/// <summary>
/// 配置单位脉冲数
/// 返回3 成功；
/// 返回4 失败
/// </summary>
/// <param name="handle">设备句柄</param>
/// <param name="StepsPerUnit">单位脉冲数</param>
/// <returns></returns>
public static int AsuMotion_SetStepsPerUnit(IntPtr handle, ref AsuMotionAxisDataInt StepsPerUnit)
{
AsuMotionError ret = AsuMotionSetStepsPerUnit(handle, ref StepsPerUnit);
switch (ret)
{
case AsuMotionError.AsuMotion_True:
LogHelper.WriteLog("配置单位脉冲数 成功");
return(3);
default:
LogHelper.WriteLog("配置单位脉冲数 失败" + "---" + AsuMotion_GetErrorMessage(4));
return(4); // AsuMotion_False
}
}
/// <summary>
/// 当前机器坐标位置脉冲数获取
/// 目前直接返回 AsuMotion_True，但不确定之后的sdk失败会返回什么，所以按如下返回：
/// 返回3 成功；
/// 返回4 失败
/// </summary>
/// <param name="handle">设备句柄</param>
/// <param name="steps">一个存储各轴脉冲数的结构体</param>
/// <returns></returns>
public static int AsuMotion_GetSteps(IntPtr handle, out AsuMotionAxisDataInt steps)
{
AsuMotionError ret = AsuMotionGetSteps(handle, out steps);
switch (ret)
{
case AsuMotionError.AsuMotion_True:
LogHelper.WriteLog("当前机器坐标位置脉冲数获取 成功");
return(3);
default:
LogHelper.WriteLog("当前机器坐标位置脉冲数获取 失败" + "---" + AsuMotion_GetErrorMessage(4));
return(4); // AsuMotion_False
}
}
/// <summary>
/// 配置工作偏移
/// 返回3 成功；
/// 返回4 失败
/// </summary>
/// <param name="handle">设备句柄</param>
/// <param name="WorkOffset">工作偏移</param>
/// <returns></returns>
public static int AsuMotion_SetWorkOffset(IntPtr handle, ref AsuMotionAxisDataInt WorkOffset)
{
AsuMotionError ret = AsuMotionSetWorkOffset(handle, ref WorkOffset);
switch (ret)
{
case AsuMotionError.AsuMotion_True:
LogHelper.WriteLog("配置工作偏移 成功");
return(3);
default:
LogHelper.WriteLog("配置工作偏移 失败" + "---" + AsuMotion_GetErrorMessage(4));
return(4); // AsuMotion_False
}
}
public static extern AsuMotionError AsuMotionSetWorkOffset(IntPtr AsuMotion, ref AsuMotionAxisDataInt WorkOffset);
public static extern AsuMotionError AsuMotionSetStepsPerUnit(IntPtr AsuMotion, ref AsuMotionAxisDataInt StepsPerUnit);
public static extern AsuMotionError AsuMotionGetSteps(IntPtr AsuMotion, out AsuMotionAxisDataInt Steps);