/// <summary>
/// 添加空间圆弧插补规划
/// 返回0 成功；
/// 返回2 失败；
/// 返回1 设备句柄为空指针，一般因为没有打开设备导致；
/// 返回5 当前状态下不能添加PC的规划，因为缓冲区已经满了；
/// 返回6 当前状态下不能进行PC的规划，因为前面提交的其他操作还未完成
/// </summary>
/// <param name="handle">设备句柄</param>
/// <param name="end">指定当前圆弧插补的终点坐标</param>
/// <param name="center">指定当前圆弧插补定义的球坐标系原点</param>
/// <param name="normal">法线终点，起点为原点(0，0，0)</param>
/// <param name="turn">指定当前圆弧插补的圈数</param>
/// <param name="vel">指定当前圆弧运行的速度</param>
/// <param name="ini_maxvel">由上一段直线或者曲线转入当前圆弧曲线时，所允许的最大速度</param>
/// <param name="acc">当前圆弧运行的加速度</param>
public static int Asu_MotionAddCircle(IntPtr handle,
ref AsuMotionAxisData end,
ref AsuMotionCartesian center,
ref AsuMotionCartesian normal,
int turn,
double vel,
double ini_maxvel,
double acc)
{
AsuMotionError ret = AsuMotionAddCircle(handle, ref end, ref center, ref normal, turn, vel, ini_maxvel, acc);
switch (ret)
{
case AsuMotionError.AsuMotion_Error_Ok:
LogHelper.WriteLog("添加空间圆弧插补规划 成功");
return(0);
case AsuMotionError.AsuMotion_Device_Is_Null:
LogHelper.WriteLog("添加空间圆弧插补规划 失败，设备句柄为空指针，一般因为没有打开设备导致" + "---" + AsuMotion_GetErrorMessage(1));
return(1);
case AsuMotionError.AsuMotion_Error:
LogHelper.WriteLog("添加空间圆弧插补规划 失败" + "---" + AsuMotion_GetErrorMessage(2));
return(2);
case AsuMotionError.AsuMotion_Buffer_Full:
LogHelper.WriteLog("添加空间圆弧插补规划 失败，缓冲区已满" + "---" + AsuMotion_GetErrorMessage(5));
return(5);
default:
LogHelper.WriteLog("添加空间圆弧插补规划 失败，当前状态下不能进行PC的规划，因为前面提交的其他操作还未完成" + "---" + AsuMotion_GetErrorMessage(6));
return(6); // AsuMotion_CurrentState_Isnot_PCPlan
}
}
public static extern AsuMotionError AsuMotionAddCircle(IntPtr AsuMotion,
ref AsuMotionAxisData end,
ref AsuMotionCartesian center,
ref AsuMotionCartesian normal,
int turn,
double vel,
double ini_maxvel,
double acc);
public static extern AsuMotionError AsuMotionAddCircleWithSyncIO(IntPtr AsuMotion,
ref AsuMotionAxisData end,
ref AsuMotionCartesian center,
ref AsuMotionCartesian normal,
int turn,
double vel,
double ini_maxvel,
double acc,
ushort[] DIO,
ushort[] AIO);
private void AsuMotionAddCircleWithSyncIO(object sender, EventArgs e)
{
AsuDll.AsuMotionAxisData end = new AsuDll.AsuMotionAxisData()
{
x = 0, y = 0, z = 0, a = 0, b = 0, c = 0, u = 0, v = 0, w = 0
}; // 坐标轴数据
AsuDll.AsuMotionCartesian center = new AsuDll.AsuMotionCartesian()
{
x = 1, y = 1, z = 1
};
AsuDll.AsuMotionCartesian normal = new AsuDll.AsuMotionCartesian()
{
x = 2, y = 2, z = 2
};
int turn = 1;
double vel = 1;
double ini_maxvel = 1;
double acc = 1;
int ret = AsuInvoke.AsuMotion_AddCircleWithSyncIO(handle, ref end, ref center, ref normal, turn, vel, ini_maxvel, acc, Digital, Analog);
switch (ret)
{
case 0:
Print("添加同步IO空间圆弧插补规划 成功");
break;
case 1:
Print("添加同步IO空间圆弧插补规划 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
case 2:
Print("添加同步IO空间圆弧插补规划 失败");
break;
case 5:
Print("添加同步IO空间圆弧插补规划 失败，缓冲区已满");
break;
default:
Print("添加同步IO空间圆弧插补规划 失败，当前状态下不能进行PC的规划，因为前面提交的其他操作还未完成");
break;
}
}
