/// <summary> /// 设置位置 /// </summary> /// <param name="nCardNum"></param> /// <param name="nAxis">轴号</param> /// <param name="nPos">位置,单位脉冲</param> /// <returns></returns> public override short SetPos(short nCardNum, short nAxis, int nPos) { short nRtn = 0; nRtn |= CMc.GT_SetPos(nCardNum, nAxis, nPos); return(nRtn); }
/// <summary> /// 绝对坐标走位 /// </summary> /// <param name="nCardNum"></param> /// <param name="nAxis">轴号</param> /// <param name="dPos">位置,脉冲为单位</param> /// <param name="dVel">速度</param> /// <param name="dAcce">加减速度</param> /// <returns></returns> public override short AbsMove(short nCardNum, short nAxis, int dPos, double dVel, double dAcce) { short nRtn = 0; if (nAxis > m_maxAxisNum) { return(-1); } //lock (m_lockMove) int sts; //获取标志位状态 nRtn |= CMc.GT_GetSts(nCardNum, nAxis, out sts, 1, out m_oClk); if ((sts & 0x400) == 0) //该轴必须静止 { //设定Trap运动模式,失败则返回 int mode; nRtn |= CMc.GT_GetPrfMode(nCardNum, nAxis, out mode, 1, out m_oClk); if (mode != 0) { nRtn |= CMc.GT_ClrSts(nCardNum, nAxis, 1); nRtn |= CMc.GT_PrfTrap(nCardNum, nAxis); } } //设定Trap运动参数 CMc.TRAP_PRM trap; trap.m_acc = dAcce; trap.m_dec = dAcce; trap.m_velStart = 0; trap.m_smoothTime = 10; nRtn |= CMc.GT_SetTrapPrm(nCardNum, nAxis, ref trap); //开始运动 nRtn |= CMc.GT_SetPos(nCardNum, nAxis, dPos); nRtn |= CMc.GT_SetVel(nCardNum, nAxis, dVel); nRtn |= CMc.GT_Update(nCardNum, 1 << (nAxis - 1)); return(nRtn); }