/// <summary>
/// 两轴阻塞检测运动完成函数，调用Axis类中的MotionDone函数
/// </summary>
/// <param name="axis">轴号，0-based</param>
/// <returns>0表示成功，非0值表示错误码</returns>
public static int MotionDone(Point2i axis)
{
var axis_ = new List <int>()
{
axis.x, axis.y
};
return(MotionDone(axis_));
}
/// <summary>
/// 两轴直线插补运动，发指令后，阻塞检测完成。
/// </summary>
/// <param name="axis">轴1，0-based</param>
/// <param name="pos">目标位置</param>
/// <param name="resultantVel">运动合速度，单位m/s</param>
/// <param name="resultantAcc">运动合加速度，单位m/s^2</param>
/// <param name="maxSeconds">最大检测完成时间，超时时间，单位秒</param>
/// <returns>0表示成功，非零值表示错误码</returns>
public static int LineOver(Point2i axis, Point2d pos, double resultantVel, double resultantAcc, double maxSeconds = 20)
{
int err_ = 0;
if ((err_ = Line(axis, pos, resultantVel, resultantAcc)) != 0)
{
return(err_);
}
Thread.Sleep(100);
return(err_ = LineDone(maxSeconds));
}
/// <summary>
/// 两轴直线插补运动指令，不检测完成
/// </summary>
/// <param name="axis">轴ID, 0-based</param>
/// <param name="pos">目标位置</param>
/// <param name="resultantVel">运动合速度，单位m/s</param>
/// <param name="resultantAcc">运动合加速度，单位m/s^2</param>
/// <returns>0表示成功，负值表示错误码</returns>
public static int Line(Point2i axis, Point2d pos, double resultantVel, double resultantAcc)
{
int err_ = 0;
if (!online_)
{
return(0);
}
if (!_isIdNormal(axis.x) || !_isIdNormal(axis.y))
{
return((int)(Error.IdOutOfRange));
}
if (axisList_[axis.x].cardId != axisList_[axis.y].cardId)
{
return((int)(Error.AxesNotInOneCard));
}
lhmtc.CrdCfg crdCfg_ = new lhmtc.CrdCfg();
crdCfg_.dimension = 2;
crdCfg_.profile = new short[8] {
axisList_[axis.x].id, axisList_[axis.y].id, 0, 0, 0, 0, 0, 0
};
crdCfg_.orignPos = new int[8] {
0, 0, 0, 0, 0, 0, 0, 0
};
crdCfg_.setOriginFlag = 1;
crdCfg_.evenTime = 10;
crdCfg_.synAccMax = 720; //[0-750]
crdCfg_.synVelMax = 720; //[0-750]
crdCfg_.synDecSmooth = 1;
crdCfg_.synDecAbrupt = 500;
if ((err_ = lhmtc.LH_SetCrdPrm(crdSys_, ref crdCfg_, false)) != 0)
{
return(err_);
}
if ((err_ = lhmtc.LH_CrdClear(crdSys_, 1, fifo_, false)) != 0)
{
return(err_);
}
if ((err_ = lhmtc.LH_LnXY(crdSys_,
axisList_[axis.x]._mm2pls(pos.x), axisList_[axis.y]._mm2pls(pos.y),
axisList_[axis.x]._vel2pls(resultantVel), axisList_[axis.x]._acc2pls(resultantAcc),
0, fifo_)) != 0)
{
return(err_);
}
if ((err_ = lhmtc.LH_CrdStart((short)(1 << (crdSys_ - 1)), (short)(1 << (fifo_ - 1)), false)) != 0)
{
return(err_);
}
return(0);
}
/// <summary>
/// 两轴绝对运动+阻塞检测完成，调用Axis类中的AbsMove + Done方法
/// </summary>
/// <param name="axis">轴号，0-based</param>
/// <param name="pos">目标位置，单位mm</param>
/// <param name="spd_ratio">运动速率，正数，可以大于1</param>
/// <returns>0表示成功，非0值表示错误码</returns>
public static int AbsMoveOver(Point2i axis, Point2d pos, double spd_ratio = 1.0)
{
var axis_ = new List <int>()
{
axis.x, axis.y
};
var pos_ = new List <double>()
{
pos.x, pos.y
};
return(AbsMoveOver(axis_, pos_, spd_ratio));
}
/// <summary>
/// 设置两通道分别线性触发位置，并启动位置监控
/// </summary>
/// <param name="startPos">两个触发通道的起始点，绝对位置，单位mm</param>
/// <param name="interval">间距，单位mm，如果设置往负方向等间距触发，则为负值</param>
/// <param name="trigCnt">触发次数</param>
/// <returns>0表示成功，非零表示错误</returns>
public int TriggerLinear(Point2d startPos, Point2d interval, Point2i trigCnt)
{
if (!online_)
{
return(0);
}
int[] pBuf1 = new int[trigCnt.x];
for (int i = 0; i < trigCnt.x; i++)
{
pBuf1[i] = _mm2pls(startPos.x + interval.x * i);
}
int[] pBuf2 = new int[trigCnt.y];
for (int i = 0; i < trigCnt.y; i++)
{
pBuf2[i] = _mm2pls(startPos.y + interval.y * i);
}
return(lhmtc.LH_CompareData(id, 1, 0, 0, pulseWidth_, ref pBuf1[0], (short)trigCnt.x, ref pBuf2[0], (short)trigCnt.y, false));
}
