/// <summary>
/// 获取当前点的坐标系坐标
/// </summary>
/// <param name="type"></param>
/// 0 - NO COMPENSATION
/// 1 - AFFINITY COMPENSATION
/// 2 - LINE COMPENSATION
/// <returns></returns>
public static Vector Get_Coordinate(int type)
{
Vector Result = new Vector(0, 0);
double[] Curent_Pos = new double[2];
MC.GT_GetCrdPos(1, out Curent_Pos[0]);
Vector Tem_Pos = new Vector(-(decimal)Curent_Pos[0] / Para_List.Parameter.Gts_Pos_reference, -(decimal)Curent_Pos[1] / Para_List.Parameter.Gts_Pos_reference);
//calculate data
if (type == 0)
{
Result = new Vector(Tem_Pos);
}
else
{
if (Para_List.Parameter.Gts_Affinity_Type == 2)//线性
{
Result = new Vector(Gts_Cal_Data_Resolve.Get_Line_Fit_Coordinate_MA(Tem_Pos.X, Tem_Pos.Y, Fit_Matrices_MA));
}
else
{
Result = new Vector(Gts_Cal_Data_Resolve.Get_Affinity_Point(1, Tem_Pos.X, Tem_Pos.Y, affinity_Matrices));
}
}
return(Result);
}
/// <summary>
/// 插补运动运行
/// </summary>
public static void Interpolation_Start()
{
//设置X轴误差带
Gts_Return = MC.GT_SetAxisBand(1, Para_List.Parameter.Axis_X_Band, 4 * Para_List.Parameter.Axis_X_Time);//20-0.1um,4*2-250us
Log.Commandhandler("X轴到位误差带", Gts_Return);
//设置Y轴误差带
Gts_Return = MC.GT_SetAxisBand(2, Para_List.Parameter.Axis_Y_Band, 4 * Para_List.Parameter.Axis_Y_Time);//20-0.1um,4*2-250us
Log.Commandhandler("Y轴到位误差带", Gts_Return);
//缓存区延时指令
Gts_Return = MC.GT_BufDelay(1, 2, 0);//2ms
Log.Commandhandler("Line_Interpolation--缓存区延时指令", Gts_Return);
//启动坐标系1、FIFO0插补运动
Gts_Return = MC.GT_CrdStart(1, 0);
Log.Commandhandler("Line_Interpolation--启动坐标系1、FIFO0插补运动", Gts_Return);
//脉冲输出
do
{
//查询坐标系1、FIFO0插补运动状态
Gts_Return = MC.GT_CrdStatus(
1, //坐标系1
out run, //插补运动状态
out segment, //当前已完成的插补段数
0
);
//查询剩余插补段数
Gts_Return = MC.GT_GetRemainderSegNum(
1, //坐标系1
out Remain_Segment, //剩余插补段数
0
);
//获取坐标系位置
Gts_Return = MC.GT_GetCrdPos(1, out Crd_Pos[0]);
//延时
Thread.Sleep(100);
} while (run == 1);
////到位检测
//do
//{
// //延时
// Thread.Sleep(100);
//} while (!Prompt.Refresh.Axis01_Posed || !(Prompt.Refresh.Axis02_Posed));
//延时
Thread.Sleep(Para_List.Parameter.Posed_Time);
}