private void btnStart_Click(object sender, EventArgs e)
{
if (cbxMotionTrail.SelectedItem == null)
{
MessageBox.Show("请选择轨迹");
return;
}
ushort _CardID = 0;
ushort AxisX = 0;
ushort AxisY = 1;
ushort crd = 0;
//设置脉冲当量
LTDMC.dmc_set_equiv(0, AxisX, FormMain.PulseEquiv);
LTDMC.dmc_set_equiv(0, AxisY, FormMain.PulseEquiv);
// 画图
ushort axisnum = 2;
ushort[] axises = new ushort[] { AxisX, AxisY };
LTDMC.dmc_conti_open_list(0, crd, axisnum, axises);
//设置插补速度
LTDMC.dmc_set_vector_profile_unit(0, crd, 0, vectorChabu, 0.1, 0.1, 0);
// LTDMC.dmc_conti_set_blend(0, crd, 1);
if (cbxMotionTrail.SelectedIndex == 0)
{
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 400, -200 };
double[] D = new double[] { 400, -400 };
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
B, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 200, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
D, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
A, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 1)
{
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 400, -200 };
double[] D = new double[] { 400, -400 };
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
new double[] { 200, 0 }, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
new double[] { 400, -200 }, new double[] { 200, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
new double[] { 400, -400 }, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
new double[] { 0, 0 }, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 2)
{
}
if (cbxMotionTrail.SelectedIndex == 3)
{
}
}
private void btnStart_Click(object sender, EventArgs e)
{
if (cbxMotionTrail.SelectedItem == null)
{
MessageBox.Show("请选择轨迹");
return;
}
ushort _CardID = 0;
ushort AxisX = 0;
ushort AxisY = 1;
ushort crd = 0;
//设置脉冲当量
LTDMC.dmc_set_equiv(0, AxisX, FormMain.PulseEquiv);
LTDMC.dmc_set_equiv(0, AxisY, FormMain.PulseEquiv);
// 画图
ushort axisnum = 2;
ushort[] axises = new ushort[] { AxisX, AxisY };
LTDMC.dmc_conti_open_list(0, crd, axisnum, axises);
// LTDMC.dmc_conti_set_blend(0, crd, 1);
if (cbxMotionTrail.SelectedIndex == 0)
{
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 400, -200 };
double[] D = new double[] { 400, -400 };
//设置插补速度
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, B, 1, 0); //直线插补，绝对模式
//设置插补速度
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 200, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
//设置插补速度
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
D, 1, 0); //直线插补，绝对模式
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
A, 1, 0); //直线插补，绝对模式
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 1)
{
//LTDMC.dmc_pmove_unit(0, 0, 100, 1);//定长运动
//LTDMC.dmc_check_done(0, 0);
double[] A = new double[] { 100, 0 };
double[] B = new double[] { 300, 0 };
double[] C = new double[] { 300, -200 };
double[] D = new double[] { 100, -200 };
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
B, 1, 0); //直线插补，绝对模式
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 300, -100 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，绝对模式模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
D, 1, 0); //直线插补，绝对模式
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
A, new double[] { 100, -100 }, 0, 0, 1, 0);
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 2)
{//直线 直线 圆弧 直线
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 200, -200 };
double[] D = new double[] { 0, -200 };
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, B, 1, 0); //直线插补
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, C, 1, 0); //直线插补
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
D, new double[] { 100, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, A, 1, 0); //直线插补
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 3)
{ //直线 圆弧 直线 圆弧 直线 直线
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 300, -100 };
double[] D = new double[] { 300, -300 };
double[] E = new double[] { 200, -400 };
double[] F = new double[] { 0, -400 };
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, B, 1, 0); //直线插补
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 200, -100 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, D, 1, 0); //直线插补
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
E, new double[] { 200, -300 }, 0, 0, 1, 0);
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, F, 1, 0); //直线插补
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, A, 1, 0); //直线插补
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
}
