/// <summary>
/// 回零
/// </summary>
/// <param name="axisNo"></param>
/// <param name="homeMode">回原点方式</param>
/// <param name="DirMode">0:DIR_CW,1:DIR_CCW</param>
public override void BackHome(short axisNo, short HomeMode, short Org, short Ez, short EZcount, short erc
, VelocityCurve velocityCurveParams, double ORGOffset, uint DirMode)
{
//设置速度
SetAxisHomeVelocity(axisNo, velocityCurveParams);
Motion.mAcm_AxHome(m_Axises[axisNo], (uint)HomeMode, DirMode);
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="axisNo"></param>
/// <param name="position"></param>
/// <param name="velocityCurveParams"></param>
public override void AbsoluteMove(short axisNo, double position, VelocityCurve velocityCurveParams)
{
//设置速度
SetAxisVelocity(axisNo, velocityCurveParams);
//启动运动
Motion.mAcm_AxMoveAbs(m_Axises[axisNo], position);
}
/// <summary>
/// 设置轴速度
/// </summary>
/// <param name="axisNo"></param>
/// <param name="pulseNum"></param>
/// <param name="velocityCurveParams"></param>
public void SetAxisHomeVelocity(int axisNo, VelocityCurve velocityCurveParams)
{
var ret = Motion.mAcm_SetF64Property(m_Axises[axisNo], (uint)PropertyID.PAR_AxVelLow, velocityCurveParams.Strvel);
if (ret != (uint)ErrorCode.SUCCESS)
{
return;
}
ret = Motion.mAcm_SetF64Property(m_Axises[axisNo], (uint)PropertyID.PAR_AxVelHigh, velocityCurveParams.Maxvel);
if (ret != (uint)ErrorCode.SUCCESS)
{
return;
}
ret = Motion.mAcm_SetF64Property(m_Axises[axisNo], (uint)PropertyID.PAR_AxAcc, velocityCurveParams.Tacc);
if (ret != (uint)ErrorCode.SUCCESS)
{
return;
}
ret = Motion.mAcm_SetF64Property(m_Axises[axisNo], (uint)PropertyID.PAR_AxDec, velocityCurveParams.Tdec);
if (ret != (uint)ErrorCode.SUCCESS)
{
return;
}
ret = Motion.mAcm_SetF64Property(m_Axises[axisNo], (uint)PropertyID.PAR_AxJerk, (int)velocityCurveParams.VelocityCurveType);
if (ret != (uint)ErrorCode.SUCCESS)
{
return;
}
}
/// <summary>
/// 反向移动。
/// </summary>
public override void Negative()
{
var velocityCurve = new VelocityCurve {
Maxvel = (Speed ?? 0) * Transmission.EquivalentPulse
};
ApsController.ContinuousMove(NoId, MoveDirection.Negative, velocityCurve);
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="axisNo"></param>
/// <param name="pulseNum"></param>
/// <param name="velocityCurveParams"></param>
public void MoveAbsPulse(int axisNo, int pulseNum, VelocityCurve velocityCurveParams)
{
//设置速度
SetAxisVelocity(axisNo, velocityCurveParams);
//启动运动
APS168.APS_absolute_move(axisNo, pulseNum, (int)velocityCurveParams.Maxvel);
}
/// <summary>
/// 运动轴相对移动到指定位置。
/// </summary>
/// <param name="value">要移动到的距离。</param>
/// <param name="velocityCurve"></param>
public override void MoveDelta(double value, VelocityCurve velocityCurve = null)
{
if (!isCondition)
{
return;
}
ApsController.RelativeMove(NoId, (int)value, velocityCurve);
}
/// <summary>
/// 单轴相对运动
/// </summary>
/// <param name="axisNo"></param>
/// <param name="pulseNum"></param>
/// <param name="velocityCurveParams"></param>
/// <returns></returns>
public override void RelativeMove(short axisNo, double position, VelocityCurve velocityCurveParams)
{
//设置速度
SetAxisVelocity(axisNo, velocityCurveParams);
//启动运动
APS168.APS_relative_move(axisNo, (int)position, (int)velocityCurveParams.Maxvel);
}
/// <summary>
/// 单轴绝对运动
/// </summary>
/// <param name="axisNo"></param>
/// <param name="pulseNum"></param>
/// <param name="velocityCurveParams"></param>
public override void AbsoluteMove(short axisNo, double pulseNum, VelocityCurve velocityCurveParams)
{
//设置速度
SetAxisVelocity(axisNo, velocityCurveParams);
//启动运动
APS168.APS_absolute_move(axisNo, (int)pulseNum, (int)velocityCurveParams.Maxvel);
}
/// <summary>
/// 运动轴相对移动到指定位置。
/// </summary>
/// <param name="value">要移动到的距离。</param>
/// <param name="velocityCurve"></param>
public override void MoveDelta(double value, VelocityCurve velocityCurve = null)
{
var Data = value * Transmission.EquivalentPulse;
var velocity = velocityCurve;
velocity.Maxvel = velocityCurve.Maxvel * Transmission.EquivalentPulse;
ApsController.MoveRelPulse(NoId, (int)Data, velocity);
velocity.Maxvel /= Transmission.EquivalentPulse;
}
private void SetAxisVelocity(int axisNo, VelocityCurve velocityCurveParams)
{
//设置速度
//if (velocityCurveParams.Sfac != 0)
//{
//SetAxisParam(axisNo, (int) APS_Define.PRA_SF, velocityCurveParams.Sfac);
SetAxisParam(axisNo, (int)APS_Define.PRA_ACC, velocityCurveParams.Svacc);
SetAxisParam(axisNo, (int)APS_Define.PRA_DEC, velocityCurveParams.Svdec);
//}
}
public override void BackHome(short axisNo, short HomeMode, short Org, short Ez, short EZcount, short erc
, VelocityCurve velocityCurveParams, double ORGOffset, uint DirMode)
{
var ret = Motion._8164_set_home_config(axisNo, HomeMode, Org, Ez, EZcount, erc);
ThrowIfResultError(ret);
ret = Motion._8164_home_search(axisNo, velocityCurveParams.Strvel, velocityCurveParams.Maxvel,
velocityCurveParams.Tacc, ORGOffset);
ThrowIfResultError(ret);
}
private void button1_Click(object sender, EventArgs e)
{
try {
var velocityCurve = new VelocityCurve {
Maxvel = m_Axis.Speed ?? 0
};
double Value = Convert.ToDouble(textBox1.Text);
m_Axis.MoveTo(Value, velocityCurve);
}
catch { }
}
private void btnZdec_Click(object sender, EventArgs e)
{
if (moveSelectHorizontal1.MoveMode.Continue || Global.IsLocating)
{
return;
}
var velocityCurve = new VelocityCurve {
Maxvel = m_Zaxis.Speed ?? 0
};
m_Zaxis.MoveDelta(-1 * moveSelectHorizontal1.MoveMode.Distance, velocityCurve);
}
/// <summary>
/// 反向移动。
/// </summary>
public override void Negative()
{
if (!isCondition)
{
return;
}
var velocityCurve = new VelocityCurve {
Strvel = VelocityCurveRun.Strvel, Maxvel = (Speed ?? 0) * 10000, Tacc = VelocityCurveRun.Tacc
};
ApsController.ContinuousMove(NoId, MoveDirection.Negative, velocityCurve);
}
private void btnRYadd_Click(object sender, EventArgs e)
{
if (moveSelectHorizontal1.MoveMode.Continue || Global.IsLocating)
{
return;
}
var velocityCurve = new VelocityCurve {
Maxvel = Station1.RYaxisServo.Speed ?? 0
};
Station1.RYaxisServo.MoveDelta(1 * moveSelectHorizontal1.MoveMode.Distance, velocityCurve);
}
public static VelocityCurve Parse(string str)
{
string[] strValue = str.Split(',');
var velocityCurve = new VelocityCurve();
velocityCurve.Strvel = double.Parse(strValue[0]);
velocityCurve.Maxvel = double.Parse(strValue[1]);
velocityCurve.Tacc = double.Parse(strValue[2]);
velocityCurve.Tdec = double.Parse(strValue[3]);
velocityCurve.Svacc = double.Parse(strValue[4]);
velocityCurve.Svdec = double.Parse(strValue[5]);
velocityCurve.Sfac = double.Parse(strValue[6]);
velocityCurve.VelocityCurveType = (CurveTypes)(byte.Parse(strValue[7]));
return(velocityCurve);
}
public override void AbsoluteMove(short axisNo, double position, VelocityCurve velocityCurveParams)
{
bool sStart = CurveTypes.S == velocityCurveParams.VelocityCurveType;
if (sStart)
{
var ret = Motion._8164_start_ta_move(axisNo, position, velocityCurveParams.Strvel, velocityCurveParams.Maxvel, velocityCurveParams.Tacc, velocityCurveParams.Tdec);
ThrowIfResultError(ret);
}
else
{
var ret = Motion._8164_start_sa_move(axisNo, position, velocityCurveParams.Strvel, velocityCurveParams.Maxvel, velocityCurveParams.Tacc, velocityCurveParams.Tdec,
velocityCurveParams.Svacc, velocityCurveParams.Svdec);
ThrowIfResultError(ret);
}
}
/// <summary>
/// 两轴做插补相对移动
/// </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>
public void MoveLine2Relative(int axisNo1, int axisNo2, int pulseNum1, int pulseNum2,
VelocityCurve velocityCurveParams)
{
var axis = new int[2];
var pos = new int[2];
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_relative_linear_move(2, axis, pos, (int)velocityCurveParams.Maxvel);
}
/* Returns the orbital velocity in degrees per year.
* param rad Radius in parsec
*/
double GetOrbitalVelocity(double rad)
{
double vel_kms; // velocity in kilometer per seconds
// with dark matter
vel_kms = VelocityCurve.v(rad);
// without dark matter:
// vel_kms = VelocityCurve.vd(rad);
// Calculate velocity in degree per year
double u = 2 * Math.PI * rad * PC_TO_KM;
double time = u / (vel_kms * SEC_PER_YEAR);
return(360.0 / time);
}
/// <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);
}
private void btnJogAdd_Click(object sender, EventArgs e)
{
if (MoveMode.Continue)
{
return;
}
if (!m_Axis.IsDone)
{
return;
}
var Value = (double)(MoveMode.Distance);
Value *= 1;
var velocityCurve = new VelocityCurve {
Maxvel = m_Axis.Speed * m_Axis.Transmission.EquivalentPulse ?? 0
};
m_Axis.MoveDelta(Value, velocityCurve);
}
private void btnJogAdd_Click(object sender, EventArgs e)
{
if (MoveMode.Continue)
{
return;
}
if (!m_Axis.IsDone)
{
return;
}
var Value = MoveMode.Distance;
Value *= 1;
var velocityCurve = new VelocityCurve {
Maxvel = m_Axis.Speed ?? 0
};
m_Axis.MoveDelta(Value, velocityCurve);
}
public void Execute(Entity entity, int index, DynamicBuffer <VelocityCurveBuffer> velocityCurveBuffer, ref PhysicsVelocity physicsVelocity)
{
float3 newVelocity = new float3(0, 0, 0);
for (int i = 0; i < velocityCurveBuffer.Length; i++)
{
VelocityCurveBuffer velocityCurveBufferElement = velocityCurveBuffer[i];
VelocityCurve velocityCurve = VelocityCurveGroup[velocityCurveBufferElement.VelocityCurveEntity];
newVelocity.x += velocityCurve.X.CurrentVelocity;
newVelocity.y += velocityCurve.Y.CurrentVelocity;
newVelocity.z += velocityCurve.Z.CurrentVelocity;
}
physicsVelocity.Linear = newVelocity;
//Clear the buffer
velocityCurveBuffer.Clear();
}
/// <summary>
/// 运动轴轴移动到指定的位置。
/// </summary>
/// <param name="value">将要移动到的位置。</param>
/// <param name="velocityCurve">移动时的运行参数。</param>
public override void MoveTo(double value, VelocityCurve velocityCurve = null)
{
if (!isCondition)
{
return;
}
var Data = value * Transmission.EquivalentPulse;
var velocity = velocityCurve;
velocity.Strvel = VelocityCurveRun.Strvel;
if (VelocityCurveRun.Tacc >= 50000000)
{
velocity.Tacc = 50000000;
velocity.Tdec = 50000000;
}
else
{
velocity.Tacc = VelocityCurveRun.Tacc;
velocity.Tdec = VelocityCurveRun.Tacc;
}
velocity.Maxvel = velocityCurve.Maxvel * Transmission.EquivalentPulse;
ApsController.AbsoluteMove(NoId, (int)Data, velocity);
}
/// <summary>
/// 线性差补方式运动。
/// </summary>
/// <param name="axisNo1"></param>
/// <param name="axisNo2"></param>
/// <param name="pulseNum1"></param>
/// <param name="pulseNum2"></param>
/// <param name="velocityCurve"></param>
public void MoveLine(int axisNo1, int axisNo2, int pulseNum1, int pulseNum2, VelocityCurve velocityCurve)
{
throw new NotImplementedException();
}
/// <summary>
/// 直线插补/插补
/// </summary>
public void Line2Interpolation(short CardNo, short axisNoX, double posX, double posY, VelocityCurve velocityCurveParams)
{
}
/// <summary>
/// 两轴圆弧插补绝对移动（方向）
/// </summary>
/// <param name="axisNo">轴ID</param>
/// <param name="CX">圆心坐标X</param>
/// <param name="CY">圆心坐标Y</param>
/// <param name="EX">终点坐标X</param>
/// <param name="EY">终点坐标Y</param>
/// <param name="Direction">0:DIR_CW,1:DIR_CCW</param>
/// <param name="velocityCurveParams">速度参数</param>
public void MoveArc2Absolute(int axisNo, double CX, double CY, double EX, double EY, short Direction, VelocityCurve velocityCurveParams)
{
var Cpos = new double[2];
var Epos = new double[2];
uint pArrayElements = 2;
Cpos[0] = CX;
Cpos[1] = CY;
Epos[0] = EX;
Epos[1] = EY;
//设置速度
SetAxisVelocity(axisNo, velocityCurveParams);
//启动运动
Motion.mAcm_GpMoveCircularAbs(m_Axises[axisNo], Cpos, Epos, ref pArrayElements, Direction);
}
/// <summary>
/// 两轴直线插补绝对移动
/// </summary>
/// <param name="axisNo">轴ID</param>
/// <param name="position1">坐标1</param>
/// <param name="position2">坐标2</param>
/// <param name="velocityCurveParams">速度参数</param>
public void MoveLine2Absolute(int axisNo, double position1, double position2, VelocityCurve velocityCurveParams)
{
var pos = new double[2];
uint pArrayElements = 2;
pos[0] = position1;
pos[1] = position2;
//设置速度
SetAxisVelocity(axisNo, velocityCurveParams);
//启动运动
Motion.mAcm_GpMoveDirectAbs(m_Axises[axisNo], pos, ref pArrayElements);
}
/// <summary>
/// 连续运动
/// </summary>
/// <param name="axisNo"></param>
/// <param name="moveDirection"></param>
/// <param name="velocityCurveParams"></param>
/// <returns></returns>
public override void ContinuousMove(short axisNo, MoveDirection moveDirection, VelocityCurve velocityCurveParams)
{
SetAxisVelocity(axisNo, velocityCurveParams);
Motion.mAcm_AxMoveVel(m_Axises[axisNo], (ushort)moveDirection);
}
/// <summary>
/// 直线插补/插补
/// </summary>
public void Line3Interpolation(short CardNo, double posX, double posY, double posZ, VelocityCurve velocityCurveParams)
{
}
