/// <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);
}
/// <summary>
/// 设置Trap运动参数
/// </summary>
/// <param name="nCardNum"></param>
/// <param name="nAxis">轴号</param>
/// <param name="acc">加速度 单位“脉冲/毫秒2”</param>
/// <param name="dec">减速度 单位“脉冲/毫秒2”</param>
/// <param name="smoothTime">平滑系数，取值范围[0,1]</param>
/// <returns></returns>
public override short SetTrapPrm(short nCardNum, short nAxis, double acc, double dec, short smoothTime = 5)
{
short nRtn = 0;
//设置Jog运动参数
var mytprfvel = new CMc.TRAP_PRM();
mytprfvel.m_acc = acc; //加速度，单位“脉冲/毫秒2”
mytprfvel.m_dec = dec; //减速度，单位“脉冲/毫秒2”
mytprfvel.m_smoothTime = smoothTime; //平滑时间，取值范围[0,1]
nRtn |= CMc.GT_SetTrapPrm(nCardNum, nAxis, ref mytprfvel);
return(nRtn);
}