public SoftservoControler()
{
wmx = new WMX3Api();
status = new CoreMotionStatus();
s_JogCommand = new Motion.JogCommand();
fx_PosBlock = new Motion.PosCommand();
fx_LinearIntplCommand = new Motion.LinearIntplCommand();
fx_CenterAndEndCir = new Motion.CenterAndEndCircularIntplCommand();
fx_ThroughAndEnd = new Motion.ThroughAndEndCircularIntplCommand();
}
public bool ArcXYMove(short num, short AxisX, short AxisY, short AxisZ, double dAcc, double dDec, double dSpeed, double posX, double posY, double dR, short iCCW)
{
try
{
fx_CenterAndEndCir = new Motion.CenterAndEndCircularIntplCommand();
fx_CenterAndEndCir.Profile.Type = ProfileType.SCurve;
fx_CenterAndEndCir.Profile.StartingVelocity = 0;
fx_CenterAndEndCir.Profile.EndVelocity = 0;
fx_CenterAndEndCir.Axis[0] = AxisX;
fx_CenterAndEndCir.Axis[1] = AxisY;
fx_CenterAndEndCir.CenterPos[0] = 0.0; //单位为脉冲pulse(相对)
fx_CenterAndEndCir.CenterPos[1] = 0.0; //单位为脉冲pulse(相对)
CommonTool.Circle_Center(dCurrentPos[AxisX],
dCurrentPos[AxisY],
posX,
posY,
dR,
iCCW,
ref fx_CenterAndEndCir.CenterPos[0],
ref fx_CenterAndEndCir.CenterPos[1]);
fx_CenterAndEndCir.Profile.Velocity = dSpeed; //单位为deg
fx_CenterAndEndCir.EndPos[0] = posX; //单位为脉冲pulse
fx_CenterAndEndCir.EndPos[1] = posY; //单位为脉冲pulse
fx_CenterAndEndCir.Profile.Acc = dAcc / 0.001; //单位为deg/s
fx_CenterAndEndCir.Profile.Dec = dDec / 0.001; //单位为deg/s
fx_CenterAndEndCir.Profile.JerkAcc = dAcc / 0.001; //单位为deg/s^2
fx_CenterAndEndCir.Profile.JerkDec = dDec / 0.001; //单位为deg/s^2
fx_CenterAndEndCir.Clockwise = (byte)(iCCW == 0 ? 1 : 0); //如果为0，则电弧将以逆时针方向。 如果为1，则弧线将按顺时针方向旋转。
int ret = cmApi.Motion.StartCircularIntplPos(fx_CenterAndEndCir);
if (ret != 0)
{
// Global.logger.ErrorFormat("WMX3 执行圆弧插补出现错误！错误信息：{0}", WMX3Api.ErrorToString(ret));
return(false);
}
return(true);
}
catch (Exception ex)
{
// Global.logger.ErrorFormat("WMX3 执行圆弧插补出现异常！异常信息：{0}", ex.Message);
return(false);
}
}
