public override bool AddBufMove(object objGroup, BufMotionType type, int mode, int nAxisNum, double velHigh, double velLow, double[] Point1, double[] Point2)
{
if (type == BufMotionType.buf_Arc2dAbsCCW || type == BufMotionType.buf_Arc2dAbsCW)
{
var ret = LTSMC.smc_conti_arc_move_center_unit(_ConnecNo, 0, 2, axis, new double[] { Point2[0], Point2[1] }, Point1, 0, 0, 1, 1);
}
return(true);
}
public override bool AddBufMove(object objGroup, BufMotionType type, int mode, int nAxisNum, double velHigh, double velLow, double[] Point1, double[] Point2)
{
ushort Cmd = 0;
switch (type)
{
case BufMotionType.buf_Line3dAbs:
Cmd = (ushort)PathCmd.Abs3DLine;
break;
break;
case BufMotionType.buf_Line2dAbs:
Cmd = (ushort)PathCmd.Abs2DLine;
break;
case BufMotionType.buf_Arc2dAbsCCW:
Cmd = (ushort)PathCmd.Abs2DArcCCW;
break;
case BufMotionType.buf_Arc2dAbsCW:
Cmd = (ushort)PathCmd.Abs2DArcCW;
break;
case BufMotionType.buf_end:
Cmd = (ushort)PathCmd.EndPath;
break;
default:
MessageBox.Show("path运动类型不对", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
return(false);
}
uint nAxisCount = (uint)nAxisNum;
IntPtr GpHand = (IntPtr)objGroup;
uint reslut = 0;
reslut = Motion.mAcm_GpAddPath(GpHand, Cmd, 0,
velHigh, velLow,
Point1,
Point2 // new double[] { 0,0}
, ref nAxisCount);
return(reslut == (uint)ErrorCode.SUCCESS);
}
/// <summary>
/// 与其他的控制卡不兼容，因为这个M314没有buf'运动
/// </summary>
/// <param name="objGroup"></param>
/// <param name="type"></param>
/// <param name="mode"></param>
/// <param name="nAxisNum">nAxisNum 3=1&2</param>
/// <param name="velHigh"></param>
/// <param name="velLow"></param>
/// <param name="Point1">Point1[0]= centerX,Point1[1]=centerY</param>
/// <param name="Point2">Point2[0]=angle</param>
/// <returns></returns>
public override bool AddBufMove(object objGroup, BufMotionType type, int mode, int nAxisNum, double velHigh, double velLow, double[] Point1, double[] Point2)
{
if (mode == 1)
{
short rtn = 0;
ushort[] array = new ushort[3] {
(ushort)nAxisNum, (ushort)(nAxisNum + 1), (ushort)(nAxisNum - 1)
};
double speed = velHigh;
double Acc = m_MovePrm[2].AccH;
double Dcc = m_MovePrm[2].DccH;
switch ((int)velHigh)
{
case 0:
Acc = m_MovePrm[2].AccH;
Dcc = m_MovePrm[2].DccH;
speed = m_MovePrm[2].VelH;
break;
case (int)SpeedType.Mid:
Acc = m_MovePrm[2].AccM;
Dcc = m_MovePrm[2].DccM;
speed = m_MovePrm[2].VelM;
break;
case (int)SpeedType.Low:
Acc = m_MovePrm[2].AccL;
Dcc = m_MovePrm[2].DccL;
speed = m_MovePrm[2].VelL;
break;
}
double Tacc = (speed - 0) / Acc;
double Tdec = (speed - 0) / Dcc;
// rtn |= CPCI_M314.CS_m314_start_ta_arc_xy((ushort)m_nCardIndex, ref array[0], (int)Point1[0], (int)(Point1[1]/10.0), Point2[0], 0, (int)speed, Tacc, Tdec);
rtn |= CPCI_M314.CS_m314_start_tr_heli_xy((ushort)m_nCardIndex, ref array[0], (int)Point1[0], (int)(Point1[1] / 10.0), (int)10, 9, 0, 0, (int)speed, Tacc, Tdec);
return(rtn == 0);
}
return(false);
}
public override bool AddBufMove(object objGroup, BufMotionType type, int mode, int nAxisNum, double velHigh, double velLow, double[] Point1, double[] Point2)
{
return(true);
}
