private void PointTableMove()
{
var ptStatus = new PTSTS();
var Line = new PTLINE();
var dwell = new PTDWL();
dwell.DwTime = 200;
int ptbId = 0, dimension = 2;
var axisIdArray = new[] { 0, 1 };
//double vStart = 5000;
//double vMax = 40000;
//double vEnd = 5000;
var ret = APS168.APS_pt_disable(_card0.CardId, ptbId);
ret = APS168.APS_pt_enable(_card0.CardId, ptbId, dimension, axisIdArray);
ret = APS168.APS_pt_set_absolute(_card0.CardId, ptbId);
ret = APS168.APS_pt_set_trans_buffered(_card0.CardId, ptbId);
ret = APS168.APS_pt_set_acc(_card0.CardId, ptbId, 500000);
ret = APS168.APS_pt_set_dec(_card0.CardId, ptbId, 500000);
foreach (DataRow row in _pointTable.Rows)
{
while (true)
{
ret = APS168.APS_get_pt_status(_card0.CardId, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
if (ptStatus.PntBufFreeSpace > 10)
{
//ret = APS168.APS_pt_set_vs(_card0.CardId, ptbId, vStart);
ret = APS168.APS_pt_set_vm(_card0.CardId, ptbId, Convert.ToDouble(row[4]));
ret = APS168.APS_pt_set_ve(_card0.CardId, ptbId, Convert.ToDouble(row[5]));
Line.Dim = dimension;
Line.Pos = new[] { Convert.ToDouble(row[1]), Convert.ToDouble(row[2]), 0, 0, 0, 0 };
ret = APS168.APS_pt_line(_card0.CardId, ptbId, ref Line, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(_card0.CardId, ptbId, 8, 1);
ret = APS168.APS_pt_dwell(_card0.CardId, ptbId, ref dwell, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(_card0.CardId, ptbId, 8, 0);
ret = APS168.APS_pt_dwell(_card0.CardId, ptbId, ref dwell, ref ptStatus);
break;
}
Thread.Sleep(1);
}
}
//等待buffer跑完, motionStatus的ptbFlag=false则连续运动结束。
var ptbFlag = true;
while (ptbFlag)
{
var motionStatus = APS168.APS_motion_status(axisIdArray[0]);
ptbFlag = (motionStatus & (1 << 11)) != 0;
ret = APS168.APS_get_pt_status(_card0.CardId, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
Thread.Sleep(100);
}
}
private void buttonArc3_Click(object sender, EventArgs e)
{
var boardId = Convert.ToInt32(txtCardId.Text);
//重置触发计数
APS168.APS_reset_trigger_count(boardId, 0);
APS168.APS_reset_trigger_count(boardId, 1);
var ptbId = 0; //Point table id 0
var dimension = 3; //2D point table
var ret = 0;
var Axis_ID_Array = new[] { 0, 1, 2 };
var Status = new PTSTS();
var Line = new PTLINE();
//Check servo on or not
//for (i = 0; i < dimension; i++)
//{
// ret = APS168.APS_set_servo_on(Axis_ID_Array, 1);
//}
//Thread.Sleep(500); // Wait stable.
//Enable point table
ret = APS168.APS_pt_disable(boardId, ptbId);
/////////////////////////ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
//Configuration
ret = APS168.APS_pt_set_absolute(boardId, ptbId); //Set to absolute mode
ret = APS168.APS_pt_set_trans_buffered(boardId, ptbId); //Set to buffer mode
ret = APS168.APS_pt_set_acc(boardId, ptbId, 5000000); //Set acc
ret = APS168.APS_pt_set_dec(boardId, ptbId, 5000000); //Set dec
ret = APS168.APS_get_pt_status(boardId, ptbId, ref Status);
if ((Status.BitSts & 0x02) == 0) //Buffer is not Full
{
Line.Dim = 3;
double vepoint = 100000;
double Vquick = 1500000;
double Vslow = 300000;
{
var pwdell = new PTDWL();
pwdell.DwTime = 2000;
//Line.Pos = new double[] { -206000, -20000, 0, 0, 0, 0 };
//ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//1st line
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, Vquick);
Line.Pos = new double[] { -218000, -22000, 50, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //1段起始点
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, Vslow * 0.6);
Line.Pos = new double[] { -56000, -22000, 50, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //high
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { 114000, -22000, 50, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //low
if (checkBoxOnly1.Checked)
{
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_start(boardId, ptbId);
return;
}
//圆弧线段1
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -25000, 17000, 6250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { 35000, 17000, 6250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
////2nd line
////bypass
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Delete by Tony
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -126000, 14000, 12450, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //2段起始点
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //Set ve to 5000
Line.Pos = new double[] { 34000, 14000, 12450, 0, 0, 0 }; //触发2
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//圆弧线段2
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -125000, 18000, 18750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -65000, 18000, 18750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//3 line slow
//bypass
//slow
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -205000, -22000, 25000, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status); //第3段起始点
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -95000, -22000, 25000, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//quick
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //ret = APS168.APS_pt_set_ve(boardId, ptbId, vepointlow); //Set ve to 5000
//ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);//ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
//ret = APS168.APS_pt_set_ve(boardId, ptbId, Vslow * 2); //ret = APS168.APS_pt_set_ve(boardId, ptbId, vepointlow); //Set ve to 5000
Line.Pos = new double[] { 120000, -22000, 25000, 0, 0, 0 }; //触发3
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//圆弧线段3
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow); //ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -20000, 20500, 31250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow); //ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { 35000, 20500, 31250, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
////4 line
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //Set ve to 5000
Line.Pos = new double[] { -130000, 20000, 37600, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow); //Set vm to 10000
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint); //Set ve to 5000
Line.Pos = new double[] { 35000, 20000, 37600, 0, 0, 0 }; //触发4
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
//圆弧线段4
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -125000, 23000, 43750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
ret = APS168.APS_pt_set_vm(boardId, ptbId, Vquick);
ret = APS168.APS_pt_set_ve(boardId, ptbId, vepoint);
Line.Pos = new double[] { -90000, 23000, 43750, 0, 0, 0 };
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
}
//Push 1st point to buffer
ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);
}
ret = APS168.APS_pt_start(boardId, ptbId);
}
private void PointTableMove(double x, double y)
{
PTSTS ptStatus = new PTSTS();
PTLINE Line = new PTLINE();
PTDWL dwell = new PTDWL();
dwell.DwTime = 200;
int _bufTotalPoint, _bufFreeSpace, _bufUsageSpace, _bufRunningCnt;
Int32 ptbId = 0, dimension = 2;
int[] axisIdArray = new int[] { 0, 1 };
double vStart = 5000;
double vMax = 40000;
double vEnd = 5000;
int ret = APS168.APS_pt_disable(0, 0);
ret = APS168.APS_pt_enable(0, ptbId, dimension, axisIdArray);
ret = APS168.APS_pt_set_absolute(0, ptbId);
ret = APS168.APS_pt_set_trans_buffered(0, ptbId);
ret = APS168.APS_pt_set_acc(0, ptbId, 500000);
ret = APS168.APS_pt_set_dec(0, ptbId, 500000);
{
{
ret = APS168.APS_get_pt_status(0, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
if (ptStatus.PntBufFreeSpace > 10)
{
ret = APS168.APS_pt_set_vm(0, ptbId, 1000); //最大速度
ret = APS168.APS_pt_set_ve(0, ptbId, 1000); //结束速度
Line.Dim = dimension;
Line.Pos = new Double[] { x, y, 0, 0, 0, 0 };
ret = APS168.APS_pt_line(0, ptbId, ref Line, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(0, ptbId, 8, 1);
ret = APS168.APS_pt_dwell(0, ptbId, ref dwell, ref ptStatus);
ret = APS168.APS_pt_ext_set_do_ch(0, ptbId, 8, 0);
ret = APS168.APS_pt_dwell(0, ptbId, ref dwell, ref ptStatus);
}
else
{
Thread.Sleep(1);
}
}
}
APS168.APS_pt_start(0, 0);
//等待buffer跑完, motionStatus的ptbFlag=false则连续运动结束。
bool ptbFlag = true;
while (ptbFlag)
{
int motionStatus = APS168.APS_motion_status(axisIdArray[0]);
ptbFlag = (motionStatus & (1 << 11)) != 0;
ret = APS168.APS_get_pt_status(0, ptbId, ref ptStatus);
_bufFreeSpace = ptStatus.PntBufFreeSpace;
_bufUsageSpace = ptStatus.PntBufUsageSpace;
_bufRunningCnt = (int)ptStatus.RunningCnt;
Thread.Sleep(100);
}
}