/// <summary>
/// 三轴阻塞检测运动完成函数，调用Axis类中的MotionDone函数
/// </summary>
/// <param name="axis">轴号，0-based</param>
/// <returns>0表示成功，非0值表示错误码</returns>
public static int MotionDone(Point3i axis)
{
var axis_ = new List <int>()
{
axis.x, axis.y, axis.z
};
return(MotionDone(axis_));
}
/// <summary>
/// 三轴直线插补运动指令，不检测完成
/// </summary>
/// <param name="axis">轴ID, 0-based</param>
/// <param name="pos">目标位置</param>
/// <param name="resultantVel">运动合速度，单位m/s</param>
/// <param name="resultantAcc">运动合加速度，单位m/s^2</param>
/// <returns>0表示成功，非零值表示错误码</returns>
public static int Line(Point3i axis, Point3d pos, double resultantVel, double resultantAcc)
{
int err_ = 0;
if (!online_)
{
return(0);
}
if (!_isIdNormal(axis.x) || !_isIdNormal(axis.y) || !_isIdNormal(axis.z))
{
return((int)(Error.IdOutOfRange));
}
if (axisList_[axis.x].cardId != axisList_[axis.y].cardId ||
axisList_[axis.x].cardId != axisList_[axis.z].cardId ||
axisList_[axis.y].cardId != axisList_[axis.z].cardId)
{
return((int)(Error.AxesNotInOneCard));
}
lhmtc.CrdCfg crdCfg_ = new lhmtc.CrdCfg();
crdCfg_.dimension = 3;
crdCfg_.profile = new short[8] {
axisList_[axis.x].id, axisList_[axis.y].id, axisList_[axis.z].id, 0, 0, 0, 0, 0
};
crdCfg_.orignPos = new int[8] {
0, 0, 0, 0, 0, 0, 0, 0
};
crdCfg_.setOriginFlag = 1;
crdCfg_.evenTime = 10;
crdCfg_.synAccMax = 720; //[0-750]
crdCfg_.synVelMax = 720; //[0-750]
crdCfg_.synDecSmooth = 1;
crdCfg_.synDecAbrupt = 500;
if ((err_ = lhmtc.LH_SetCrdPrm(crdSys_, ref crdCfg_, false)) != 0)
{
return(err_);
}
if ((err_ = lhmtc.LH_CrdClear(crdSys_, 1, fifo_, false)) != 0)
{
return(err_);
}
if ((err_ = lhmtc.LH_LnXYZ(crdSys_,
axisList_[axis.x]._mm2pls(pos.x), axisList_[axis.y]._mm2pls(pos.y), axisList_[axis.z]._mm2pls(pos.z),
axisList_[axis.x]._vel2pls(resultantVel), axisList_[axis.x]._acc2pls(resultantAcc),
0, fifo_)) != 0)
{
return(err_);
}
if ((err_ = lhmtc.LH_CrdStart(crdSys_, fifo_, false)) != 0)
{
return(err_);
}
return(0);
}
/// <summary>
/// 三轴直线插补运动，发指令后，阻塞检测完成。
/// </summary>
/// <param name="axis">轴ID，0-based</param>
/// <param name="pos">目标位置</param>
/// <param name="resultantVel">运动合速度，单位m/s</param>
/// <param name="resultantAcc">运动合加速度，单位m/s^2</param>
/// <param name="maxSeconds">最大检测完成时间，超时时间，单位秒</param>
/// <returns>0表示成功，非零值表示错误码</returns>
public static int LineOver(Point3i axis, Point3d pos, double resultantVel, double resultantAcc, double maxSeconds = 20)
{
int err_ = 0;
if ((err_ = Line(axis, pos, resultantVel, resultantAcc)) != 0)
{
return(err_);
}
Thread.Sleep(100);
return(err_ = LineDone(maxSeconds));
}
/// <summary>
/// 三轴绝对位置移动指令，阻塞检测完成，调用Axis类中AbsMove+Done方法
/// </summary>
/// <param name="axis">轴号，0-based</param>
/// <param name="pos">目标位置，单位mm</param>
/// <param name="spd_ratio">运动速率，正数，可以大于1</param>
/// <returns>0表示成功，非0值表示错误码</returns>
public static int AbsMoveOver(Point3i axis, Point3d pos, double spd_ratio)
{
var axis_ = new List <int>()
{
axis.x, axis.y, axis.z
};
var pos_ = new List <double>()
{
pos.x, pos.y, pos.z
};
return(AbsMoveOver(axis_, pos_, spd_ratio));
}
