public short MoveJog(short cardId, short axisId, double vel, double acc)
{
//set jog move
short rtn = mc.API_JogMode(axisId, cardId);
if (rtn != 0)
{
return(rtn);
}
mc.TJogPrm jogPrm = new mc.TJogPrm();
jogPrm.acc = acc;
jogPrm.dec = acc;
//set jog param
rtn = mc.API_SetJogPrm(axisId, ref jogPrm, cardId);
if (rtn != 0)
{
return(rtn);
}
//set vel
rtn = mc.API_SetVel(axisId, vel, cardId);
if (rtn != 0)
{
return(rtn);
}
//start move
int mask = 1 << (axisId - 1);
rtn = mc.API_Update(mask, cardId);
if (rtn != 0)
{
return(rtn);
}
return(0);
}
public short MoveJog(short cardId, short axisId, double vel, double acc)
{
//set jog move
short rtn = mc.GT_PrfJog(cardId, axisId);
if (rtn != 0)
{
return(rtn);
}
mc.TJogPrm jogPrm = new mc.TJogPrm();
jogPrm.acc = acc;
jogPrm.dec = acc;
//set jog param
rtn = mc.GT_SetJogPrm(cardId, axisId, ref jogPrm);
if (rtn != 0)
{
return(rtn);
}
//set vel
rtn = mc.GT_SetVel(cardId, axisId, vel);
if (rtn != 0)
{
return(rtn);
}
//start move
rtn = mc.GT_Update(cardId, 1 << (axisId - 1));
if (rtn != 0)
{
return(rtn);
}
return(0);
}
public static void GoHome(short axi, short card)
{
mc.TJogPrm jopPra = new mc.TJogPrm();
jopPra.acc = 0.25;
jopPra.dec = 0.25;
double value = 20;
AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation();
JogMotin(0, 1, jopPra, -value);
do
{
axiSituation = AxiCondition.JustReadCondition(axi, card);
}while (axiSituation.negativeLimit == false);
mc.TTrapPrm p_trap = new mc.TTrapPrm();
p_trap.acc = 0.25;
p_trap.dec = 0.25;
p_trap.smoothTime = 25;
p_trap.velStart = 1;
TrapParameter setTrapParameter = new TrapParameter();
setTrapParameter.position = 10000;
setTrapParameter.sleep = 20;
Trap(true, p_trap, setTrapParameter, axi);
}
public static void JogMotin(short cardNumber, short AXIS, mc.TJogPrm p_jog, double velocity)
{
short sRtn;
mc.TJogPrm jog = new mc.TJogPrm();
long sts;
double prfPos, prfVel;
// 清除各轴的报警和限位
sRtn = mc.GT_ClrSts(cardNumber, 1, 8);
Config.commandhandler("GT_ClrSts", sRtn);
// 伺服使能
sRtn = mc.GT_AxisOn(cardNumber, AXIS);
Config.commandhandler("GT_AxisOn", sRtn);
// 将AXIS轴设为Jog模式
sRtn = mc.GT_PrfJog(cardNumber, AXIS);
Config.commandhandler("GT_PrfTrap", sRtn);
// 读取Jog运动参数
sRtn = mc.GT_GetJogPrm(cardNumber, AXIS, out jog);
Config.commandhandler("GT_GetJogPrm", sRtn);
jog.acc = p_jog.acc;
jog.dec = p_jog.dec;
// 设置Jog运动参数
sRtn = mc.GT_SetJogPrm(cardNumber, AXIS, ref jog);
Config.commandhandler("GT_SetJogPrm", sRtn);
// 设置AXIS轴的目标速度
sRtn = mc.GT_SetVel(cardNumber, AXIS, velocity);
Config.commandhandler("GT_SetVel", sRtn);
// 启动AXIS轴的运动
sRtn = mc.GT_Update(cardNumber, 1 << (AXIS - 1));
Config.commandhandler("GT_Update", sRtn);
}
private void button5_MouseDown(object sender, MouseEventArgs e)
{
mc.TJogPrm jopPra = new mc.TJogPrm();
jopPra.acc = 0.25;
jopPra.dec = 0.25;
double value = Convert.ToDouble(numericUpDown3.Value);
MotionPunction.JogMotin(0, 1, jopPra, -value);
}
private short JogHome(int nAxisNo, bool bPositive, double vel)
{
nAxisNo += 1;
short sRtn = 0;
sRtn |= gts.mc.GT_ClrSts((short)m_nCardIndex, (short)nAxisNo, 1);
sRtn |= gts.mc.GT_Stop((short)m_nCardIndex, 1 << (nAxisNo - 1), 0);
sRtn |= gts.mc.GT_PrfJog((short)m_nCardIndex, (short)nAxisNo);
gts.mc.TJogPrm jogparam = new mc.TJogPrm();
sRtn |= gts.mc.GT_GetJogPrm((short)m_nCardIndex, (short)nAxisNo, out jogparam);
jogparam.acc = 0.1;
jogparam.dec = 0.1;
sRtn |= gts.mc.GT_SetJogPrm((short)m_nCardIndex, (short)nAxisNo, ref jogparam);
sRtn |= gts.mc.GT_SetVel((short)m_nCardIndex, (short)nAxisNo, bPositive ? (double)vel : (double)-vel);
sRtn |= gts.mc.GT_Update((short)m_nCardIndex, 1 << (nAxisNo - 1));
return(sRtn);
}
private void button7_Click(object sender, EventArgs e)
{
mc.TJogPrm jopPra = new mc.TJogPrm();
jopPra.acc = 0.25;
jopPra.dec = 0.25;
double value = Convert.ToDouble(numericUpDown1.Value);
while (true)
{
MotionPunction.JogMotin(0, 1, jopPra, value);
AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation();
axiSituation = AxiCondition.JustReadCondition(1, 0);
if (axiSituation.negativeLimit || axiSituation.positveLimit)
{
MotionPunction.GoSafetyPosition(1, 0);
break;
}
}
}
