAxisNo - 1].AxisLeadRange) * m_MovePrm[nAxisNo - 1].PlusePerRote / 1000000;
trap.acc = Acc; //3;
trap.dec = Dcc; //3;
trap.velStart = 0;
trap.smoothTime = (short)m_nSmoothTimes[nAxisNo - 1]; //20;
int extPos = 0;
if (0 == gts.mc.GT_ClrSts((short)m_nCardIndex, (short)nAxisNo, 8) &&
0 == gts.mc.GT_PrfTrap((short)m_nCardIndex, (short)nAxisNo) &&
0 == gts.mc.GT_SetTrapPrm((short)m_nCardIndex, (short)nAxisNo, ref trap) &&
0 == gts.mc.GT_SetVel((short)m_nCardIndex, (short)nAxisNo, (double)speed) &&
0 == gts.mc.GT_GetPos((short)m_nCardIndex, (short)nAxisNo, out extPos) &&
0 == gts.mc.GT_SetPos((short)m_nCardIndex, (short)nAxisNo, extPos + (int)nPos) &&
0 == gts.mc.GT_Update((short)m_nCardIndex, 1 << (nAxisNo - 1))
)
{
return(true);
}
return(false);
}
