public override async Task AbsMoveAsync(uint axisindex, int position)
{
if (!m_isInitialed)
{
throw new Exception("请先初始化");
}
if (!m_isLoadConfigFile)
{
throw new Exception("未加载xml配置文件");
}
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_ACC, acc);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_DEC, dec);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_VS, startv);
//APS168.APS_set_axis_param_f((int)axisindex, (Int32)APS_Define.PRA_VM, maxv);
int maxv = 0;
APS168.APS_get_axis_param((int)axisindex, (int)APS_Define.PRA_VM, ref maxv);
await Task.Run(() =>
{
APS168.APS_absolute_move((int)axisindex, position, (int)maxv);
//等待Motion Down完成
int motionStatusMdn = 5;
while ((APS168.APS_motion_status((int)axisindex) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(100);
}
});
}
/// <summary>
/// To the start positoin(-116000).
/// </summary>
/// <returns>System.Int32.</returns>
public override int ToStartPositoin()
{
int err = -1;
int pos = 0;
if (this.currentDirection != MotionDirection.Stop || this.currentDirection != MotionDirection.Initial)
{
err = APS168.APS_stop_move(mCardPara.AxisID);
System.Threading.Thread.Sleep(200);
}
int startPos = -116000;//-116000 for smart phone demo; -50000 for Fred's customer
err = APS168.APS_get_position(mCardPara.AxisID, ref pos);
if (pos == startPos)
{
return(err);
}
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, 2000000.0); //Set acceleration rate
APS168.APS_set_axis_param_f(mCardPara.AxisID, (Int32)APS_Define.PRA_DEC, 2000000.0); //Set deceleration rate
err = APS168.APS_absolute_move(mCardPara.AxisID, startPos, 200000);
do
{
APS168.APS_get_position(mCardPara.AxisID, ref pos);
} while (pos != startPos);
this.currentDirection = MotionDirection.Stop;
return(err);
}
private void btnAbsoluteMove_Click(object sender, EventArgs e)
{
_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
var praAcc = Convert.ToDouble(txtPraAcc.Text);
var praDec = Convert.ToDouble(txtPraDec.Text);
var praVm = Convert.ToInt32(txtPraVm.Text);
var pulse = Convert.ToInt32(txtAbsolutePulse.Text);
APS168.APS_set_axis_param_f(_selectAxis, (int)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxis, (int)APS_Define.PRA_DEC, praDec); // Set deceleration rate
if (_card0.IsLoadXmlFile)
{
var task = new Task(() =>
{
APS168.APS_absolute_move(_selectAxis, pulse, praVm);
//等待Motion Down完成
var motionStatusMdn = 5;
while ((APS168.APS_motion_status(_selectAxis) & (1 << motionStatusMdn)) == 0)
{
Thread.Sleep(100);
}
MessageBox.Show("运动完成！");
});
task.Start();
}
else
{
MessageBox.Show("请加载配置文件！");
}
}
/// <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>
/// 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);
}
private void btnRun_Click(object sender, EventArgs e)
{
//重置触发计数
//APS168.APS_reset_trigger_count(_card0.CardId, 0);
//关闭触发
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//0=Negative direction , 1= Positive direction, 2=Bi-direction(No direction)
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TCMP0_DIR, 2);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("0100", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_PWD, 50000); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(_card0.CardId, (short)APS_Define.TGR_TRG0_LOGIC, 0); //设置1可能会多一次触发
//重置触发计数
//APS168.APS_reset_trigger_count(_card0.CardId, 0);
//线程1，设置触发点，开始运动
Task.Factory.StartNew(() =>
{
//位置比较触发点
var CMP_x = new[]
{
2000, 4000, 7000, 9000, 12000, 15000, 19000, 22000, 23000, 25000,
24000, 21000, 18000, 15000, 11000, 9000
};
APS168.APS_set_trigger_table(_card0.CardId, 0, CMP_x, CMP_x.Length);
//运动到30000
APS168.APS_absolute_move(_selectAxis, 30000, 30000);
while ((APS168.APS_motion_status(_selectAxis) & (1 << 5)) == 0) //motionStatusMdn = 5
{
Thread.Sleep(100);
}
//运动到0
APS168.APS_absolute_move(_selectAxis, 0, 30000);
while ((APS168.APS_motion_status(_selectAxis) & (1 << 5)) == 0) //motionStatusMdn = 5
{
Thread.Sleep(100);
}
});
}
public void MoveAbs(int x, int y)
{
//_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
double praAcc = 1000000;
double praDec = 1000000;
int praVm = 1000;
int pulseX = x;
int pulseY = y;
if (IsInitialed == false)
{
return;
}
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisX, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(_selectAxisY, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//if (_card0.IsLoadXmlFile)
{
Task task = new Task(() =>
{
APS168.APS_absolute_move(_selectAxisX, pulseX, praVm);
APS168.APS_absolute_move(_selectAxisY, pulseY, praVm);
//等待Motion Down完成
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(_selectAxisX) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(_selectAxisY) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(100);
}
});
task.Start();
}
}
private void button7_Click(object sender, EventArgs e)
{
var boardId = Convert.ToInt32(txtCardId.Text);
int motionStatusCstp = 0, motionStatusAstp = 16;
APS168.APS_absolute_move(0, -220000, 50000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
Thread.Sleep(500);
APS168.APS_absolute_move(1, 30000, 10000);
while ((APS168.APS_motion_status(1) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(1) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
APS168.APS_absolute_move(2, 0, 10000);
while ((APS168.APS_motion_status(2) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(2) & (1 << motionStatusAstp)) == 0)
{
MessageBox.Show("轴" + "到位成功！");
}
else
{
MessageBox.Show("轴" + "到位失败！");
}
APS168.APS_absolute_move(1, -15000, 10000);
//关闭触发
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//Bi-direction(No direction)
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_DIR, 1);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("0100", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_PWD, 1500); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_LOGIC, 0);
//add points to 1th
//int[] xPoint = new int[] { 100000, 90000, 80000 };
var xPoint = new int[330];
var csvFile = new CsvReader("x1.csv");
var xTable = csvFile.ReadIntoDataTable(new[] { typeof(int) });
for (var i = 0; i < 330; i++)
{
xPoint[i] = Convert.ToInt32(xTable.Rows[i][0]); //表格行的数据
}
APS168.APS_set_trigger_table(boardId, 0, xPoint, 330);
}
private void btnLineTrigTest_Click(object sender, EventArgs e)
{
int motionStatusCstp = 0, motionStatusAstp = 16;
var boardId = Convert.ToInt32(txtCardId.Text);
var praAcc = Convert.ToDouble(txtPraAcc.Text);
var praDec = Convert.ToDouble(txtPraDec.Text);
APS168.APS_set_axis_param_f(0, (int)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
APS168.APS_set_axis_param_f(0, (int)APS_Define.PRA_DEC, praDec); // Set deceleration rate
//回起始点
APS168.APS_absolute_move(0, -220000, 100000);
APS168.APS_absolute_move(1, -15000, 100000);
APS168.APS_absolute_move(2, 0, 10000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
}
APS168.APS_absolute_move(0, -62000, 50000);
while ((APS168.APS_motion_status(0) & (1 << motionStatusCstp)) == 0)
{
Thread.Sleep(100);
}
if ((APS168.APS_motion_status(0) & (1 << motionStatusAstp)) == 0)
{
}
//关闭触发
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, 0);
//TRG 0 ~ 3 enable by bit
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG_EN, Convert.ToInt32("0001", 2));
//Source Encoder0
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_SRC, 0);
//Bi-direction(No direction)
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TCMP0_DIR, 1);
//Trigger output 0 (TRG0) source Bit( 1:On, 0:Off) Bit 0: Manual Bit 1:Reserved Bit 2:TCMP0 Bit 3:TCMP1 Bit 4:LCMP0 Bit 5:LCMP1
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_SRC, Convert.ToInt32("11000", 2));
//TRG1 pulse width
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_PWD, 2000); // pulse width= value * 0.02 us
//TRG 1 logic 0: Not inverse 1:Inverse
APS168.APS_set_trigger_param(boardId, (short)APS_Define.TGR_TRG0_LOGIC, 0);
//重置触发计数
APS168.APS_reset_trigger_count(boardId, 0);
APS168.APS_reset_trigger_count(boardId, 1);
APS168.APS_set_trigger_linear(boardId, 0, -61000, 900, 11);
APS168.APS_relative_move(0, 20000, 5000);
//Int32 ptbId = 0; //Point table id 0
//Int32 dimension = 3; //2D point table
//Int32 i = 0;
//Int32 ret = 0;
//int[] Axis_ID_Array = new int[] { 0, 1, 2 };
//PTSTS Status = new PTSTS();
//PTLINE Line = new PTLINE();
////Enable point table
//ret = APS168.APS_pt_disable(boardId, ptbId);
///////////////////////////ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
//ret = APS168.APS_pt_enable(boardId, ptbId, dimension, Axis_ID_Array);
////Configuration
//ret = APS168.APS_pt_set_absolute(boardId, ptbId); //Set to absolute mode
//ret = APS168.APS_pt_set_trans_buffered(boardId, ptbId); //Set to buffer mode
//ret = APS168.APS_pt_set_acc(boardId, ptbId, 5000000); //Set acc
//ret = APS168.APS_pt_set_dec(boardId, ptbId, 5000000); //Set dec
//ret = APS168.APS_get_pt_status(boardId, ptbId, ref Status);
//if ((Status.BitSts & 0x02) == 0) //Buffer is not Full
//{
// Line.Dim = 3;
// double Vslow = 300000;
// {
// PTDWL pwdell = new PTDWL();
// pwdell.DwTime = 2000;
// //1st line
// ret = APS168.APS_pt_set_vm(boardId, ptbId, Vslow);
// ret = APS168.APS_pt_set_ve(boardId, ptbId, Vslow);
// Line.Pos = new double[] { -218000, -22000, 50, 0, 0, 0 };
// ret = APS168.APS_pt_line(boardId, ptbId, ref Line, ref Status);//1段起始点
// APS168.APS_set_trigger_linear(boardId, 0, -72000, 900, 11);
// double praAcc = Convert.ToDouble(txtPraAcc.Text);
// double praDec = Convert.ToDouble(txtPraDec.Text);
// APS168.APS_set_axis_param_f(1, (Int32)APS_Define.PRA_ACC, praAcc); // Set acceleration rate
// APS168.APS_set_axis_param_f(1, (Int32)APS_Define.PRA_DEC, praDec); // Set deceleration rate
// APS168.APS_relative_move(0, 20000, 100000);
// }
//}
}
public override int MoveAbs(int cardId, int axisId, int pos, int vel)
{
return(APS168.APS_absolute_move(axisId, pos, vel));
}