private void btnStart_Click(object sender, EventArgs e)
{
if (cbxMotionTrail.SelectedItem == null)
{
MessageBox.Show("请选择轨迹");
return;
}
ushort _CardID = 0;
ushort AxisX = 0;
ushort AxisY = 1;
ushort crd = 0;
//设置脉冲当量
LTDMC.dmc_set_equiv(0, AxisX, FormMain.PulseEquiv);
LTDMC.dmc_set_equiv(0, AxisY, FormMain.PulseEquiv);
// 画图
ushort axisnum = 2;
ushort[] axises = new ushort[] { AxisX, AxisY };
LTDMC.dmc_conti_open_list(0, crd, axisnum, axises);
// LTDMC.dmc_conti_set_blend(0, crd, 1);
if (cbxMotionTrail.SelectedIndex == 0)
{
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 400, -200 };
double[] D = new double[] { 400, -400 };
//设置插补速度
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, B, 1, 0); //直线插补，绝对模式
//设置插补速度
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 200, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
//设置插补速度
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
D, 1, 0); //直线插补，绝对模式
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
A, 1, 0); //直线插补，绝对模式
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 1)
{
//LTDMC.dmc_pmove_unit(0, 0, 100, 1);//定长运动
//LTDMC.dmc_check_done(0, 0);
double[] A = new double[] { 100, 0 };
double[] B = new double[] { 300, 0 };
double[] C = new double[] { 300, -200 };
double[] D = new double[] { 100, -200 };
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
B, 1, 0); //直线插补，绝对模式
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 300, -100 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，绝对模式模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
D, 1, 0); //直线插补，绝对模式
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
A, new double[] { 100, -100 }, 0, 0, 1, 0);
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 2)
{//直线 直线 圆弧 直线
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 200, -200 };
double[] D = new double[] { 0, -200 };
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, B, 1, 0); //直线插补
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, C, 1, 0); //直线插补
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
D, new double[] { 100, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, A, 1, 0); //直线插补
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 3)
{ //直线 圆弧 直线 圆弧 直线 直线
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 300, -100 };
double[] D = new double[] { 300, -300 };
double[] E = new double[] { 200, -400 };
double[] F = new double[] { 0, -400 };
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, B, 1, 0); //直线插补
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 200, -100 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, D, 1, 0); //直线插补
SetArcVecter();
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
E, new double[] { 200, -300 }, 0, 0, 1, 0);
SetLineVecter();
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, F, 1, 0); //直线插补
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises, A, 1, 0); //直线插补
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
}
private void btnStart_Click(object sender, EventArgs e)
{
if (cbxMotionTrail.SelectedItem == null)
{
MessageBox.Show("请选择轨迹");
return;
}
ushort _CardID = 0;
ushort AxisX = 0;
ushort AxisY = 1;
ushort crd = 0;
//设置脉冲当量
LTDMC.dmc_set_equiv(0, AxisX, FormMain.PulseEquiv);
LTDMC.dmc_set_equiv(0, AxisY, FormMain.PulseEquiv);
// 画图
ushort axisnum = 2;
ushort[] axises = new ushort[] { AxisX, AxisY };
LTDMC.dmc_conti_open_list(0, crd, axisnum, axises);
//设置插补速度
LTDMC.dmc_set_vector_profile_unit(0, crd, 0, vectorChabu, 0.1, 0.1, 0);
// LTDMC.dmc_conti_set_blend(0, crd, 1);
if (cbxMotionTrail.SelectedIndex == 0)
{
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 400, -200 };
double[] D = new double[] { 400, -400 };
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
B, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
C, new double[] { 200, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
D, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
A, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 1)
{
double[] A = new double[] { 0, 0 };
double[] B = new double[] { 200, 0 };
double[] C = new double[] { 400, -200 };
double[] D = new double[] { 400, -400 };
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
new double[] { 200, 0 }, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_arc_move_center_unit(_CardID, crd, axisnum, axises,
new double[] { 400, -200 }, new double[] { 200, -200 }, 0, 0, 1, 0);
//XY平面圆弧插补，顺时针，相对坐标模式。 此函数是基于圆心圆弧扩展的螺旋线插补运动（可作两轴圆弧插补）
//终点坐标 圆心坐标
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
new double[] { 400, -400 }, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_line_unit(_CardID, crd, axisnum, axises,
new double[] { 0, 0 }, 1, 0); //直线插补，相对模式
LTDMC.dmc_conti_start_list(_CardID, crd);
Thread.Sleep(1000);
LTDMC.dmc_conti_close_list(_CardID, crd);
}
if (cbxMotionTrail.SelectedIndex == 2)
{
}
if (cbxMotionTrail.SelectedIndex == 3)
{
}
}
//设置PWM连续插补
private void SetVPwm()
{
ushort channel = GetChannel();
double duty = Convert.ToDouble(this.txtDuty.Value) / 100;
double freq = Convert.ToDouble(this.txtFreq.Value);
m_main.PWMChannel = channel;
m_main.PWMDuty = duty;
m_main.PWMFreq = freq;
LTDMC.dmc_set_pwm_onoff_duty(m_cardId, 0, 0.8, 0.05);//设置PWM开关状态对应的占空比
LTDMC.dmc_set_pwm_enable(m_cardId, GetEnable());
LTDMC.dmc_set_pwm_output(m_cardId, channel, duty, freq);
//设置插补轴脉冲
LTDMC.dmc_set_equiv(m_cardId, 0, 100);
LTDMC.dmc_set_equiv(m_cardId, 1, 100);
//设置插补速度曲线参数,Crd坐标系
LTDMC.dmc_set_vector_profile_unit(m_cardId, 0, 0, 100, 0.1, 0, 0);
//设置跟随速度参数
LTDMC.dmc_conti_set_pwm_follow_speed(m_cardId, 0, channel, GetPwmMode(), 100, 0, 0);
//PWM跟随模式模式为0、1、2时，MaxValue/MaxVel/OutValue此三个参数无效
ushort onOff = 1; //PWM输出状态为：打开
ushort deMode = 0; //滞后模式为：滞后时间
double deTime = 2; //滞后时间：2S
double revTime = 0; //保留参数：固定为0
//设置轨迹段起点滞后时间
LTDMC.dmc_conti_delay_pwm_to_start(m_cardId, 0, channel, onOff, deTime, deMode, revTime);
//打开连续插补缓冲区
LTDMC.dmc_conti_open_list(m_cardId, 0, 2, new ushort[] { 0, 1 });
//第一段轨迹直线插补，绝对模式
ushort[] axiss = { 0, 1 };
//目标位置
double[] tPos = { 200, 0 };
LTDMC.dmc_conti_line_unit(m_cardId, 0, 2, axiss, tPos, 0, 1);
//相当于轨迹终点，提前1S关闭使能
double ahValue = 1; //提前1秒
ushort ahMode = 0; //输出提前模式：提前时间
LTDMC.dmc_conti_ahead_pwm_to_stop(m_cardId, 0, channel, 0, ahValue, ahMode, 0);
//禁止PWM输出
//LTDMC.dmc_set_pwm_enable(m_cardId, 0);
//设置第二段轨迹直线插补，绝对模式
//目标位置
double[] ePos = { 0, 0 };
LTDMC.dmc_conti_line_unit(m_cardId, 0, 2, axiss, ePos, 0, 1);
//开始连续插补
LTDMC.dmc_conti_start_list(m_cardId, 0);
//关闭连续插补缓冲区
LTDMC.dmc_conti_close_list(m_cardId, 0);
}