public bool SetInscriptionSegmentPath(List <System.Windows.Media.Media3D.Point3D> pts, double dwellms)
{
try
{
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_2, Axis.ACSC_NONE };
double[] points = { 0, 0, 0 };
// Create multi-point motion of axis 0 and 1 with default
// velocity without
// dwell in the points
//wait for GO command
_ACS.MultiPointM(MotionFlags.ACSC_AMF_WAIT, axes, dwellms);
// Add some points
for (int index = 0; index < pts.Count; index++)
{
points[0] = pts[index].X;
points[1] = pts[index].Y;
points[2] = pts[index].Z;
_ACS.AddPointM(axes, points);
}
return(true);
}
catch (Exception ex)
{
Console.WriteLine("MotorManager exception: " + ex.Message);
}
return(false);
}
public void MultPoint(int[] axis, List <double> axis1, List <double> axis2)
{
ACS.SPiiPlusNET.Axis[] axisGroup = new ACS.SPiiPlusNET.Axis[axis.Length + 1];
for (int i = 0; i < axis.Length; i++)
{
axisGroup[i] = (ACS.SPiiPlusNET.Axis)axis[i];
if (!IsMotorEnable(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴未上使能，请先上使能", ((AxisIndex)axis[i]).ToString()));
}
if (IsMotorMoving(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴还在运动中，请稍后再试", ((AxisIndex)axis[i]).ToString()));
}
if (!IsMotorHome(axis[i]))
{
throw new AcsMotionException("<MoveArc2>", string.Format("{0}轴还没回过原点，请回原点后再试", ((AxisIndex)axis[i]).ToString()));
}
}
axisGroup[axis.Length] = ACS.SPiiPlusNET.Axis.ACSC_NONE;
_acs_api.EnableM(axisGroup);
_acs_api.MultiPointM(MotionFlags.ACSC_AMF_WAIT, axisGroup, 0);
double[] poit = { 0, 0 };
for (int i = 0; i < axis1.Count; i++)
{
poit[0] = axis1[i];
poit[1] = axis2[i];
try
{
// _acs_api.ExtAddPointM(axisGroup, poit, 0.1);
_acs_api.AddPointM(axisGroup, poit);
}
catch (Exception e)
{
MessageBox.Show($"第{i}点：" + e.Message);
_acs_api.DisableM(axisGroup);
goto Flag;
}
}
_acs_api.EndSequenceM(axisGroup);
_acs_api.GoM(axisGroup);
Flag :;
}