Esempio n. 1
0
        /// <summary>
        ///     切换轴运动为Jog运动
        /// </summary>
        /// <param name="nCardNum"></param>
        /// <param name="nAxis">轴号</param>
        /// <returns></returns>
        public override short PrfJog(short nCardNum, short nAxis)
        {
            short nRtn = 0;

            nRtn |= CMc.GT_PrfJog(nCardNum, nAxis);
            return(nRtn);
        }
Esempio n. 2
0
        /// <summary>
        ///     JOG移动
        /// </summary>
        /// <param name="nCardNum"></param>
        /// <param name="nAxis">轴号</param>
        /// <param name="dVel"></param>
        /// <param name="dAcce"></param>
        /// <returns></returns>
        public override short JogMove(short nCardNum, short nAxis, double dVel, double dAcce)
        {
            short nRtn = 0;

            if (nCardNum < 0 || nAxis > m_maxAxisNum)
            {
                return(-1);
            }

            //获取标志位状态

            nRtn |= CMc.GT_ClrSts(nCardNum, 1, m_maxAxisNum);


            int sts;

            nRtn |= CMc.GT_GetSts(nCardNum, nAxis, out sts, 1, out m_oClk);

            int mode;

            nRtn |= CMc.GT_GetPrfMode(nCardNum, nAxis, out mode, 1,
                                      out m_oClk); //mode值  //0:trap 1:Jog 2:S 3:PT 4:PVS 5:interpolation 6:gear


            if ((sts & 0x400) != 0) //运动情况下可以改变速度和加速度
            {
                if (1 != mode)
                {
                    return(nRtn);
                }
            }
            else //静止情况下才能修改运动模式
            {
                if (1 != mode)
                {
                    nRtn |= CMc.GT_PrfJog(nCardNum, nAxis);
                }
            }

            //设置Jog运动参数
            CMc.JOG_PRM jogPrm;
            jogPrm.m_acc    = dAcce; //加速度,单位“脉冲/毫秒2”
            jogPrm.m_dec    = dAcce; //减速度,单位“脉冲/毫秒2”
            jogPrm.m_smooth = 0.625; //平滑系数,取值范围[0,1]
            nRtn           |= CMc.GT_SetJogPrm(nCardNum, nAxis, ref jogPrm);

            //启动运动
            nRtn |= CMc.GT_SetVel(nCardNum, nAxis, dVel); //设置目标速度,单位是“脉冲/毫秒”
            nRtn |= CMc.GT_Update(nCardNum, 1 << (nAxis - 1));
            return(nRtn);
        }
Esempio n. 3
0
        /// <summary>
        ///     设置Jog运动参数
        /// </summary>
        /// <param name="nCardNum"></param>
        /// <param name="nAxis">轴号</param>
        /// <param name="acc">加速度 单位“脉冲/毫秒2”</param>
        /// <param name="dec">减速度 单位“脉冲/毫秒2”</param>
        /// <param name="smooth">平滑系数,取值范围[0,1]</param>
        /// <returns></returns>
        public override short SetJogPrm(short nCardNum, short nAxis, double acc, double dec, double smooth = 0)
        {
            //设置Jog运动参数
            short nRtn = 0;

            CMc.GT_PrfJog(nCardNum, nAxis);
            CMc.JOG_PRM mytprfvel;
            mytprfvel.m_acc    = acc;    //加速度,单位“脉冲/毫秒2”
            mytprfvel.m_dec    = dec;    //减速度,单位“脉冲/毫秒2”
            mytprfvel.m_smooth = smooth; //平滑系数,取值范围[0,1]
            nRtn |= CMc.GT_SetJogPrm(nCardNum, nAxis, ref mytprfvel);


            return(nRtn);
        }