public short InitCrd(short cardId, short csId, double velMax, double accMax, short evenTime, short axisX, short axisY, short axisA, int orgX, int orgY, int orgA, int cardType)
{
mc.TCrdPrm crdPrm = new mc.TCrdPrm();
crdPrm.dimension = 3;
crdPrm.synVelMax = velMax;
crdPrm.synAccMax = accMax;
crdPrm.evenTime = evenTime;
if (cardType == 0)//单8轴
{
crdPrm.profile1 = 1;
crdPrm.profile2 = 2;
crdPrm.profile4 = 3;
crdPrm.setOriginFlag = 1;
crdPrm.originPos1 = orgX;
crdPrm.originPos2 = orgY;
crdPrm.originPos4 = orgA;
}
short rtn = mc.GT_SetCrdPrm(cardId, csId, ref crdPrm);
if (rtn != 0)
{
return(rtn);
}
return(0);
}
/// <summary>
/// 设置插补坐标系
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nDim">坐标系维数</param>
/// <param name="synVelMax">坐标系的最大合成速度</param>
/// <param name="synAccMax">坐标系的最大合成加速度</param>
/// <param name="evenTime">坐标系的最小匀速时间</param>
/// <param name="profile">规划器对应的轴</param>
/// <returns></returns>
public override short SetLineOrdi(short nCardNum, short nDim, double synVelMax, double synAccMax,
short evenTime, short[] profile)
{
short nRtn = 0;
var crdPrm = new mc.TCrdPrm();
crdPrm.dimension = nDim; // 建立二/三/四维的坐标系
crdPrm.synVelMax = synVelMax; // 坐标系的最大合成速度是: 500 pulse/ms
crdPrm.synAccMax = synAccMax; // 坐标系的最大合成加速度是: 2 pulse/ms^2
crdPrm.evenTime = evenTime; // 坐标系的最小匀速时间为0
crdPrm.profile1 = profile[0];
crdPrm.profile2 = profile[1];
crdPrm.profile3 = profile[2];
crdPrm.profile4 = profile[3];
crdPrm.profile5 = profile[4];
crdPrm.profile6 = profile[5];
crdPrm.profile7 = profile[6];
crdPrm.profile8 = profile[7];
crdPrm.setOriginFlag = 1; // 需要设置加工坐标系原点位置
crdPrm.originPos1 = 0; // 加工坐标系原点位置在(0,0)，即与机床坐标系原点重合
crdPrm.originPos2 = 0;
crdPrm.originPos3 = 0;
crdPrm.originPos4 = 0;
crdPrm.originPos5 = 0;
crdPrm.originPos6 = 0;
crdPrm.originPos7 = 0;
crdPrm.originPos8 = 0;
nRtn |= mc.GT_SetCrdPrm(nCardNum, 1, ref crdPrm);
return(nRtn);
}
public short InitCrd(short cardId, short csId, double velMax, double accMax, short evenTime, short axisX, short axisY, short axisA, short axisB, int orgX, int orgY, int orgA, int orgB, int cardType)
{
mc.TCrdPrm crdPrm = new mc.TCrdPrm();
crdPrm.dimension = 4;
crdPrm.synVelMax = velMax;
crdPrm.synAccMax = accMax;
crdPrm.evenTime = evenTime;
if (cardType == 0)//单8轴
{
crdPrm.profile1 = 1;
crdPrm.profile2 = 2;
crdPrm.profile5 = 3;
crdPrm.profile6 = 4;
crdPrm.setOriginFlag = 1;
crdPrm.originPos1 = orgX;
crdPrm.originPos2 = orgY;
crdPrm.originPos5 = orgA;
crdPrm.originPos6 = orgB;
}
else//双4轴
{
if (axisX == 5 && axisY == 6)
{
crdPrm.profile1 = 5;
crdPrm.profile2 = 6;
crdPrm.profile3 = 7;
crdPrm.profile4 = 8;
crdPrm.setOriginFlag = 1;
crdPrm.originPos1 = orgX;
crdPrm.originPos2 = orgY;
crdPrm.originPos5 = orgA;
crdPrm.originPos6 = orgB;
}
else
{
crdPrm.profile1 = 1;
crdPrm.profile2 = 2;
crdPrm.profile3 = 3;
crdPrm.profile4 = 4;
crdPrm.setOriginFlag = 1;
crdPrm.originPos1 = orgX;
crdPrm.originPos2 = orgY;
crdPrm.originPos3 = orgA;
crdPrm.originPos4 = orgB;
}
}
short rtn = mc.GT_SetCrdPrm(cardId, csId, ref crdPrm);
if (rtn != 0)
{
return(rtn);
}
return(0);
}
public short InitCrd(short cardId, short csId, double velMax, double accMax, short evenTime, short axisX, short axisY, int orgX, int orgY)
{
mc.TCrdPrm crdPrm = new mc.TCrdPrm();
//crdPrm.dimension = 2;
crdPrm.synVelMax = velMax;
crdPrm.synAccMax = accMax;
crdPrm.axis1 = axisX;
crdPrm.axis2 = axisY;
crdPrm.axis3 = mc.RES_NONE;
crdPrm.axis4 = mc.RES_NONE;
crdPrm.axis5 = mc.RES_NONE;
crdPrm.originPos1 = orgX;
crdPrm.originPos2 = orgY;
crdPrm.originPos3 = 0;
crdPrm.originPos4 = 0;
crdPrm.originPos5 = 0;
crdPrm.axisVelMax1 = velMax;
crdPrm.axisVelMax2 = velMax;
//crdPrm.axisVelMax1 = 0;
//crdPrm.axisVelMax2 = 0;
//crdPrm.axisVelMax1 = 0;
crdPrm.decSmoothStop = 5;
crdPrm.decAbruptStop = 10;
//crdPrm.evenTime = evenTime;
//if (axisX == 5 && axisY == 6)
//{
// crdPrm.profile5 = 1;
// crdPrm.profile6 = 2;
// crdPrm.originPos5 = orgX;
// crdPrm.originPos6 = orgY;
//}
//else if (axisX == 3 && axisY == 4) //小8字机台AB轴插补
//{
// crdPrm.profile3 = 1;
// crdPrm.profile4 = 2;
// crdPrm.originPos3 = orgX;
// crdPrm.originPos4 = orgY;
//}
//else
//{
// crdPrm.profile1 = axisX;
// crdPrm.profile2 = axisY;
// crdPrm.originPos1 = orgX;
// crdPrm.originPos2 = orgY;
//}
crdPrm.setOriginFlag = 1;
short rtn = mc.API_SetCrdPrm(csId, ref crdPrm, cardId);
if (rtn != 0)
{
return(rtn);
}
return(0);
}
public short InitCrd(short cardId, short csId, double velMax, double accMax, short evenTime, short axisX, short axisY, int orgX, int orgY)
{
mc.TCrdPrm crdPrm = new mc.TCrdPrm();
crdPrm.dimension = 2;
crdPrm.synVelMax = velMax;
crdPrm.synAccMax = accMax;
crdPrm.evenTime = evenTime;
if (axisX == 5 && axisY == 6)
{
crdPrm.profile5 = 1;
crdPrm.profile6 = 2;
crdPrm.originPos5 = orgX;
crdPrm.originPos6 = orgY;
}
else if (axisX == 3 && axisY == 4) //小8字机台AB轴插补
{
crdPrm.profile3 = 1;
crdPrm.profile4 = 2;
crdPrm.originPos3 = orgX;
crdPrm.originPos4 = orgY;
}
else
{
crdPrm.profile1 = axisX;
crdPrm.profile2 = axisY;
crdPrm.originPos1 = orgX;
crdPrm.originPos2 = orgY;
}
crdPrm.setOriginFlag = 1;
short rtn = mc.GT_SetCrdPrm(cardId, csId, ref crdPrm);
if (rtn != 0)
{
return(rtn);
}
return(0);
}