public bool JogMove(short Axis, double dAcc, double dDec, double dVel)
{
short sRtn;
if (Axis < 8 && Axis > -1)
{
lock (lockObj)
{
Axis++;
gts.mc.TJogPrm jog = new gts.mc.TJogPrm();
jog.acc = dAcc;
jog.dec = dDec;
sRtn = gts.mc.GT_ClrSts((short)usCardNo, Axis, 8); //清除轴报警和限位
sRtn = gts.mc.GT_PrfJog((short)usCardNo, Axis); //设置为jog模式
sRtn = gts.mc.GT_SetJogPrm((short)usCardNo, Axis, ref jog); //设置jog运动参数
sRtn = gts.mc.GT_SetVel((short)usCardNo, Axis, dVel / 1000.0); //设置目标速度
sRtn = gts.mc.GT_Update((short)usCardNo, 1 << (Axis - 1)); //更新轴运动
}
return(true);
}
else
{
return(false);
}
}
public override bool JogMove(int nAxisNo, bool bPositive, int bStart, double nSpeed)
{
nAxisNo += 1;
double speed = nSpeed;
double Acc = 0;
double Dcc = 0;
TranMMToPluse(nAxisNo, ref speed, ref Acc, ref Dcc);
gts.mc.TJogPrm trap = new gts.mc.TJogPrm();
if (0 == gts.mc.GT_ClrSts((short)m_nCardIndex, (short)nAxisNo, 8) &&
0 == gts.mc.GT_PrfJog((short)m_nCardIndex, (short)nAxisNo) &&
0 == gts.mc.GT_GetJogPrm((short)m_nCardIndex, (short)nAxisNo, out trap))
{
trap.acc = 0.1;
trap.dec = 0.1;
if (0 == gts.mc.GT_SetJogPrm((short)m_nCardIndex, (short)nAxisNo, ref trap) &&
0 == gts.mc.GT_SetVel((short)m_nCardIndex, (short)nAxisNo, bPositive ? (double)nSpeed : (double)-nSpeed) &&
0 == gts.mc.GT_Update((short)m_nCardIndex, 1 << (nAxisNo - 1)))
{
return(true);
}
}
return(false);
}
public bool StartSearchLimit(short axis, double dAcc, double dDec, double dCatchSpeed)
{
short sRtn;
bHomeStop[axis] = false;
bHomeDone[axis] = false;
bHomeLast[axis] = false;
if (axis < 8 && axis > -1)
{
lock (lockObj)
{
axis++;
gts.mc.TJogPrm jog = new gts.mc.TJogPrm();
jog.acc = dAcc;
jog.dec = dDec;
sRtn = gts.mc.GT_ClrSts((short)usCardNo, axis, 1); //清除轴报警和限位
sRtn = gts.mc.GT_PrfJog((short)usCardNo, axis); //设置为jog模式
sRtn = gts.mc.GT_SetJogPrm((short)usCardNo, axis, ref jog); //设置jog运动参数
sRtn = gts.mc.GT_SetVel((short)usCardNo, axis, dCatchSpeed / 1000.0); //设置目标速度
sRtn = gts.mc.GT_Update((short)usCardNo, 1 << (axis - 1)); //更新轴运动
}
return(true);
}
else
{
return(false);
}
}
