QI Mingxuan
54 lines
2.1 KiB
C#
54 lines
2.1 KiB
C#
using XP.Hardware.MotionControl.Abstractions.Enums;
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namespace XP.Hardware.MotionControl.Abstractions
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{
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/// <summary>
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/// 旋转轴策略接口 | Rotary Axis Strategy Interface
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/// 定义旋转轴的运动控制能力 | Defines rotary axis motion control capabilities
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/// </summary>
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public interface IRotaryAxis
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{
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/// <summary>轴标识 | Axis identifier</summary>
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RotaryAxisId Id { get; }
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/// <summary>实际角度（度）| Actual angle (degrees)</summary>
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double ActualAngle { get; }
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/// <summary>轴状态 | Axis status</summary>
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AxisStatus Status { get; }
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/// <summary>是否启用 | Is enabled</summary>
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bool Enabled { get; }
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/// <summary>移动到目标角度 | Move to target angle</summary>
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/// <param name="targetAngle">目标角度（度）| Target angle (degrees)</param>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult MoveToTarget(double targetAngle, double? speed = null);
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/// <summary>Jog 启动 | Jog start</summary>
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/// <param name="positive">true=正向，false=反向 | true=positive, false=negative</param>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult JogStart(bool positive);
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/// <summary>Jog 停止 | Jog stop</summary>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult JogStop();
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/// <summary>回零 | Home</summary>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult Home();
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/// <summary>停止 | Stop</summary>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult Stop();
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/// <summary>设置 Jog 速度 | Set jog speed</summary>
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/// <param name="speedPercent">速度百分比（0~100）| Speed percentage (0~100)</param>
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/// <returns>操作结果 | Operation result</returns>
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MotionResult SetJogSpeed(double speedPercent);
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/// <summary>从 PLC 更新状态 | Update status from PLC</summary>
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void UpdateStatus();
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}
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}
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