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#0010：三轴根据输入轨迹点做插补运动

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This commit is contained in:
zhengxuan.zhang
2024-08-08 17:47:35 +08:00
parent 3211cdbb13
commit d4f1ec2cf9
7 changed files with 695 additions and 240 deletions
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HSI_HexagonMI_EF3/HSI_Motion.cpp
+30
View File
@@ -2424,6 +2424,8 @@ HSI_STATUS HSI_Motion::StopJog()
g_pLogger->SendAndFlushWithTime(L"[StopJog] ACS acsc_HaltM error!\n");
ErrorsHandler();
}
//
g_pLogger->SendAndFlushWithTime(L"[StopJog] ACS acsc_HaltM success!\n");
}
m_Thread_StateJOGStop = HSI_THREAD_PAUSED;
@@ -5503,6 +5505,34 @@ HSI_STATUS HSI_Motion::DCCPPStartPoint(double* startPoint)
return rStatus;
}
//===========================================================================
/*
* 设置扫描数据并指定三轴坐标点
* @param AxisTypes 三轴类型（如X、Y、Z），用于指定要设置的触发轴，预留
* @param speed 运动速度
* @param points 三维坐标点数组
* @param numPoints 坐标点数量
*/
HSI_STATUS HSI_Motion::DCCScanSetDataWithPoints(UINT AxisTypes, double speed, Point3D* points, UINT numPoints)
{
auto rStatus = HSI_STATUS_NORMAL;
// 处理传入的三维坐标点数组
for (UINT i = 0; i < numPoints; ++i)
{
Point3D point = points[i];
// 在这里处理每个点，例如打印或存储
printf("Point %u: x = %f, y = %f, z = %f\n", i, point.x, point.y, point.z);
}
// 控制平台的运动，（安全限位的问题，导入100个点，判断是否在运动空间内）
// 其他处理逻辑
// ...
return rStatus;
}
//===========================================================================
HSI_STATUS HSI_Motion::DCCScanSetDataOld(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis)
{
HSI_HexagonMI_EF3/HSI_Motion.h
+16 -26
View File
@@ -139,6 +139,12 @@ using TCPIP_RETURN_CODE = enum
TCPIP_CONNECT_STATUS_UNKNOWN
};
struct Point3D {
double x;
double y;
double z;
};
class HSI_Motion : public HSI
{
public:
@@ -307,41 +313,25 @@ public:
HSI_STATUS SetPositionStep(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear);
HSI_STATUS SetPositionEx(UINT AxisTypes, double Position, HSI_MOTION_MOVE_TYPE eType, double dSpeedGear);
HSI_STATUS GetSpeedEx(UINT AxisTypes, double& Speed);
/**
* \brief 设置单轴运动速度
* \param AxisTypes
* \param Speed
* \return
*/
HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed);
HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed);//设置单轴运动速度
HSI_STATUS SetSpeedExOld(UINT AxisTypes, double Speed);
HSI_STATUS GetAccelerationEx(UINT AxisTypes, double& Accel);
HSI_STATUS SetAccelerationEx(UINT AxisTypes, double Accel);
HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor, int triggleMode,
double* Intensities);
HSI_STATUS DCCPPStartPoint(double* startPoint);
/**
* \brief 下发触发间距
* \param AxisTypes 轴
* \param eType 等间距或者等时间
* \param lTrigNumber 触发数量
* \param dTrigDis 间距
* \return
*/
HSI_STATUS DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
HSI_STATUS DCCScanSetData(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);// 下发触发间距,轴、等间距或者等时间、触发数量、间距
HSI_STATUS DCCScanSetDataOld(UINT AxisTypes, HSI_SCAN_MOTION_TYPE eType, UINT lTrigNumber, double* dTrigDis);
/**
* \brief 开始扫描
* \return
*/
HSI_STATUS DCCScanStart();
HSI_STATUS DCCScanStart(); //开始扫描
HSI_STATUS DCCScanStartOld();
/**
* \brief 停止扫描
* \return
*/
HSI_STATUS DCCScanStop();
HSI_STATUS DCCScanStop(); //停止扫描
HSI_STATUS DCCScanStopOld();
HSI_STATUS DCCScanSetDataWithPoints(UINT AxisTypes, double speed, Point3D* points, UINT numPoints); // 直线电机平台新增，三轴轨迹规划
HSI_STATUS DCCForLightPlate();
HSI_STATUS IOStep(bool RunSts);
HSI_HexagonMI_EF3/version.h
+2 -2
View File
@@ -12,5 +12,5 @@
#define HSI_VERSION_REVNUM
#define HSI_VERSION_BUILD_DATE _T(__DATE__ )
#define HSI_VERSION_BUILD_TIME _T(__TIME__ )
#define HSI_FILE_DESCRIPTION "周三 2.24.07 / 10:59 "
#define HSI_FILE_CSDESCRIPTION _T("周三 2.24.07 / 10:59 ")
#define HSI_FILE_DESCRIPTION "周四 2.24.08 / 13:09 "
#define HSI_FILE_CSDESCRIPTION _T("周四 2.24.08 / 13:09 ")
Motion/ACS Motion/MainForm.Designer.cs
Generated
+110 -4
View File
@@ -171,7 +171,14 @@
this.btnEventMotionEnd = new System.Windows.Forms.Button();
this.rtxtTerminal = new System.Windows.Forms.RichTextBox();
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.button17 = new System.Windows.Forms.Button();
this.button16 = new System.Windows.Forms.Button();
this.button15 = new System.Windows.Forms.Button();
this.button14 = new System.Windows.Forms.Button();
this.button13 = new System.Windows.Forms.Button();
this.button12 = new System.Windows.Forms.Button();
this.btnSend = new System.Windows.Forms.Button();
this.button11 = new System.Windows.Forms.Button();
this.txtCommand = new System.Windows.Forms.TextBox();
this.groupBox5 = new System.Windows.Forms.GroupBox();
this.groupBox9 = new System.Windows.Forms.GroupBox();
@@ -210,6 +217,7 @@
this.checkBox4 = new System.Windows.Forms.CheckBox();
this.checkBox3 = new System.Windows.Forms.CheckBox();
this.checkBox2 = new System.Windows.Forms.CheckBox();
this.button18 = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout();
this.grpMotionTest.SuspendLayout();
this.grpMst.SuspendLayout();
@@ -261,7 +269,7 @@
this.txtIP.Name = "txtIP";
this.txtIP.Size = new System.Drawing.Size(91, 21);
this.txtIP.TabIndex = 16;
this.txtIP.Text = "10.0.0.100";
this.txtIP.Text = "100.0.0.100";
//
// btnClose
//
@@ -1672,16 +1680,84 @@
//
// groupBox4
//
this.groupBox4.Controls.Add(this.button18);
this.groupBox4.Controls.Add(this.button17);
this.groupBox4.Controls.Add(this.button16);
this.groupBox4.Controls.Add(this.button15);
this.groupBox4.Controls.Add(this.button14);
this.groupBox4.Controls.Add(this.button13);
this.groupBox4.Controls.Add(this.button12);
this.groupBox4.Controls.Add(this.btnSend);
this.groupBox4.Controls.Add(this.button11);
this.groupBox4.Controls.Add(this.txtCommand);
this.groupBox4.Controls.Add(this.rtxtTerminal);
this.groupBox4.Location = new System.Drawing.Point(11, 493);
this.groupBox4.Name = "groupBox4";
this.groupBox4.Size = new System.Drawing.Size(892, 220);
this.groupBox4.Size = new System.Drawing.Size(892, 256);
this.groupBox4.TabIndex = 7;
this.groupBox4.TabStop = false;
this.groupBox4.Text = "命令行通讯";
//
// button17
//
this.button17.Location = new System.Drawing.Point(527, 218);
this.button17.Name = "button17";
this.button17.Size = new System.Drawing.Size(85, 30);
this.button17.TabIndex = 14;
this.button17.Text = "MoveM";
this.button17.UseVisualStyleBackColor = true;
this.button17.Click += new System.EventHandler(this.button17_Click);
//
// button16
//
this.button16.Location = new System.Drawing.Point(291, 218);
this.button16.Name = "button16";
this.button16.Size = new System.Drawing.Size(85, 30);
this.button16.TabIndex = 13;
this.button16.Text = "BlendedLine";
this.button16.UseVisualStyleBackColor = true;
this.button16.Click += new System.EventHandler(this.button16_Click);
//
// button15
//
this.button15.Location = new System.Drawing.Point(196, 218);
this.button15.Name = "button15";
this.button15.Size = new System.Drawing.Size(85, 30);
this.button15.TabIndex = 12;
this.button15.Text = "ExtLine";
this.button15.UseVisualStyleBackColor = true;
this.button15.Click += new System.EventHandler(this.button15_Click);
//
// button14
//
this.button14.Location = new System.Drawing.Point(98, 218);
this.button14.Name = "button14";
this.button14.Size = new System.Drawing.Size(85, 30);
this.button14.TabIndex = 11;
this.button14.Text = "SegmentLine";
this.button14.UseVisualStyleBackColor = true;
this.button14.Click += new System.EventHandler(this.button14_Click);
//
// button13
//
this.button13.Location = new System.Drawing.Point(759, 218);
this.button13.Name = "button13";
this.button13.Size = new System.Drawing.Size(85, 30);
this.button13.TabIndex = 10;
this.button13.Text = "AddPVTPointM";
this.button13.UseVisualStyleBackColor = true;
this.button13.Click += new System.EventHandler(this.button13_Click);
//
// button12
//
this.button12.Location = new System.Drawing.Point(628, 218);
this.button12.Name = "button12";
this.button12.Size = new System.Drawing.Size(85, 30);
this.button12.TabIndex = 9;
this.button12.Text = "SplineM";
this.button12.UseVisualStyleBackColor = true;
this.button12.Click += new System.EventHandler(this.button12_Click);
//
// btnSend
//
this.btnSend.Location = new System.Drawing.Point(784, 20);
@@ -1692,6 +1768,16 @@
this.btnSend.UseVisualStyleBackColor = true;
this.btnSend.Click += new System.EventHandler(this.btnSend_Click);
//
// button11
//
this.button11.Location = new System.Drawing.Point(9, 218);
this.button11.Name = "button11";
this.button11.Size = new System.Drawing.Size(85, 30);
this.button11.TabIndex = 8;
this.button11.Text = "MultiPointM";
this.button11.UseVisualStyleBackColor = true;
this.button11.Click += new System.EventHandler(this.button11_Click);
//
// txtCommand
//
this.txtCommand.Location = new System.Drawing.Point(9, 20);
@@ -1984,6 +2070,7 @@
this.button1.TabIndex = 0;
this.button1.Text = "开始";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// groupBox10
//
@@ -1996,7 +2083,7 @@
this.groupBox10.Controls.Add(this.checkBox2);
this.groupBox10.Location = new System.Drawing.Point(919, 610);
this.groupBox10.Name = "groupBox10";
this.groupBox10.Size = new System.Drawing.Size(295, 103);
this.groupBox10.Size = new System.Drawing.Size(295, 139);
this.groupBox10.TabIndex = 9;
this.groupBox10.TabStop = false;
this.groupBox10.Text = "XYZ循环";
@@ -2066,10 +2153,20 @@
this.checkBox2.Text = "X";
this.checkBox2.UseVisualStyleBackColor = true;
//
// button18
//
this.button18.Location = new System.Drawing.Point(400, 215);
this.button18.Name = "button18";
this.button18.Size = new System.Drawing.Size(85, 30);
this.button18.TabIndex = 15;
this.button18.Text = "记录";
this.button18.UseVisualStyleBackColor = true;
this.button18.Click += new System.EventHandler(this.button18_Click);
//
// MainForm
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.ClientSize = new System.Drawing.Size(1226, 725);
this.ClientSize = new System.Drawing.Size(1226, 761);
this.Controls.Add(this.groupBox10);
this.Controls.Add(this.groupBox5);
this.Controls.Add(this.groupBox4);
@@ -2080,6 +2177,7 @@
this.Controls.Add(this.grpMotionTest);
this.Controls.Add(this.groupBox1);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.MinimumSize = new System.Drawing.Size(1242, 800);
this.Name = "MainForm";
this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
this.Text = "以色列ACS 运动控制器";
@@ -2302,6 +2400,14 @@
private System.Windows.Forms.Label label50;
private System.Windows.Forms.Label label49;
private System.Windows.Forms.Label label47;
private System.Windows.Forms.Button button11;
private System.Windows.Forms.Button button15;
private System.Windows.Forms.Button button14;
private System.Windows.Forms.Button button13;
private System.Windows.Forms.Button button12;
private System.Windows.Forms.Button button16;
private System.Windows.Forms.Button button17;
private System.Windows.Forms.Button button18;
}
}
Motion/ACS Motion/MainForm.cs
+527 -198
View File
@@ -15,7 +15,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
{
public partial class MainForm : Form
{
private Api _ACS;
private Api _ACS;
private const int MAX_AXIS_COUNT = 32;
private const int MAX_BUFFER_CNT = 64;
@@ -31,7 +31,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
// For update values
private MotorStates m_nMotorState; //运动状态
private ProgramStates m_nProgramState; //程序状态
private ProgramStates m_nProgramState; //程序状态
private object m_objReadVar = null;
private Array m_arrReadVector = null;
private double m_lfRPos, m_lfFPos, m_lfPE, m_lfFVEL; //参考位置，反馈位置 位置误差 反馈速度 double类型
@@ -44,22 +44,41 @@ namespace ACS_DotNET_Library_Advanced_Demo
private Label[] m_lblOutput;
private Button[] m_btnOutput;
//定一个point结构体，用于存储点的坐标
public struct Point
{
public double x;
public double y;
public double z;
}
//定义一个point结构体的列表，用于存储多个点的坐标
public List<Point> pointList = new List<Point>();
//定一个point结构体的对象
public Point point = new Point();
// 记录标志位
private bool record = false;
private int record_count = 0; //时间计数
public MainForm()
{
InitializeComponent();
_ACS = new Api(); //初始化 ACS运动控制类
_ACS = new Api(); //初始化 ACS运动控制类
// Register Event 注册时间
_ACS.PHYSICALMOTIONEND += _ACS_PHYSICALMOTIONEND;
_ACS.PROGRAMEND += _ACS_PROGRAMEND;
// Register Event 注册时间
_ACS.PHYSICALMOTIONEND += _ACS_PHYSICALMOTIONEND;
_ACS.PROGRAMEND += _ACS_PROGRAMEND;
}
#region Initialize
private void Form1_Load(object sender, EventArgs e)
{
rdoTCP.Checked = true;
btnOpen.Enabled = true;
rdoTCP.Checked = true;
btnOpen.Enabled = true;
btnClose.Enabled = false;
m_lblLeftLimit = new Label[MAX_UI_LIMIT_CNT]; //左限位
@@ -138,7 +157,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
{
string strTemp;
int i;
//double lfTemp = 0.0f;
//double lfTemp = 0.0f;
try
{
@@ -153,20 +172,20 @@ namespace ACS_DotNET_Library_Advanced_Demo
else if (rdoSimu.Checked)
{
// Simmulation mode
_ACS.OpenCommSimulator();
_ACS.OpenCommSimulator();
}
m_bConnected = true;
// Get Total number of axes
// Using Transaction function : return string text from controller, we need to convert to integer value
// Using Transaction function : return string text from controller, we need to convert to integer value
strTemp = _ACS.Transaction("?SYSINFO(13)");
m_nTotalAxis = Convert.ToInt32(strTemp.Trim());
// Using Sysinfo function
//_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);
// Using Sysinfo function
//_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);
// When we are using multi axes command (ex) ToPointM, HaltM, ...), we need to allocate the array size more 1.
// Because of the last delimeter (-1)
// When we are using multi axes command (ex) ToPointM, HaltM, ...), we need to allocate the array size more 1.
// Because of the last delimeter (-1)
m_arrAxisList = new Axis[m_nTotalAxis + 1];
for (i = 0; i < m_nTotalAxis; i++)
{
@@ -174,7 +193,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
m_arrAxisList[i] = (Axis)i;
}
// Insert '-1' at the last
m_arrAxisList[m_nTotalAxis] = Axis.ACSC_NONE;
m_arrAxisList[m_nTotalAxis] = Axis.ACSC_NONE;
cboAxisNo.SelectedIndex = 0;
// Update current motion paramter to UI.
@@ -229,14 +248,14 @@ namespace ACS_DotNET_Library_Advanced_Demo
{
try
{
string terminateExceptionConnName = "ACS.Framework.exe";
string terminateExceptionConnName = "ACS.Framework.exe";
ACSC_CONNECTION_DESC[] connectionList = _ACS.GetConnectionsList();
for (int index = 0; index < connectionList.Length; index++)
ACSC_CONNECTION_DESC[] connectionList = _ACS.GetConnectionsList();
for (int index = 0; index < connectionList.Length; index++)
{
if (terminateExceptionConnName.CompareTo((string)connectionList[index].Application) != 0)
_ACS.TerminateConnection(connectionList[index]);
if (terminateExceptionConnName.CompareTo((string)connectionList[index].Application) != 0)
_ACS.TerminateConnection(connectionList[index]);
}
}
catch (Exception ex)
@@ -254,11 +273,11 @@ namespace ACS_DotNET_Library_Advanced_Demo
{
if (m_bConnected)
{
txtVel.Text = _ACS.GetVelocity((Axis)cboAxisNo.SelectedIndex).ToString();
txtAcc.Text = _ACS.GetAcceleration((Axis)cboAxisNo.SelectedIndex).ToString();
txtDec.Text = _ACS.GetDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
txtKdec.Text = _ACS.GetKillDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
txtJerk.Text = _ACS.GetJerk((Axis)cboAxisNo.SelectedIndex).ToString();
txtVel.Text = _ACS.GetVelocity((Axis)cboAxisNo.SelectedIndex).ToString();
txtAcc.Text = _ACS.GetAcceleration((Axis)cboAxisNo.SelectedIndex).ToString();
txtDec.Text = _ACS.GetDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
txtKdec.Text = _ACS.GetKillDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
txtJerk.Text = _ACS.GetJerk((Axis)cboAxisNo.SelectedIndex).ToString();
}
}
@@ -267,61 +286,63 @@ namespace ACS_DotNET_Library_Advanced_Demo
UpdateProfile();
}
private void tmrMonitor_Tick(object sender, EventArgs e)
{
// Get selected axis number
int iAxisNo = cboAxisNo.SelectedIndex;
// Get selected buffer number
int iBufferNo = cboBufferNo.SelectedIndex;
// Get selected axis number
int iAxisNo = cboAxisNo.SelectedIndex;
// Get selected buffer number
int iBufferNo = cboBufferNo.SelectedIndex;
if (m_bConnected)
{
try
{
// Instruction 1. Using library functions - acsc_GetFPosition, acsc_GetRPosition, ....
// Instruction 2. Read ACS variable - Already defined almost things (FPOS, RPOS, ...)
// Motion parameters and state is array (Max length is total number of axes)
//
// * Library function can read only 1 axis information, so if you want to read several axes, you have to call the function many times.
// (This may cause communication delay.)
// Recommand (if you want to read many axes) : read/write variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
// Instruction 1. Using library functions - acsc_GetFPosition, acsc_GetRPosition, ....
// Instruction 2. Read ACS variable - Already defined almost things (FPOS, RPOS, ...)
// Motion parameters and state is array (Max length is total number of axes)
//
// * Library function can read only 1 axis information, so if you want to read several axes, you have to call the function many times.
// (This may cause communication delay.)
// Recommand (if you want to read many axes) : read/write variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix
//
// Get Motor State
// ACSPL+ Variable : MST (integer)
m_nMotorState = _ACS.GetMotorState((Axis)iAxisNo);
m_nMotorState = _ACS.GetMotorState((Axis)iAxisNo);
// Returned value is integer, you need to use bitmaks
if ((m_nMotorState & MotorStates.ACSC_MST_MOVE) != 0) lblMoving.Image = Properties.Resources.On; else lblMoving.Image = Properties.Resources.Off; // 运动中
if ((m_nMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Properties.Resources.On; else lblInPos.Image = Properties.Resources.Off; // 就位
if ((m_nMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Properties.Resources.On; else lblAcc.Image = Properties.Resources.Off; // 加速
if ((m_nMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Properties.Resources.On; else lblEnable.Image = Properties.Resources.Off; // 使能
if ((m_nMotorState & MotorStates.ACSC_MST_MOVE) != 0) lblMoving.Image = Properties.Resources.On; else lblMoving.Image = Properties.Resources.Off; // 运动中
if ((m_nMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Properties.Resources.On; else lblInPos.Image = Properties.Resources.Off; // 就位
if ((m_nMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Properties.Resources.On; else lblAcc.Image = Properties.Resources.Off; // 加速
if ((m_nMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Properties.Resources.On; else lblEnable.Image = Properties.Resources.Off; // 使能
// Reference position
// ACSPL+ Variable : RPOS (real)
m_lfRPos = _ACS.GetRPosition((Axis)iAxisNo); // 参考位置
m_lfRPos = _ACS.GetRPosition((Axis)iAxisNo); // 参考位置
// Feedback position (Encoder value)
// ACSPL+ Variable : FPO (real)
m_lfFPos = _ACS.GetFPosition((Axis)iAxisNo); //反馈位置
m_lfFPos = _ACS.GetFPosition((Axis)iAxisNo); //反馈位置
// PE (Position Error)
// There is no function in library. We need to use ReadVariable function
m_lfPE = (double)_ACS.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差
// There is no function in library. We need to use ReadVariable function
m_lfPE = (double)_ACS.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差
// Feedback Velocity
m_lfFVEL = (double)_ACS.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度
// Feedback Velocity
m_lfFVEL = (double)_ACS.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度
txtRPOS.Text = String.Format("{0:0.0000}", m_lfRPos);
txtFPOS.Text = String.Format("{0:0.0000}", m_lfFPos);
txtPE.Text = String.Format("{0:0.0000}", m_lfPE);
txtFVEL.Text = String.Format("{0:0.0000}", m_lfFVEL);
txtPE.Text = String.Format("{0:0.0000}", m_lfPE);
txtFVEL.Text = String.Format("{0:0.0000}", m_lfFVEL);
// Program State 运动状态
// State : Compiled, Running, Suspended, Autoroutine is running (ON syntax)
//
// ACSPL+ Variable : PST (integer)
m_nProgramState = _ACS.GetProgramState((ProgramBuffer)iBufferNo);
m_nProgramState = _ACS.GetProgramState((ProgramBuffer)iBufferNo);
if ((m_nProgramState & ProgramStates.ACSC_PST_RUN) != 0)
{
lblPRG_Status_LED.Image = Properties.Resources.On;
@@ -349,11 +370,11 @@ namespace ACS_DotNET_Library_Advanced_Demo
}
// Read digital input/output (Port means all of bits)
// If you want to read only 1 bit (not an integer), use "GetInput" function
m_nValues = _ACS.GetInputPort(0); // _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
// If you want to read only 1 bit (not an integer), use "GetInput" function
m_nValues = _ACS.GetInputPort(0); // _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
UpdateIOState(m_nValues, true);
m_nOutputState = _ACS.GetOutputPort(0); // _ACS.ReadVariableAsVector("OUT", -1, 0, 0, -1, -1);
m_nOutputState = _ACS.GetOutputPort(0); // _ACS.ReadVariableAsVector("OUT", -1, 0, 0, -1, -1);
UpdateIOState(m_nOutputState, false);
}
catch (Exception ex)
@@ -361,6 +382,46 @@ namespace ACS_DotNET_Library_Advanced_Demo
MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
System.Diagnostics.Debug.WriteLine(ex.Message);
}
//编写代码，刷新0,1，8轴的位置
point.x = _ACS.GetRPosition((Axis)0); //参考位置
point.y = _ACS.GetRPosition((Axis)1); //参考位置
point.z = _ACS.GetRPosition((Axis)8); //参考位置
//对 point 保留3位小数
label54.Text = point.x.ToString("0.000");
label55.Text = point.y.ToString("0.000");
label56.Text = point.z.ToString("0.000");
if (record)
{
record_count++;
pointList.Add(point);
if (record_count > 200)
{
record_count = 0;
record = false;
//保存数据
SaveFileDialog saveFileDialog = new SaveFileDialog();
saveFileDialog.Filter = "文本文件|*.txt";
saveFileDialog.Title = "保存数据";
saveFileDialog.ShowDialog();
if (saveFileDialog.FileName != "")
{
StreamWriter sw = new StreamWriter(saveFileDialog.FileName);
foreach (Point p in pointList)
{
sw.WriteLine(p.x.ToString("0.000") + " " + p.y.ToString("0.000") + " " + p.z.ToString("0.000"));
}
sw.Close();
}
}
}
}
}
@@ -369,8 +430,8 @@ namespace ACS_DotNET_Library_Advanced_Demo
{
if (axisNo < MAX_UI_LIMIT_CNT)
{
if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0) m_lblLeftLimit[axisNo].Image = Properties.Resources.Error; else m_lblLeftLimit[axisNo].Image = Properties.Resources.Off;
if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0) m_lblRightLimit[axisNo].Image = Properties.Resources.Error; else m_lblRightLimit[axisNo].Image = Properties.Resources.Off;
if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0) m_lblLeftLimit[axisNo].Image = Properties.Resources.Error; else m_lblLeftLimit[axisNo].Image = Properties.Resources.Off;
if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0) m_lblRightLimit[axisNo].Image = Properties.Resources.Error; else m_lblRightLimit[axisNo].Image = Properties.Resources.Off;
}
}
@@ -411,27 +472,27 @@ namespace ACS_DotNET_Library_Advanced_Demo
#region Motor Enable / Disable
private void btnEnable_Click(object sender, EventArgs e)
{
// Enable selected axis
// Enable selected axis
_ACS.Enable((Axis)cboAxisNo.SelectedIndex);
// If you want to enable several axes,
//
// Ex) Eanble three axes (0, 1, 6)
//
// int[] AxisList = new int[] { 0, 1, 6, -1 }; !!!! Important !! Must insert '-1' at the last
// Ex) Eanble three axes (0, 1, 6)
//
// int[] AxisList = new int[] { 0, 1, 6, -1 }; !!!! Important !! Must insert '-1' at the last
// _ACS.EnableM(AxisList);
}
private void btnDisable_Click(object sender, EventArgs e)
{
// Disable selected axis
// Disable selected axis
_ACS.Disable((Axis)cboAxisNo.SelectedIndex);
// Disable multi axes : DisableM(int[] axisList)
// Disable multi axes : DisableM(int[] axisList)
}
private void btnDisableAll_Click(object sender, EventArgs e)
{
// Disable all of axes
// Disable all of axes
_ACS.DisableAll();
}
#endregion
@@ -439,12 +500,12 @@ namespace ACS_DotNET_Library_Advanced_Demo
private void btnSetZero_Click(object sender, EventArgs e)
{
// Change current poisition as you want
// SetFPosition(Axis number, new position)
// SetFPosition(Axis number, new position)
_ACS.SetFPosition((Axis)cboAxisNo.SelectedIndex, 0);
}
#region Move to absolute position
private void btnPTP_Click(object sender, EventArgs e)
#region Move to absolute position
private void btnPTP_Click(object sender, EventArgs e)
{
double lfTargetPos = 0.0f;
try
@@ -453,9 +514,9 @@ namespace ACS_DotNET_Library_Advanced_Demo
{
lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
_ACS.ToPoint(
0, // '0' - Absolute position
(Axis)cboAxisNo.SelectedIndex, // Axis number
lfTargetPos // Target position
0, // '0' - Absolute position
(Axis)cboAxisNo.SelectedIndex, // Axis number
lfTargetPos // Target position
);
}
}
@@ -467,7 +528,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
}
#endregion
#region Move to relative position (from current position)
#region Move to relative position (from current position)
private void btnPTP_R_Neg_Click(object sender, EventArgs e)
{
double lfTargetPos = 0.0f;
@@ -476,12 +537,12 @@ namespace ACS_DotNET_Library_Advanced_Demo
if (txtPTP_Pos.Text.Length > 0)
{
lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
if (lfTargetPos > 0) lfTargetPos = lfTargetPos * (-1); // Target position (from current position, step move)
if (lfTargetPos > 0) lfTargetPos = lfTargetPos * (-1); // Target position (from current position, step move)
_ACS.ToPoint(
MotionFlags.ACSC_AMF_RELATIVE, // Flat
(Axis)cboAxisNo.SelectedIndex, // Axis number
lfTargetPos // Move distance
MotionFlags.ACSC_AMF_RELATIVE, // Flat
(Axis)cboAxisNo.SelectedIndex, // Axis number
lfTargetPos // Move distance
);
}
}
@@ -547,7 +608,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
#endregion
#region JOG Command
// Move negative direction
private void btnJogNeg_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
@@ -557,17 +618,17 @@ namespace ACS_DotNET_Library_Advanced_Demo
if (chkUseVel.Checked)
{
lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
if (lfVelocity > 0) lfVelocity = lfVelocity * (-1); // Negative direction : Using - (minus) velocity
if (lfVelocity > 0) lfVelocity = lfVelocity * (-1); // Negative direction : Using - (minus) velocity
_ACS.Jog(
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
(Axis)cboAxisNo.SelectedIndex, // Axis number
lfVelocity // Velocity
MotionFlags.ACSC_AMF_VELOCITY, // Velocity flag 速度标志
(Axis)cboAxisNo.SelectedIndex, // Axis number
lfVelocity // Velocity
);
}
else
{
_ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
_ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
}
}
catch (Exception ex)
@@ -576,7 +637,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
System.Diagnostics.Debug.WriteLine(ex.Message);
}
}
// 정방향 이동 동작
private void btnJogPos_MouseDown(object sender, MouseEventArgs e)
{
double lfVelocity = 0.0f;
@@ -601,7 +662,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
System.Diagnostics.Debug.WriteLine(ex.Message);
}
}
// Stop JOG motion
private void btnJog_MouseUp(object sender, MouseEventArgs e)
{
_ACS.Halt((Axis)cboAxisNo.SelectedIndex);
@@ -644,7 +705,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
private void btnStopBuffer_Click(object sender, EventArgs e)
{
// Stop program
_ACS.StopBuffer((ProgramBuffer)cboBufferNo.SelectedIndex);
_ACS.StopBuffer((ProgramBuffer)cboBufferNo.SelectedIndex);
}
#endregion
@@ -672,10 +733,10 @@ namespace ACS_DotNET_Library_Advanced_Demo
// Affect next motion : SetVelocity()
case 0: _ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
}
textBox.SelectAll();
@@ -715,11 +776,11 @@ namespace ACS_DotNET_Library_Advanced_Demo
lfTemp = Convert.ToDouble(textBox.Text.Trim());
switch (textBox.TabIndex)
{
case 0: _ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 0: _ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
}
textBox.SelectAll();
@@ -748,17 +809,17 @@ namespace ACS_DotNET_Library_Advanced_Demo
{
// Set only 1 bit
_ACS.SetOutput(
0, // Port number
btn.TabIndex, // Bit number
0 // 0 = OFF, 1 = ON
0, // Port number
btn.TabIndex, // Bit number
0 // 0 = OFF, 1 = ON
);
// If your I/O device is EtherCAT type, you cannot use this function
// You can use WriteVariable function and Command function
//
// Ex) If EtherCAT mapped variable is 'EC_DOUT'
// Want to ON bit '3'
// _ACS.Command("EC_DOUT.3=1");
// If your I/O device is EtherCAT type, you cannot use this function
// You can use WriteVariable function and Command function
//
// Ex) If EtherCAT mapped variable is 'EC_DOUT'
// Want to ON bit '3'
// _ACS.Command("EC_DOUT.3=1");
}
else
{
@@ -772,45 +833,45 @@ namespace ACS_DotNET_Library_Advanced_Demo
}
#endregion
#region Event
private void btnEventMotionEnd_Click(object sender, EventArgs e)
{
//_ACS.PHYSICALMOTIONEND +=_ACS_PHYSICALMOTIONEND;
_ACS.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
lstLog.Items.Add("PHYSICAL_MOTION_END event enabled");
}
#region Event
private void btnEventMotionEnd_Click(object sender, EventArgs e)
{
//_ACS.PHYSICALMOTIONEND +=_ACS_PHYSICALMOTIONEND;
_ACS.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
lstLog.Items.Add("PHYSICAL_MOTION_END event enabled");
}
void _ACS_PHYSICALMOTIONEND(AxisMasks axis)
{
int bit = 0x01;
int axisNo = 0;
// Param value is bit number
// Bit Number = Axis Number
for (int i = 0; i < 64; i++)
{
if ((int)axis == bit)
{
axisNo = i;
break;
}
bit = bit << 1;
}
void _ACS_PHYSICALMOTIONEND(AxisMasks axis)
{
int bit = 0x01;
int axisNo = 0;
// Param value is bit number
// Bit Number = Axis Number
for (int i = 0; i < 64; i++)
{
if ((int)axis == bit)
{
axisNo = i;
break;
}
bit = bit << 1;
}
// Add log to ListBox
this.Invoke((MethodInvoker)delegate
{
lstLog.Items.Add(String.Format(" - Axis {0}, Stoppped", axisNo));
lstLog.SelectedIndex = lstLog.Items.Count - 1;
});
// Add log to ListBox
this.Invoke((MethodInvoker)delegate
{
lstLog.Items.Add(String.Format(" - Axis {0}, Stoppped", axisNo));
lstLog.SelectedIndex = lstLog.Items.Count - 1;
});
}
}
private void btnEventProgramEnd_Click(object sender, EventArgs e)
{
//_ACS.PROGRAMEND += _ACS_PROGRAMEND;
_ACS.EnableEvent(Interrupts.ACSC_INTR_PROGRAM_END);
lstLog.Items.Add("PROGRAM_END event enabled");
}
private void btnEventProgramEnd_Click(object sender, EventArgs e)
{
//_ACS.PROGRAMEND += _ACS_PROGRAMEND;
_ACS.EnableEvent(Interrupts.ACSC_INTR_PROGRAM_END);
lstLog.Items.Add("PROGRAM_END event enabled");
}
private void button8_Click(object sender, EventArgs e)
{
@@ -822,73 +883,341 @@ namespace ACS_DotNET_Library_Advanced_Demo
}
void _ACS_PROGRAMEND(BufferMasks buffer)
{
int bit = 0x01;
int bufferNo = 0;
// Param value is bit number
// Bit Number = Axis Number
for (int i = 0; i < 32; i++)
{
if ((int)buffer == bit)
{
bufferNo = i;
break;
}
bit = bit << 1;
}
{
int bit = 0x01;
int bufferNo = 0;
// Param value is bit number
// Bit Number = Axis Number
for (int i = 0; i < 32; i++)
{
if ((int)buffer == bit)
{
bufferNo = i;
break;
}
bit = bit << 1;
}
// Add log to ListBox
this.Invoke((MethodInvoker)delegate
{
lstLog.Items.Add(String.Format(" - Buffer {0}, Stoppped", bufferNo));
lstLog.SelectedIndex = lstLog.Items.Count - 1;
});
}
#endregion
// Add log to ListBox
this.Invoke((MethodInvoker)delegate
{
lstLog.Items.Add(String.Format(" - Buffer {0}, Stoppped", bufferNo));
lstLog.SelectedIndex = lstLog.Items.Count - 1;
});
}
#endregion
#region Communication Termial - Using Transaction function
private void txtCommand_KeyPress(object sender, KeyPressEventArgs e)
{
if (e.KeyChar == (char)Keys.Enter)
btnSend.PerformClick();
}
#region Communication Termial - Using Transaction function
private void txtCommand_KeyPress(object sender, KeyPressEventArgs e)
{
if (e.KeyChar == (char)Keys.Enter)
btnSend.PerformClick();
}
private void btnSend_Click(object sender, EventArgs e)
{
string temp = string.Empty;
if (m_bConnected)
{
try
{
AppendTextToTextBox("> " + txtCommand.Text.Trim());
temp = _ACS.Transaction(txtCommand.Text.Trim());
}
catch (ACS.SPiiPlusNET.ACSException ex)
{
temp = String.Format("?{0}", ex.ErrorCode);
}
finally
{
if (temp.Length > 0)
{
AppendTextToTextBox(temp);
AppendTextToTextBox(":");
}
}
private void btnSend_Click(object sender, EventArgs e)
{
string temp = string.Empty;
if (m_bConnected)
{
try
{
AppendTextToTextBox("> " + txtCommand.Text.Trim());
temp = _ACS.Transaction(txtCommand.Text.Trim());
}
catch (ACS.SPiiPlusNET.ACSException ex)
{
temp = String.Format("?{0}", ex.ErrorCode);
}
finally
{
if (temp.Length > 0)
{
AppendTextToTextBox(temp);
AppendTextToTextBox(":");
}
}
txtCommand.Focus();
txtCommand.SelectAll();
}
}
txtCommand.Focus();
txtCommand.SelectAll();
}
}
private void AppendTextToTextBox(string text)
{
rtxtTerminal.AppendText(text);
rtxtTerminal.AppendText(Environment.NewLine);
rtxtTerminal.ScrollToCaret();
}
#endregion
}
private void AppendTextToTextBox(string text)
{
rtxtTerminal.AppendText(text);
rtxtTerminal.AppendText(Environment.NewLine);
rtxtTerminal.ScrollToCaret();
}
#endregion
#region 三轴插补运动
private void button11_Click(object sender, EventArgs e) //MultiPointM 方法
{
lstLog.Items.Add("MultiPointM");
int timeout = 5000;
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
double[] points = { 0, 0 };
_ACS.EnableM(axes); // Enable axis 0 and 1
// Wait axis 0 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
// Wait axis 1 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
// Create multi-point motion of axis 0 and 1 with default
// velocity without
// dwell in the points
_ACS.MultiPointM(MotionFlags.ACSC_NONE, axes, 0);
// Add some points
for (int index = 0; index < 5; index++)
{
points[0] = 100 * index;
points[1] = 100 * index;
_ACS.AddPointM(axes, points);
//将点添加到 lstLog.Items
lstLog.Items.Add("points[0]:" + points[0].ToString() + "points[1]:" + points[1].ToString());
}
lstLog.Items.Add("结束添加");
// Finish the motion
// End of the multi-point motion
_ACS.EndSequenceM(axes);
lstLog.Items.Add("执行");
record=true;
}
private void button12_Click(object sender, EventArgs e) //SplineM 方法
{
lstLog.Items.Add("SplineM");
int timeout = 5000;
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
double[] points = { 0, 0 ,0};
_ACS.EnableM(axes); // Enable axes 0 and 1
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
// Create the arbitrary path motion to axes 0 and 1 with
// uniform interval 10 ms use a cubic interpolation
// between the specified points
_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC |MotionFlags.ACSC_AMF_WAIT, axes, 5000);
// Add some points
// 定义三维点列表
int[,] pointsArray = new int[,]
{
{ 0, 0, 0 },
{ 10, 20, -10 },
{ 20, 30, -40 },
{ 30, 50, -20 },
{ 40, 70, -30 },
{ 50, 80, -50 },
{ 60, 70, -60 },
{ 70, 50, -70 },
{ 80, 30, -80 },
{ 90, 10, -90 }
};
// 遍历列表并添加点
for (int index = 0; index < pointsArray.GetLength(0); index++)
{
points[0] = pointsArray[index, 0];
points[1] = pointsArray[index, 1];
points[2] = pointsArray[index, 2];
// 使用AddPVPointM方法添加点
_ACS.AddPVPointM(axes, points, points);
// 将点信息添加到lstLog.Items
lstLog.Items.Add($"points[0]: {points[0]} points[1]: {points[1]} points[2]: {points[2]}");
}
//_ACS.GoM(axes);
// Finish the motion
// End of the multi-point motion
_ACS.EndSequenceM(axes);
_ACS.GoM(axes);
record = true;
}
private void button13_Click(object sender, EventArgs e) //AddPVTPointM 方法
{
lstLog.Items.Add("AddPVTPointM");
int timeout = 5000;
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
double[] points = { 0, 0 };
_ACS.EnableM(axes); // Enable axes 0 and 1
// Wait axis 0 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
// Wait axis 1 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
// PVT motion and uniform interval is not used
_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC |
MotionFlags.ACSC_AMF_VARTIME, axes, 0);
// Add some points
for (int index = 0; index < 5; index++)
{
points[0] = 100 * index; // 0, 100, 200, 300, 400
points[1] = 50 * index; // 0, 200, 400, 600, 800
_ACS.AddPVTPointM(axes, points, points, 1000);
}
// Finish the motion
// End of the multi-point motion
_ACS.EndSequenceM(axes);
record = true;
}
private void button14_Click(object sender, EventArgs e)//SegmentLine，平面内
{
lstLog.Items.Add("SegmentLine");
int timeout = 5000;
Axis[] axes = { Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
double[] points = { 0, 0, 0 };
_ACS.EnableM(axes); // Enable axes 0 and 1
// Wait axis 0 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
// Wait axis 1 enabled during 5 sec
_ACS.SegmentedMotion(MotionFlags.ACSC_AMF_VELOCITY, axes, points);
lstLog.Items.Add("SegmentLine 1");
points[0] = 500;
points[1] = -100;
//points[2] = -100;
_ACS.SegmentLine(MotionFlags.ACSC_NONE, axes, points, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
_ACS.Stopper(axes); //平滑
points[0] = 200;
points[1] = -200;
//points[2] = -200;
_ACS.SegmentLine(MotionFlags.ACSC_NONE, axes, points, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
_ACS.EndSequenceM(axes);
}
private void button18_Click(object sender, EventArgs e)
{
lstLog.Items.Add("记录");
record = true;
}
private void button15_Click(object sender, EventArgs e) //ExtLine
{
int timeout = 5000;
Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8,Axis.ACSC_NONE };
double[] points = { 0, 0, 0 };
// Create segmented motion,coordinates of the initial point
// are(1000, 1000)
_ACS.EnableM(axes);
// Wait axis 0 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
// Wait axis 1 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
// Wait axis 8 enabled during 5 sec
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
_ACS.Segment(MotionFlags.ACSC_NONE, axes, points);
// Add line segment with final point (1000,-1000),vector
// velocity 25000
points[0] = 100;
points[1] = 100;
points[2] = -10;
_ACS.ExtLine(axes, points, 25000);
_ACS.Stopper(axes);
// Add line segment with final point (-1000,-1000),vector
// velocity 25000
points[0] = 100;
points[1] = 200;
points[2] = -100;
_ACS.ExtLine(axes, points, 25000);
_ACS.Stopper(axes);
// Add line segment with final point (-1000,1000),vector
// velocity 25000
points[0] = 200;
points[1] = 200;
points[2] = -200;
_ACS.ExtLine(axes, points, 25000);
_ACS.Stopper(axes);
// Add line segment with final point (1000,1000), vector
// velocity 25000
points[0] = 200;
points[1] = 100;
points[2] = -100;
_ACS.ExtLine(axes, points, 25000);
// Finish the motion
// End of the multi-point motion
_ACS.EndSequenceM(axes);
}
private void button16_Click(object sender, EventArgs e) //BlendedLine
{
lstLog.Items.Add("BlendedLine ");
int timeout = 5000;
Axis[] Axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
double[] Point = { 1000, 1000 };
_ACS.BlendedSegmentMotionAsync(MotionFlags.ACSC_NONE, Axes,
Point,//Starting point of motion
1000, // Segment time
500, // Segment Acceleration time
200, // Segment jerk time
0);// Waiting call
_ACS.EnableM(Axes); // Enable axes 0 and 1
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
double[] FinalPoint = { 100, 100,-50};
_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes,
FinalPoint, 1000, 200, 300, 0);
_ACS.EndSequenceM(Axes);
record =true;
}
private void button17_Click(object sender, EventArgs e) //MoveM 方法
{
}
private void button1_Click(object sender, EventArgs e)
{
}
#endregion
}
}
Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe
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Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb
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