/// <summary>
/// 轴回零运动
/// </summary>
public static void GCode_axisReturnToZero(MotionParameters mp)
{
LTSMC.smc_set_home_pin_logic(_ConnectNo, 0, 0, 0); //设置轴原点低电平有效
LTSMC.smc_set_homemode(_ConnectNo, mp.axis, 0, 1, 1, 0); //设置轴回零模式
LTSMC.smc_set_home_profile_unit(_ConnectNo, mp.axis, 5000, mp.returnToZeroSpeed, mp.accTime, mp.decTime); //设置X轴起始速度、起始速度、运行速度、加速时间、减速时间
LTSMC.smc_home_move(_ConnectNo, mp.axis); //启动回零
}
/// <summary>
/// 轴当前位置计数器值
/// </summary>
/// <param name="mp"></param>
/// <returns></returns>
public static double GCode_axisLocation(MotionParameters mp)
{
double location = 0;
LTSMC.smc_get_position_unit(_ConnectNo, mp.axis, ref location);
return(location);
}
/// <summary>
/// 读取回零状态
/// </summary>
/// <returns></returns>
public static ushort GCode_returnToZeroState(MotionParameters mp)
{
ushort returnToZeroState = 0;
LTSMC.smc_get_home_result(_ConnectNo, mp.axis, ref returnToZeroState);
return(returnToZeroState);
}
/// <summary>
/// 手动运行
/// </summary>
public static void GCode_manualRunning(MotionParameters mp)
{
LTSMC.smc_set_profile_unit(_ConnectNo, mp.axis, 0, mp.runningSpeed, mp.accTime, mp.decTime, 0); //设置起始速度、运行速度、停止速度、加速时间、减速时间
LTSMC.smc_vmove(_ConnectNo, mp.axis, mp.direction); //连续运动
}
/// <summary>
/// 指定轴停止运动
/// </summary>
/// <param name="mp"></param>
public static void GCode_stop(MotionParameters mp)
{
LTSMC.smc_stop(_ConnectNo, mp.axis, 1); //指定轴停止运动
}
/// <summary>
/// 定长运动
/// </summary>
/// <param name="mp"></param>
public static void GCode_fixedLength(MotionParameters mp)
{
LTSMC.smc_set_profile_unit(_ConnectNo, mp.axis, 0, mp.runningSpeed, mp.accTime, mp.decTime, 0); //设置起始速度、运行速度、停止速度、加速时间、减速时间
LTSMC.smc_pmove_unit(_ConnectNo, mp.axis, mp.movementDistance, 1); //定长运动
}
/// <summary>
/// 读取轴状态
/// </summary>
/// <param name="mp"></param>
/// <returns></returns>
public static short GCode_axisState(MotionParameters mp)
{
return(LTSMC.smc_check_done(_ConnectNo, mp.axis));
}
