//绝对值移动
public int AbsoluteMove(int axisNo, double position, double maxSpeed)
{
SetAxisParam(axisNo, 36, maxSpeed);
var wait = new ASYNCALL();
var ret = APS168.APS_ptp(axisNo, 0, position, ref wait);
return(ret);
}
/// <summary>
/// 两轴圆弧插补轨迹移动
/// </summary>
/// <param name="axisNo1">轴1ID</param>
/// <param name="axisNo2">轴2ID</param>
/// <param name="centreNum1">圆心1</param>
/// <param name="centreNum2">圆心2</param>
/// <param name="endNum1">终点1</param>
/// <param name="endNum2">终点1</param>
/// <param name="dir">方向</param>
/// <param name="velocityCurveParams">速度参数</param>
/// <param name="Option">位集指定选项，该选项可以启用指定的参数和函数。</param>
public void MoveArc2(int axisNo1, int axisNo2, double centreNum1, double centreNum2, double endNum1, double endNum2, short dir, VelocityCurve velocityCurveParams, int Option)
{
var axis = new int[2];
var pos1 = new double[2];
var pos2 = new double[2];
double TranPara = 0;
ASYNCALL wait = new ASYNCALL();
axis[0] = axisNo1;
axis[1] = axisNo2;
pos1[0] = centreNum1;
pos1[1] = centreNum2;
//设置速度
SetAxisVelocity(axisNo1, velocityCurveParams);
//启动运动
APS168.APS_arc2_ce_all(axis, Option, pos1, pos2, dir, ref TranPara, velocityCurveParams.Strvel, velocityCurveParams.Maxvel, velocityCurveParams.Strvel, velocityCurveParams.Svacc, velocityCurveParams.Svdec, velocityCurveParams.Sfac, ref wait);
}
/// <summary>
/// 两轴直线插补轨迹移动
/// </summary>
/// <param name="axisNo1">轴1ID</param>
/// <param name="axisNo2">轴2ID</param>
/// <param name="pulseNum1">坐标1</param>
/// <param name="pulseNum2">坐标2</param>
/// <param name="velocityCurveParams">速度参数</param>
/// <param name="Option">位集指定选项，该选项可以启用指定的参数和函数。</param>
public void MoveLine2(int axisNo1, int axisNo2, double pulseNum1, double pulseNum2,
VelocityCurve velocityCurveParams, int Option)
{
var axis = new int[2];
var pos = new double[2];
double TransPara = 0;
ASYNCALL wait = new ASYNCALL(); //A waiting call
axis[0] = axisNo1;
axis[1] = axisNo2;
pos[0] = pulseNum1;
pos[1] = pulseNum2;
//设置速度
SetAxisVelocity(axisNo1, velocityCurveParams);
//启动运动
APS168.APS_line_all(2, axis, Option, pos, ref TransPara, velocityCurveParams.Strvel, velocityCurveParams.Maxvel, velocityCurveParams.Strvel, velocityCurveParams.Svacc, velocityCurveParams.Svdec, velocityCurveParams.Sfac, ref wait);
}
/// <summary>
/// Velocity move(speed_1 = 200.0).
/// </summary>
/// <param name="dir">The direction.</param>
public override void VelocityMove(Int32 dir)
{
Int32 Option = dir; //0: Positive direction 1:negative direction
ASYNCALL p = new ASYNCALL();
double speed = 200.0; //1000-2000 may be the final selection speed
APS168.APS_set_axis_param_f(mCardPara.AxisID, (Int32)APS_Define.PRA_STP_DEC, 1000000.0);
APS168.APS_set_axis_param_f(mCardPara.AxisID, (Int32)APS_Define.PRA_CURVE, 0.5); //Set acceleration rate
APS168.APS_set_axis_param_f(mCardPara.AxisID, (Int32)APS_Define.PRA_ACC, 1000000.0); //Set acceleration rate
APS168.APS_set_axis_param_f(mCardPara.AxisID, (Int32)APS_Define.PRA_DEC, 1000000.0); //Set deceleration rate
//go
APS168.APS_vel(mCardPara.AxisID, Option, speed, ref p);
if (dir == 0)
{
this.currentDirection = MotionDirection.Returning;
}
else
{
this.currentDirection = MotionDirection.Pressing;
}
}
/// <summary>
/// Point to point move.
/// </summary>
/// <param name="dir">The direction.</param>
/// <param name="distance">The distance.</param>
public override void PtpMove(Int32 dir, Int32 distance)
{
int err = -1;
Int32 Option = dir; //0: Positive direction 1:negative direction
ASYNCALL p = new ASYNCALL();
//err = APS168.APS_set_axis_param_f(Axis_ID, (Int32)APS_Define.PRA_CURVE, 0.5);
//if (err != (Int32)APS_Define.ERR_NoError) return;
//err = APS168.APS_set_axis_param_f(Axis_ID, (Int32)APS_Define.PRA_ACC, 1000000.0);
//if (err != (Int32)APS_Define.ERR_NoError) return;
//err = APS168.APS_set_axis_param_f(Axis_ID, (Int32)APS_Define.PRA_DEC, 1000000.0);
//if (err != (Int32)APS_Define.ERR_NoError) return;
//err = APS168.APS_set_axis_param_f(Axis_ID, (Int32)APS_Define.PRA_VM, 100000.0);
//if (err != (Int32)APS_Define.ERR_NoError) return err;
int pos = 0;
int prePos = 0;
int refPos = 0;
if (Option == 0)
{
distance *= -1;
}
//System.Threading.Thread.Sleep(10);
//if (dir == 0)
//{
// int motionStatus = 0;
// do{
// motionStatus = APS168.APS_motion_io_status(Axis_ID);
// if (motionStatus!=128)
// motionStatus =0;
// motionStatus &= 0x40;
// motionStatus = motionStatus >> 6;
// } while (motionStatus != 1);
//}
//err = APS168.APS_get_position(Axis_ID, ref refPos);
err = APS168.APS_get_position(mCardPara.AxisID, ref prePos);
do
{
if (prePos != refPos)
{
prePos = refPos;
}
APS168.APS_get_position(mCardPara.AxisID, ref refPos);
System.Threading.Thread.Sleep(4);
} while (prePos != refPos);
if (err != (Int32)APS_Define.ERR_NoError)
{
return;
}
if (dir == 0)
{
this.currentDirection = MotionDirection.Returning;
}
else
{
this.currentDirection = MotionDirection.Pressing;
}
err = APS168.APS_ptp_all(mCardPara.AxisID, 0, refPos - distance, 0.0, 3000.0, 0.0, 10000000.0, 10000000.0, 0.5, ref p);
//err = APS168.APS_absolute_move(Axis_ID, refPos - distance, 600);
if (err != (Int32)APS_Define.ERR_NoError)
{
return;
}
if (this.currentDirection == MotionDirection.Returning)
{
do
{
APS168.APS_get_position(mCardPara.AxisID, ref pos);
System.Threading.Thread.Sleep(1);
} while (pos != refPos - distance && this.currentDirection != MotionDirection.Stop);
this.currentDirection = MotionDirection.Stop;
}
return;
}
