private void AsuMotionSetDifferentialOutputMapping(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_SetDifferentialOutputMapping(handle, DiffFunSel, (AsuMotionBitMaskType)0);
if (ret == 3)
{
Print("配置运动卡差分输出的信号映射 成功");
}
else
{
Print("配置运动卡差分输出的信号映射 失败");
}
}
private void AsuMotionSetAccelaration(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_SetAccelaration(handle, ref Accelaration);
if (ret == 3)
{
Print("配置运动卡规划运动的加速度 成功");
}
else
{
Print("配置运动卡规划运动的加速度 失败");
}
}
private void AsuMotionSetStepsPerUnit(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_SetStepsPerUnit(handle, ref StepsPerUnit);
if (ret == 3)
{
Print("配置单位脉冲数 成功");
}
else
{
Print("配置单位脉冲数 失败");
}
}
private void AsuMotionSetWorkOffset(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_SetWorkOffset(handle, ref WorkOffset);
if (ret == 3)
{
Print("配置工作偏移 成功");
}
else
{
Print("配置工作偏移 失败");
}
}
private void AsuMotionConfigDeviceDefault(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_ConfigDeviceDefault(handle);
if (ret == 3)
{
Print("设备 " + NumOfCurDevice + " 初始化为默认成功");
}
else
{
Print("设备 " + NumOfCurDevice + " 初始化为默认失败");
}
}
private void AsuMotionSetSmoothCoff(object sender, EventArgs e)
{
int ret = AsuInvoke.Asu_Motion_SetSmoothCoff(handle, 100, 64);
if (ret == 3)
{
Print("配置光滑系数和脉冲延时 成功");
}
else
{
Print("配置光滑系数和脉冲延时 失败");
}
}
private void AsuMotionClose(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_Close(handle);
if (ret == 3)
{
Print("设备 " + NumOfCurDevice + " 关闭 成功");
}
else
{
Print("设备 " + NumOfCurDevice + " 关闭 失败");
}
}
private void AsuMotionStopAll(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_CardPlanStopAll(handle);
if (ret == 3)
{
Print("停止由运动控制卡规划的所有轴的运动 成功");
}
else
{
Print("停止由运动控制卡规划的所有轴的运动 失败");
}
}
private void AsuMotionSetMaxSpeed(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_SetMaxSpeed(handle, ref MaxSpeed);
if (ret == 3)
{
Print("配置运动卡规划运动的最大速度 成功");
}
else
{
Print("配置运动卡规划运动的最大速度 失败");
}
}
private void AsuMotionOpen(object sender, EventArgs e)
{
NumOfCurDevice = this.cbb_DeviceInfo.SelectedIndex + 1;
//NumOfCurDevice = 1;
handle = AsuInvoke.AsuMotion_Open(NumOfCurDevice);
if (handle == IntPtr.Zero)
{
Print("打开设备 " + NumOfCurDevice + " 成功");
}
else
{
Print("打开设备 " + NumOfCurDevice + " 失败");
}
}
private void AsuMotionEStop(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_EStop(handle);
switch (ret)
{
case 3:
Print("急停 成功");
break;
default:
Print("急停 失败");
break;
}
}
private void AsuMotionCardPlanStop(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_CardPlanStop(handle, AsuMotionAxisMaskType.AsuMotion_AxisMask_All);
switch (ret)
{
case 3:
Print("停止由运动控制卡规划的特定轴的运动 成功");
break;
default:
Print("停止由运动控制卡规划的特定轴的运动 失败");
break;
}
}
private void AsuMotionGetMaxSpeed(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_GetMaxSpeed(handle, out MaxSpeed);
switch (ret)
{
case 3:
Print("当前各坐标轴最大速度获取 成功");
break;
default:
Print("当前各坐标轴最大速度获取 失败");
break;
}
}
private void AsuMotionGetSmoothCoff(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_GetSmoothCoff(handle, out uint pSmoothCoff);
switch (ret)
{
case 3:
Print("光滑系数获取 成功");
break;
default:
Print("光滑系数获取 失败");
break;
}
}
private void AsuMotionGetStepsPerUnit(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_GetStepsPerUnit(handle, out AsuMotionAxisDataInt stepsPerUnit);
switch (ret)
{
case 3:
Print("单位距离脉冲数获取 成功");
break;
default:
Print("单位距离脉冲数获取 失败");
break;
}
}
private void GetDeviceInfo(object sender, EventArgs e)
{
byte[] serial = new byte[100];
NumOfCurDevice = this.cbb_DeviceInfo.SelectedIndex + 1;
//NumOfCurDevice = 1;
int ret = AsuInvoke.Asu_GetDeviceInfo(NumOfCurDevice, out serial);
if (ret == 3)
{
Print("获取设备 " + NumOfCurDevice + " 信息成功，序列号为：" + Encoding.UTF8.GetString(serial));
}
else
{
Print("获取设备 " + NumOfCurDevice + " 信息失败");
}
}
private void AsuMotionGetInputIO(object sender, EventArgs e)
{
ushort[] Input = new ushort[2];
int ret = AsuInvoke.AsuMotion_GetInputIO(handle, out Input);
switch (ret)
{
case 3:
Print("输入口状态获取 成功");
break;
default:
Print("输入口状态获取 失败");
break;
}
}
private void AsuMotionIsDone(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_IsDone(handle);
if (ret == 3)
{
Print("当前运动卡处于 空闲 状态");
}
else if (ret == 4)
{
Print("当前运动卡处于 运动 状态");
}
else // -1
{
Print("查询当前运动卡状态 发生异常");
}
}
private void AsuMotionGetOutputIO(object sender, EventArgs e)
{
ushort[] DIO = new ushort[3];
DIO[0] = 0x503;
int ret = AsuInvoke.AsuMotion_GetOutputIO(handle, out DIO);
switch (ret)
{
case 3:
Print("输出口状态获取 成功");
break;
default:
Print("输出口状态获取 失败");
break;
}
}
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;
}
}
private void AsuMotionDirectPlanFlush(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_DirectPlanFlush(handle);
switch (ret)
{
case 0:
Print("将缓冲区中添加的直接规划刷新 成功");
break;
case 1:
Print("将缓冲区中添加的直接规划刷新 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
default:
Print("将缓冲区中添加的直接规划刷新 失败，当前缓冲区满，等待一会再添加");
break;
}
}
private void AsuMotionDirectPlanChangeIO(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_DirectPlanChangeIO(handle, Digital, Analog);
switch (ret)
{
case 0:
Print("添加一次IO变化 成功");
break;
case 1:
Print("添加一次IO变化 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
default:
Print("添加一次IO变化 失败，当前缓冲区满，等待一会再添加");
break;
}
}
private void AsuMotionGoHome(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_GoHome(handle, AsuMotionHomingType.AsuMotion_Homing_AtSwitch, AsuMotionAxisMaskType.AsuMotion_AxisMask_All, 2, ref Accelaration, ref MaxSpeed);
switch (ret)
{
case 0:
Print("请求一次回原点 成功");
break;
case 1:
Print("请求一次回原点 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
default:
Print("请求一次回原点 失败，当前状态下不能进行回原点，因为前面提交的其他操作还未完成");
break;
}
}
private void AsuMotionSetCurrentPostion(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_SetCurrentPostion(handle, ref AsuMotionPos);
switch (ret)
{
case 0:
Print("设置当前坐标 成功");
break;
case 1:
Print("设置当前坐标 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
default:
Print("设置当前坐标 失败");
break;
}
}
private void AsuMotionSetHomingSignal(object sender, EventArgs e)
{
byte[] InputIOPin = new byte[9] {
1, 2, 3, 4, 5, 6, 7, 8, 9
};
int ret = AsuInvoke.AsuMotion_SetHomingSignal(handle, InputIOPin);
switch (ret)
{
case 0:
Print("配置回原点的管脚 成功");
break;
default:
Print("配置回原点的管脚 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
}
}
private void AsuMotionResume(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_Resume(handle);
switch (ret)
{
case 0:
Print("恢复暂停的运动 成功");
break;
case 1:
Print("恢复暂停的运动 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
default:
Print("恢复暂停的运动 失败");
break;
}
}
private void AsuMotionAbort(object sender, EventArgs e)
{
int ret = AsuInvoke.Asu_MotionAbort(handle);
switch (ret)
{
case 0:
Print("放弃当前的运动规划 成功");
break;
case 1:
Print("放弃当前的运动规划 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
default:
Print("放弃当前的运动规划 失败");
break;
}
}
private void AsuMotionSetStopType(object sender, EventArgs e)
{
double tolerance = 1.6;
int ret = AsuInvoke.Asu_MotionSetStopType(handle, AsuMotionStopType.AsuMotion_Stop_Type_Exact, tolerance);
switch (ret)
{
case 0:
Print("设置停止类型 成功");
break;
case 1:
Print("设置停止类型 失败，设备句柄为空指针，一般因为没有打开设备导致");
break;
default:
Print("设置停止类型 失败");
break;
}
}
private void GetDeviceNum(object sender, EventArgs e)
{
int ret = AsuInvoke.Asu_GetDeviceNum();
if (ret == 0)
{
CountOfDevice = 0;
this.cbb_DeviceInfo.Items.Add("No Device Found");
this.cbb_DeviceInfo.SelectedIndex = 0;
Print("没有设备连接");
}
else
{
CountOfDevice = ret;
while (ret > 0)
{
this.cbb_DeviceInfo.Items.Add(ret);
ret--;
}
Print("有 " + ret + " 台设备连接");
}
}
private void AsuMotionMoveAbsolute(object sender, EventArgs e)
{
int ret = AsuInvoke.AsuMotion_MoveAbsolute(handle, AsuMotionAxisMaskType.AsuMotion_AxisMask_All, ref PositionGiven);
switch (ret)
{
case 0:
Print("绝对位置移动 成功");
break;
case 1:
Print("绝对位置移动 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("绝对位置移动 失败");
break;
default:
Print("绝对位置移动 失败，当前状态下不能进行运动控制卡的规划，因为前面提交的其他操作还未完成");
break;
}
}
