├── 软件界面.png ├── 写字效果图.png ├── bin ├── Debug │ ├── LTSMC.dll │ ├── elipse.exe │ ├── elipse.pdb │ └── elipse.exe.config └── x64 │ └── Debug │ ├── LTSMC.dll │ ├── elipse.exe │ ├── elipse.pdb │ └── elipse.exe.config ├── obj ├── Debug │ ├── elipse.exe │ ├── elipse.pdb │ ├── elipse.Form1.resources │ ├── elipse.Properties.Resources.resources │ ├── elipse.csproj.GenerateResource.cache │ ├── elipse.csprojAssemblyReference.cache │ ├── DesignTimeResolveAssemblyReferences.cache │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ └── elipse.csproj.FileListAbsolute.txt └── x64 │ └── Debug │ ├── elipse.exe │ ├── elipse.pdb │ ├── elipse.Form1.resources │ ├── elipse.csproj.GenerateResource.cache │ ├── elipse.csprojAssemblyReference.cache │ ├── elipse.Properties.Resources.resources │ ├── DesignTimeResolveAssemblyReferences.cache │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ └── elipse.csproj.FileListAbsolute.txt ├── README.md ├── App.config ├── Properties ├── Settings.settings ├── AssemblyInfo.cs ├── Settings.Designer.cs ├── Resources.Designer.cs └── Resources.resx ├── Program.cs ├── elipse.sln ├── elipse.csproj ├── Form1.resx ├── Form1.Designer.cs ├── Form1.cs └── LTSMC.cs /软件界面.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/povertyboy/control-three-axis-platform-writing-Leadshine-motion-control-card/HEAD/软件界面.png -------------------------------------------------------------------------------- /写字效果图.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/povertyboy/control-three-axis-platform-writing-Leadshine-motion-control-card/HEAD/写字效果图.png -------------------------------------------------------------------------------- /bin/Debug/LTSMC.dll: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /Program.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Linq; 4 | using System.Threading.Tasks; 5 | using System.Windows.Forms; 6 | 7 | namespace elipse 8 | { 9 | static class Program 10 | { 11 | /// 12 | /// 应用程序的主入口点。 13 | /// 14 | [STAThread] 15 | static void Main() 16 | { 17 | Application.EnableVisualStyles(); 18 | Application.SetCompatibleTextRenderingDefault(false); 19 | Application.Run(new Form1()); 20 | } 21 | } 22 | } 23 | -------------------------------------------------------------------------------- /obj/Debug/elipse.csproj.FileListAbsolute.txt: -------------------------------------------------------------------------------- 1 | G:\file\21年11月\Leadshine\elipse\elipse\obj\Debug\elipse.csprojAssemblyReference.cache 2 | G:\file\21年11月\Leadshine\elipse\elipse\obj\Debug\elipse.Form1.resources 3 | G:\file\21年11月\Leadshine\elipse\elipse\obj\Debug\elipse.Properties.Resources.resources 4 | G:\file\21年11月\Leadshine\elipse\elipse\obj\Debug\elipse.csproj.GenerateResource.cache 5 | G:\file\21年11月\Leadshine\elipse\elipse\bin\Debug\elipse.exe.config 6 | G:\file\21年11月\Leadshine\elipse\elipse\bin\Debug\elipse.exe 7 | G:\file\21年11月\Leadshine\elipse\elipse\bin\Debug\elipse.pdb 8 | G:\file\21年11月\Leadshine\elipse\elipse\obj\Debug\elipse.exe 9 | G:\file\21年11月\Leadshine\elipse\elipse\obj\Debug\elipse.pdb 10 | -------------------------------------------------------------------------------- /obj/x64/Debug/elipse.csproj.FileListAbsolute.txt: -------------------------------------------------------------------------------- 1 | G:\file\21年11月\Leadshine\elipse\elipse\bin\x64\Debug\elipse.exe.config 2 | G:\file\21年11月\Leadshine\elipse\elipse\bin\x64\Debug\elipse.exe 3 | G:\file\21年11月\Leadshine\elipse\elipse\bin\x64\Debug\elipse.pdb 4 | G:\file\21年11月\Leadshine\elipse\elipse\obj\x64\Debug\elipse.csprojAssemblyReference.cache 5 | G:\file\21年11月\Leadshine\elipse\elipse\obj\x64\Debug\elipse.Form1.resources 6 | G:\file\21年11月\Leadshine\elipse\elipse\obj\x64\Debug\elipse.Properties.Resources.resources 7 | G:\file\21年11月\Leadshine\elipse\elipse\obj\x64\Debug\elipse.csproj.GenerateResource.cache 8 | G:\file\21年11月\Leadshine\elipse\elipse\obj\x64\Debug\elipse.exe 9 | G:\file\21年11月\Leadshine\elipse\elipse\obj\x64\Debug\elipse.pdb 10 | -------------------------------------------------------------------------------- /Properties/AssemblyInfo.cs: -------------------------------------------------------------------------------- 1 | using System.Reflection; 2 | using System.Runtime.CompilerServices; 3 | using System.Runtime.InteropServices; 4 | 5 | // 有关程序集的一般信息由以下 6 | // 控制。更改这些特性值可修改 7 | // 与程序集关联的信息。 8 | [assembly: AssemblyTitle("elipse")] 9 | [assembly: AssemblyDescription("")] 10 | [assembly: AssemblyConfiguration("")] 11 | [assembly: AssemblyCompany("")] 12 | [assembly: AssemblyProduct("elipse")] 13 | [assembly: AssemblyCopyright("Copyright © 2021")] 14 | [assembly: AssemblyTrademark("")] 15 | [assembly: AssemblyCulture("")] 16 | 17 | // 将 ComVisible 设置为 false 会使此程序集中的类型 18 | //对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型 19 | //请将此类型的 ComVisible 特性设置为 true。 20 | [assembly: ComVisible(false)] 21 | 22 | // 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID 23 | [assembly: Guid("f7606a35-25cd-48bd-9c98-dc30f031613e")] 24 | 25 | // 程序集的版本信息由下列四个值组成: 26 | // 27 | // 主版本 28 | // 次版本 29 | // 生成号 30 | // 修订号 31 | // 32 | //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值 33 | //通过使用 "*"，如下所示: 34 | // [assembly: AssemblyVersion("1.0.*")] 35 | [assembly: AssemblyVersion("1.0.0.0")] 36 | [assembly: AssemblyFileVersion("1.0.0.0")] 37 | -------------------------------------------------------------------------------- /Properties/Settings.Designer.cs: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // 3 | // This code was generated by a tool. 4 | // Runtime Version:4.0.30319.42000 5 | // 6 | // Changes to this file may cause incorrect behavior and will be lost if 7 | // the code is regenerated. 8 | // 9 | //------------------------------------------------------------------------------ 10 | 11 | namespace elipse.Properties 12 | { 13 | 14 | 15 | [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] 16 | [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")] 17 | internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase 18 | { 19 | 20 | private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings()))); 21 | 22 | public static Settings Default 23 | { 24 | get 25 | { 26 | return defaultInstance; 27 | } 28 | } 29 | } 30 | } 31 | -------------------------------------------------------------------------------- /elipse.sln: -------------------------------------------------------------------------------- 1 | 2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio Version 16 4 | VisualStudioVersion = 16.0.29613.14 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "elipse", "elipse.csproj", "{F7606A35-25CD-48BD-9C98-DC30F031613E}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|Any CPU = Debug|Any CPU 11 | Debug|x64 = Debug|x64 12 | Release|Any CPU = Release|Any CPU 13 | Release|x64 = Release|x64 14 | EndGlobalSection 15 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 16 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 17 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Debug|Any CPU.Build.0 = Debug|Any CPU 18 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Debug|x64.ActiveCfg = Debug|x64 19 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Debug|x64.Build.0 = Debug|x64 20 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Release|Any CPU.ActiveCfg = Release|Any CPU 21 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Release|Any CPU.Build.0 = Release|Any CPU 22 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Release|x64.ActiveCfg = Release|x64 23 | {F7606A35-25CD-48BD-9C98-DC30F031613E}.Release|x64.Build.0 = Release|x64 24 | EndGlobalSection 25 | GlobalSection(SolutionProperties) = preSolution 26 | HideSolutionNode = FALSE 27 | EndGlobalSection 28 | GlobalSection(ExtensibilityGlobals) = postSolution 29 | SolutionGuid = {6AD82D57-EDDA-4C89-B868-A0CDFA91C546} 30 | EndGlobalSection 31 | EndGlobal 32 | -------------------------------------------------------------------------------- /Properties/Resources.Designer.cs: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // 3 | // 此代码由工具生成。 4 | // 运行时版本: 4.0.30319.42000 5 | // 6 | // 对此文件的更改可能导致不正确的行为，如果 7 | // 重新生成代码，则所做更改将丢失。 8 | // 9 | //------------------------------------------------------------------------------ 10 | 11 | namespace elipse.Properties 12 | { 13 | 14 | 15 | /// 16 | /// 强类型资源类，用于查找本地化字符串等。 17 | /// 18 | // 此类是由 StronglyTypedResourceBuilder 19 | // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。 20 | // 若要添加或删除成员，请编辑 .ResX 文件，然后重新运行 ResGen 21 | // (以 /str 作为命令选项)，或重新生成 VS 项目。 22 | [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")] 23 | [global::System.Diagnostics.DebuggerNonUserCodeAttribute()] 24 | [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] 25 | internal class Resources 26 | { 27 | 28 | private static global::System.Resources.ResourceManager resourceMan; 29 | 30 | private static global::System.Globalization.CultureInfo resourceCulture; 31 | 32 | [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")] 33 | internal Resources() 34 | { 35 | } 36 | 37 | /// 38 | /// 返回此类使用的缓存 ResourceManager 实例。 39 | /// 40 | [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] 41 | internal static global::System.Resources.ResourceManager ResourceManager 42 | { 43 | get 44 | { 45 | if ((resourceMan == null)) 46 | { 47 | global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("elipse.Properties.Resources", typeof(Resources).Assembly); 48 | resourceMan = temp; 49 | } 50 | return resourceMan; 51 | } 52 | } 53 | 54 | /// 55 | /// 覆盖当前线程的 CurrentUICulture 属性 56 | /// 使用此强类型的资源类的资源查找。 57 | /// 58 | [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)] 59 | internal static global::System.Globalization.CultureInfo Culture 60 | { 61 | get 62 | { 63 | return resourceCulture; 64 | } 65 | set 66 | { 67 | resourceCulture = value; 68 | } 69 | } 70 | } 71 | } 72 | -------------------------------------------------------------------------------- /elipse.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Debug 6 | AnyCPU 7 | {F7606A35-25CD-48BD-9C98-DC30F031613E} 8 | WinExe 9 | elipse 10 | elipse 11 | v4.7.2 12 | 512 13 | true 14 | true 15 | 16 | 17 | x64 18 | true 19 | full 20 | false 21 | bin\Debug\ 22 | DEBUG;TRACE 23 | prompt 24 | 4 25 | 26 | 27 | AnyCPU 28 | pdbonly 29 | true 30 | bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 35 | 36 | true 37 | bin\x64\Debug\ 38 | DEBUG;TRACE 39 | full 40 | x64 41 | 7.3 42 | prompt 43 | MinimumRecommendedRules.ruleset 44 | true 45 | 46 | 47 | bin\x64\Release\ 48 | TRACE 49 | true 50 | pdbonly 51 | x64 52 | 7.3 53 | prompt 54 | MinimumRecommendedRules.ruleset 55 | true 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | Form 73 | 74 | 75 | Form1.cs 76 | 77 | 78 | 79 | 80 | 81 | Form1.cs 82 | 83 | 84 | ResXFileCodeGenerator 85 | Resources.Designer.cs 86 | Designer 87 | 88 | 89 | True 90 | Resources.resx 91 | 92 | 93 | SettingsSingleFileGenerator 94 | Settings.Designer.cs 95 | 96 | 97 | True 98 | Settings.settings 99 | True 100 | 101 | 102 | 103 | 104 | 105 | 106 | -------------------------------------------------------------------------------- /Properties/Resources.resx: -------------------------------------------------------------------------------- 1 | 2 | 3 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | text/microsoft-resx 107 | 108 | 109 | 2.0 110 | 111 | 112 | System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 113 | 114 | 115 | System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 116 | 117 | -------------------------------------------------------------------------------- /Form1.resx: -------------------------------------------------------------------------------- 1 | 2 | 3 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | text/microsoft-resx 110 | 111 | 112 | 2.0 113 | 114 | 115 | System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 116 | 117 | 118 | System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 119 | 120 | 121 | 17, 17 122 | 123 | 124 | 122, 17 125 | 126 | 127 | 261, 15 128 | 129 | 130 | 434, 15 131 | 132 | 133 | 627, 15 134 | 135 | 136 | 96 137 | 138 | -------------------------------------------------------------------------------- /Form1.Designer.cs: -------------------------------------------------------------------------------- 1 | namespace elipse 2 | { 3 | partial class Form1 4 | { 5 | /// 6 | /// 必需的设计器变量。 7 | /// 8 | private System.ComponentModel.IContainer components = null; 9 | 10 | /// 11 | /// 清理所有正在使用的资源。 12 | /// 13 | /// 如果应释放托管资源，为 true；否则为 false。 14 | protected override void Dispose(bool disposing) 15 | { 16 | if (disposing && (components != null)) 17 | { 18 | components.Dispose(); 19 | } 20 | base.Dispose(disposing); 21 | } 22 | 23 | #region Windows 窗体设计器生成的代码 24 | 25 | /// 26 | /// 设计器支持所需的方法 - 不要修改 27 | /// 使用代码编辑器修改此方法的内容。 28 | /// 29 | private void InitializeComponent() 30 | { 31 | this.components = new System.ComponentModel.Container(); 32 | this.drawElipse = new System.Windows.Forms.Button(); 33 | this.machiningCAM = new System.Windows.Forms.Button(); 34 | this.timer1 = new System.Windows.Forms.Timer(this.components); 35 | this.textBoxXPos = new System.Windows.Forms.TextBox(); 36 | this.textBoxYPos = new System.Windows.Forms.TextBox(); 37 | this.pictureBox1 = new System.Windows.Forms.PictureBox(); 38 | this.pictureGroupBox = new System.Windows.Forms.GroupBox(); 39 | this.pictureBox2 = new System.Windows.Forms.PictureBox(); 40 | this.xMovPostive = new System.Windows.Forms.Button(); 41 | this.xMovNegative = new System.Windows.Forms.Button(); 42 | this.constantSpeedMovementGroupBox = new System.Windows.Forms.GroupBox(); 43 | this.zMovNegative = new System.Windows.Forms.Button(); 44 | this.zMovPostive = new System.Windows.Forms.Button(); 45 | this.yMovNegative = new System.Windows.Forms.Button(); 46 | this.yMovPostive = new System.Windows.Forms.Button(); 47 | this.home = new System.Windows.Forms.Button(); 48 | this.stop = new System.Windows.Forms.Button(); 49 | this.textBoxSpeed = new System.Windows.Forms.TextBox(); 50 | this.speedChange = new System.Windows.Forms.TrackBar(); 51 | this.textBoxZPos = new System.Windows.Forms.TextBox(); 52 | this.timerSpeed = new System.Windows.Forms.Timer(this.components); 53 | this.pointMoventGroupBox = new System.Windows.Forms.GroupBox(); 54 | this.zMovRelative = new System.Windows.Forms.Button(); 55 | this.yMovRelative = new System.Windows.Forms.Button(); 56 | this.xMovRelative = new System.Windows.Forms.Button(); 57 | this.textBoxPos = new System.Windows.Forms.TextBox(); 58 | this.absolutePositionGroupBox = new System.Windows.Forms.GroupBox(); 59 | this.drawButton = new System.Windows.Forms.Button(); 60 | this.doDrawButton = new System.Windows.Forms.Button(); 61 | this.writeGroupBox = new System.Windows.Forms.GroupBox(); 62 | this.textBoxMovY = new System.Windows.Forms.TextBox(); 63 | this.textBoxMovX = new System.Windows.Forms.TextBox(); 64 | this.textBoxHight = new System.Windows.Forms.TextBox(); 65 | this.textBoxWidth = new System.Windows.Forms.TextBox(); 66 | this.write = new System.Windows.Forms.Button(); 67 | this.timerDrawTrack = new System.Windows.Forms.Timer(this.components); 68 | this.timerSpeedCurve = new System.Windows.Forms.Timer(this.components); 69 | this.timerButtonClick = new System.Windows.Forms.Timer(this.components); 70 | this.textBoxLaser = new System.Windows.Forms.TextBox(); 71 | ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit(); 72 | this.pictureGroupBox.SuspendLayout(); 73 | ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).BeginInit(); 74 | this.constantSpeedMovementGroupBox.SuspendLayout(); 75 | ((System.ComponentModel.ISupportInitialize)(this.speedChange)).BeginInit(); 76 | this.pointMoventGroupBox.SuspendLayout(); 77 | this.absolutePositionGroupBox.SuspendLayout(); 78 | this.writeGroupBox.SuspendLayout(); 79 | this.SuspendLayout(); 80 | // 81 | // drawElipse 82 | // 83 | this.drawElipse.Location = new System.Drawing.Point(11, 17); 84 | this.drawElipse.Name = "drawElipse"; 85 | this.drawElipse.Size = new System.Drawing.Size(128, 23); 86 | this.drawElipse.TabIndex = 1; 87 | this.drawElipse.Text = "drawElipse"; 88 | this.drawElipse.UseVisualStyleBackColor = true; 89 | this.drawElipse.Click += new System.EventHandler(this.drawElipse_Click); 90 | // 91 | // machiningCAM 92 | // 93 | this.machiningCAM.Location = new System.Drawing.Point(13, 46); 94 | this.machiningCAM.Name = "machiningCAM"; 95 | this.machiningCAM.Size = new System.Drawing.Size(128, 23); 96 | this.machiningCAM.TabIndex = 2; 97 | this.machiningCAM.Text = "machiningCAM"; 98 | this.machiningCAM.UseVisualStyleBackColor = true; 99 | this.machiningCAM.Click += new System.EventHandler(this.machiningCAM_Click); 100 | // 101 | // timer1 102 | // 103 | this.timer1.Tick += new System.EventHandler(this.timer1_Tick); 104 | // 105 | // textBoxXPos 106 | // 107 | this.textBoxXPos.Location = new System.Drawing.Point(6, 24); 108 | this.textBoxXPos.Name = "textBoxXPos"; 109 | this.textBoxXPos.Size = new System.Drawing.Size(64, 25); 110 | this.textBoxXPos.TabIndex = 3; 111 | this.textBoxXPos.Text = "X:"; 112 | // 113 | // textBoxYPos 114 | // 115 | this.textBoxYPos.Location = new System.Drawing.Point(76, 24); 116 | this.textBoxYPos.Name = "textBoxYPos"; 117 | this.textBoxYPos.Size = new System.Drawing.Size(64, 25); 118 | this.textBoxYPos.TabIndex = 4; 119 | this.textBoxYPos.Text = "Y:"; 120 | // 121 | // pictureBox1 122 | // 123 | this.pictureBox1.Location = new System.Drawing.Point(16, 24); 124 | this.pictureBox1.Name = "pictureBox1"; 125 | this.pictureBox1.Size = new System.Drawing.Size(400, 400); 126 | this.pictureBox1.TabIndex = 0; 127 | this.pictureBox1.TabStop = false; 128 | this.pictureBox1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.pictureBox1_MouseDown); 129 | this.pictureBox1.MouseMove += new System.Windows.Forms.MouseEventHandler(this.pictureBox1_MouseMove); 130 | this.pictureBox1.MouseUp += new System.Windows.Forms.MouseEventHandler(this.pictureBox1_MouseUp); 131 | // 132 | // pictureGroupBox 133 | // 134 | this.pictureGroupBox.Controls.Add(this.pictureBox2); 135 | this.pictureGroupBox.Controls.Add(this.pictureBox1); 136 | this.pictureGroupBox.Location = new System.Drawing.Point(380, 12); 137 | this.pictureGroupBox.Name = "pictureGroupBox"; 138 | this.pictureGroupBox.Size = new System.Drawing.Size(509, 506); 139 | this.pictureGroupBox.TabIndex = 5; 140 | this.pictureGroupBox.TabStop = false; 141 | this.pictureGroupBox.Text = "pictureBox"; 142 | // 143 | // pictureBox2 144 | // 145 | this.pictureBox2.Location = new System.Drawing.Point(16, 430); 146 | this.pictureBox2.Name = "pictureBox2"; 147 | this.pictureBox2.Size = new System.Drawing.Size(400, 64); 148 | this.pictureBox2.TabIndex = 1; 149 | this.pictureBox2.TabStop = false; 150 | // 151 | // xMovPostive 152 | // 153 | this.xMovPostive.Location = new System.Drawing.Point(23, 51); 154 | this.xMovPostive.Name = "xMovPostive"; 155 | this.xMovPostive.Size = new System.Drawing.Size(33, 23); 156 | this.xMovPostive.TabIndex = 6; 157 | this.xMovPostive.Text = "X+"; 158 | this.xMovPostive.UseVisualStyleBackColor = true; 159 | this.xMovPostive.MouseDown += new System.Windows.Forms.MouseEventHandler(this.xMovPostive_MouseDown); 160 | this.xMovPostive.MouseUp += new System.Windows.Forms.MouseEventHandler(this.xMovPostive_MouseUp); 161 | // 162 | // xMovNegative 163 | // 164 | this.xMovNegative.Location = new System.Drawing.Point(86, 51); 165 | this.xMovNegative.Name = "xMovNegative"; 166 | this.xMovNegative.Size = new System.Drawing.Size(33, 23); 167 | this.xMovNegative.TabIndex = 7; 168 | this.xMovNegative.Text = "X-"; 169 | this.xMovNegative.UseVisualStyleBackColor = true; 170 | this.xMovNegative.MouseDown += new System.Windows.Forms.MouseEventHandler(this.xMovNegative_MouseDown); 171 | this.xMovNegative.MouseUp += new System.Windows.Forms.MouseEventHandler(this.xMovNegative_MouseUp); 172 | // 173 | // constantSpeedMovementGroupBox 174 | // 175 | this.constantSpeedMovementGroupBox.Controls.Add(this.zMovNegative); 176 | this.constantSpeedMovementGroupBox.Controls.Add(this.zMovPostive); 177 | this.constantSpeedMovementGroupBox.Controls.Add(this.yMovNegative); 178 | this.constantSpeedMovementGroupBox.Controls.Add(this.yMovPostive); 179 | this.constantSpeedMovementGroupBox.Controls.Add(this.xMovPostive); 180 | this.constantSpeedMovementGroupBox.Controls.Add(this.xMovNegative); 181 | this.constantSpeedMovementGroupBox.Location = new System.Drawing.Point(10, 231); 182 | this.constantSpeedMovementGroupBox.Name = "constantSpeedMovementGroupBox"; 183 | this.constantSpeedMovementGroupBox.RightToLeft = System.Windows.Forms.RightToLeft.No; 184 | this.constantSpeedMovementGroupBox.Size = new System.Drawing.Size(286, 128); 185 | this.constantSpeedMovementGroupBox.TabIndex = 8; 186 | this.constantSpeedMovementGroupBox.TabStop = false; 187 | this.constantSpeedMovementGroupBox.Text = "constantSpeedMovementBox"; 188 | // 189 | // zMovNegative 190 | // 191 | this.zMovNegative.Location = new System.Drawing.Point(121, 80); 192 | this.zMovNegative.Name = "zMovNegative"; 193 | this.zMovNegative.Size = new System.Drawing.Size(33, 23); 194 | this.zMovNegative.TabIndex = 11; 195 | this.zMovNegative.Text = "Z-"; 196 | this.zMovNegative.UseVisualStyleBackColor = true; 197 | this.zMovNegative.MouseDown += new System.Windows.Forms.MouseEventHandler(this.zMovNegative_MouseDown); 198 | this.zMovNegative.MouseUp += new System.Windows.Forms.MouseEventHandler(this.zMovNegative_MouseUp); 199 | // 200 | // zMovPostive 201 | // 202 | this.zMovPostive.Location = new System.Drawing.Point(121, 24); 203 | this.zMovPostive.Name = "zMovPostive"; 204 | this.zMovPostive.Size = new System.Drawing.Size(33, 23); 205 | this.zMovPostive.TabIndex = 10; 206 | this.zMovPostive.Text = "Z+"; 207 | this.zMovPostive.UseVisualStyleBackColor = true; 208 | this.zMovPostive.MouseDown += new System.Windows.Forms.MouseEventHandler(this.zMovPostive_MouseDown); 209 | this.zMovPostive.MouseUp += new System.Windows.Forms.MouseEventHandler(this.zMovPostive_MouseUp); 210 | // 211 | // yMovNegative 212 | // 213 | this.yMovNegative.Location = new System.Drawing.Point(53, 24); 214 | this.yMovNegative.Name = "yMovNegative"; 215 | this.yMovNegative.Size = new System.Drawing.Size(33, 23); 216 | this.yMovNegative.TabIndex = 9; 217 | this.yMovNegative.Text = "Y-"; 218 | this.yMovNegative.UseVisualStyleBackColor = true; 219 | this.yMovNegative.MouseDown += new System.Windows.Forms.MouseEventHandler(this.yMovNegative_MouseDown); 220 | this.yMovNegative.MouseUp += new System.Windows.Forms.MouseEventHandler(this.yMovNegative_MouseUp); 221 | // 222 | // yMovPostive 223 | // 224 | this.yMovPostive.Location = new System.Drawing.Point(53, 80); 225 | this.yMovPostive.Name = "yMovPostive"; 226 | this.yMovPostive.Size = new System.Drawing.Size(33, 23); 227 | this.yMovPostive.TabIndex = 8; 228 | this.yMovPostive.Text = "Y+"; 229 | this.yMovPostive.UseVisualStyleBackColor = true; 230 | this.yMovPostive.MouseDown += new System.Windows.Forms.MouseEventHandler(this.yMovPostive_MouseDown); 231 | this.yMovPostive.MouseUp += new System.Windows.Forms.MouseEventHandler(this.yMovPostive_MouseUp); 232 | // 233 | // home 234 | // 235 | this.home.Location = new System.Drawing.Point(153, 115); 236 | this.home.Name = "home"; 237 | this.home.Size = new System.Drawing.Size(65, 23); 238 | this.home.TabIndex = 15; 239 | this.home.Text = "HOME"; 240 | this.home.UseVisualStyleBackColor = true; 241 | this.home.Click += new System.EventHandler(this.home_Click); 242 | // 243 | // stop 244 | // 245 | this.stop.ForeColor = System.Drawing.Color.Blue; 246 | this.stop.Location = new System.Drawing.Point(153, 86); 247 | this.stop.Name = "stop"; 248 | this.stop.Size = new System.Drawing.Size(65, 23); 249 | this.stop.TabIndex = 14; 250 | this.stop.Text = "STOP"; 251 | this.stop.UseVisualStyleBackColor = true; 252 | this.stop.Click += new System.EventHandler(this.stop_Click); 253 | // 254 | // textBoxSpeed 255 | // 256 | this.textBoxSpeed.Location = new System.Drawing.Point(13, 113); 257 | this.textBoxSpeed.Name = "textBoxSpeed"; 258 | this.textBoxSpeed.Size = new System.Drawing.Size(126, 25); 259 | this.textBoxSpeed.TabIndex = 13; 260 | this.textBoxSpeed.Text = "SPEED (mm/s)"; 261 | // 262 | // speedChange 263 | // 264 | this.speedChange.LargeChange = 15; 265 | this.speedChange.Location = new System.Drawing.Point(11, 144); 266 | this.speedChange.Maximum = 15; 267 | this.speedChange.Minimum = 1; 268 | this.speedChange.Name = "speedChange"; 269 | this.speedChange.Size = new System.Drawing.Size(187, 56); 270 | this.speedChange.SmallChange = 0; 271 | this.speedChange.TabIndex = 12; 272 | this.speedChange.Value = 10; 273 | this.speedChange.Scroll += new System.EventHandler(this.speedChange_Scroll); 274 | // 275 | // textBoxZPos 276 | // 277 | this.textBoxZPos.Location = new System.Drawing.Point(146, 24); 278 | this.textBoxZPos.Name = "textBoxZPos"; 279 | this.textBoxZPos.Size = new System.Drawing.Size(64, 25); 280 | this.textBoxZPos.TabIndex = 9; 281 | this.textBoxZPos.Text = "Z:"; 282 | // 283 | // timerSpeed 284 | // 285 | this.timerSpeed.Interval = 20; 286 | this.timerSpeed.Tick += new System.EventHandler(this.timerSpeed_Tick); 287 | // 288 | // pointMoventGroupBox 289 | // 290 | this.pointMoventGroupBox.Controls.Add(this.zMovRelative); 291 | this.pointMoventGroupBox.Controls.Add(this.yMovRelative); 292 | this.pointMoventGroupBox.Controls.Add(this.xMovRelative); 293 | this.pointMoventGroupBox.Controls.Add(this.textBoxPos); 294 | this.pointMoventGroupBox.Location = new System.Drawing.Point(11, 379); 295 | this.pointMoventGroupBox.Name = "pointMoventGroupBox"; 296 | this.pointMoventGroupBox.Size = new System.Drawing.Size(285, 139); 297 | this.pointMoventGroupBox.TabIndex = 10; 298 | this.pointMoventGroupBox.TabStop = false; 299 | this.pointMoventGroupBox.Text = "pointMoventBox"; 300 | // 301 | // zMovRelative 302 | // 303 | this.zMovRelative.Location = new System.Drawing.Point(187, 84); 304 | this.zMovRelative.Name = "zMovRelative"; 305 | this.zMovRelative.Size = new System.Drawing.Size(33, 23); 306 | this.zMovRelative.TabIndex = 18; 307 | this.zMovRelative.Text = "Z"; 308 | this.zMovRelative.UseVisualStyleBackColor = true; 309 | this.zMovRelative.Click += new System.EventHandler(this.zMovRelative_Click); 310 | // 311 | // yMovRelative 312 | // 313 | this.yMovRelative.Location = new System.Drawing.Point(187, 55); 314 | this.yMovRelative.Name = "yMovRelative"; 315 | this.yMovRelative.Size = new System.Drawing.Size(33, 23); 316 | this.yMovRelative.TabIndex = 17; 317 | this.yMovRelative.Text = "Y"; 318 | this.yMovRelative.UseVisualStyleBackColor = true; 319 | this.yMovRelative.Click += new System.EventHandler(this.yMovRelative_Click); 320 | // 321 | // xMovRelative 322 | // 323 | this.xMovRelative.Location = new System.Drawing.Point(187, 26); 324 | this.xMovRelative.Name = "xMovRelative"; 325 | this.xMovRelative.Size = new System.Drawing.Size(33, 23); 326 | this.xMovRelative.TabIndex = 16; 327 | this.xMovRelative.Text = "X"; 328 | this.xMovRelative.UseVisualStyleBackColor = true; 329 | this.xMovRelative.Click += new System.EventHandler(this.xMovRelative_Click); 330 | // 331 | // textBoxPos 332 | // 333 | this.textBoxPos.Location = new System.Drawing.Point(27, 24); 334 | this.textBoxPos.Name = "textBoxPos"; 335 | this.textBoxPos.Size = new System.Drawing.Size(126, 25); 336 | this.textBoxPos.TabIndex = 14; 337 | this.textBoxPos.Text = "POS (mm)"; 338 | // 339 | // absolutePositionGroupBox 340 | // 341 | this.absolutePositionGroupBox.Controls.Add(this.textBoxXPos); 342 | this.absolutePositionGroupBox.Controls.Add(this.textBoxYPos); 343 | this.absolutePositionGroupBox.Controls.Add(this.textBoxZPos); 344 | this.absolutePositionGroupBox.Location = new System.Drawing.Point(153, 12); 345 | this.absolutePositionGroupBox.Name = "absolutePositionGroupBox"; 346 | this.absolutePositionGroupBox.Size = new System.Drawing.Size(221, 78); 347 | this.absolutePositionGroupBox.TabIndex = 11; 348 | this.absolutePositionGroupBox.TabStop = false; 349 | this.absolutePositionGroupBox.Text = "absolutePositionBox"; 350 | // 351 | // drawButton 352 | // 353 | this.drawButton.Location = new System.Drawing.Point(11, 75); 354 | this.drawButton.Name = "drawButton"; 355 | this.drawButton.Size = new System.Drawing.Size(65, 23); 356 | this.drawButton.TabIndex = 16; 357 | this.drawButton.Text = "DRAW"; 358 | this.drawButton.UseVisualStyleBackColor = true; 359 | this.drawButton.Click += new System.EventHandler(this.drawButton_Click); 360 | // 361 | // doDrawButton 362 | // 363 | this.doDrawButton.Location = new System.Drawing.Point(82, 75); 364 | this.doDrawButton.Name = "doDrawButton"; 365 | this.doDrawButton.Size = new System.Drawing.Size(65, 23); 366 | this.doDrawButton.TabIndex = 17; 367 | this.doDrawButton.Text = "DO"; 368 | this.doDrawButton.UseVisualStyleBackColor = true; 369 | this.doDrawButton.Click += new System.EventHandler(this.doDrawButton_Click); 370 | // 371 | // writeGroupBox 372 | // 373 | this.writeGroupBox.Controls.Add(this.textBoxMovY); 374 | this.writeGroupBox.Controls.Add(this.textBoxMovX); 375 | this.writeGroupBox.Controls.Add(this.textBoxHight); 376 | this.writeGroupBox.Controls.Add(this.textBoxWidth); 377 | this.writeGroupBox.Controls.Add(this.write); 378 | this.writeGroupBox.Location = new System.Drawing.Point(229, 96); 379 | this.writeGroupBox.Name = "writeGroupBox"; 380 | this.writeGroupBox.Size = new System.Drawing.Size(145, 129); 381 | this.writeGroupBox.TabIndex = 18; 382 | this.writeGroupBox.TabStop = false; 383 | this.writeGroupBox.Text = "writeBox"; 384 | // 385 | // textBoxMovY 386 | // 387 | this.textBoxMovY.Location = new System.Drawing.Point(75, 84); 388 | this.textBoxMovY.Name = "textBoxMovY"; 389 | this.textBoxMovY.Size = new System.Drawing.Size(64, 25); 390 | this.textBoxMovY.TabIndex = 22; 391 | this.textBoxMovY.Text = "Y:"; 392 | // 393 | // textBoxMovX 394 | // 395 | this.textBoxMovX.Location = new System.Drawing.Point(75, 53); 396 | this.textBoxMovX.Name = "textBoxMovX"; 397 | this.textBoxMovX.Size = new System.Drawing.Size(64, 25); 398 | this.textBoxMovX.TabIndex = 21; 399 | this.textBoxMovX.Text = "X:"; 400 | // 401 | // textBoxHight 402 | // 403 | this.textBoxHight.Location = new System.Drawing.Point(7, 84); 404 | this.textBoxHight.Name = "textBoxHight"; 405 | this.textBoxHight.Size = new System.Drawing.Size(64, 25); 406 | this.textBoxHight.TabIndex = 10; 407 | this.textBoxHight.Text = "hight:"; 408 | // 409 | // textBoxWidth 410 | // 411 | this.textBoxWidth.Location = new System.Drawing.Point(7, 53); 412 | this.textBoxWidth.Name = "textBoxWidth"; 413 | this.textBoxWidth.Size = new System.Drawing.Size(64, 25); 414 | this.textBoxWidth.TabIndex = 20; 415 | this.textBoxWidth.Text = "width:"; 416 | // 417 | // write 418 | // 419 | this.write.Location = new System.Drawing.Point(6, 24); 420 | this.write.Name = "write"; 421 | this.write.Size = new System.Drawing.Size(65, 23); 422 | this.write.TabIndex = 19; 423 | this.write.Text = "WRITE"; 424 | this.write.UseVisualStyleBackColor = true; 425 | this.write.Click += new System.EventHandler(this.write_Click); 426 | // 427 | // timerDrawTrack 428 | // 429 | this.timerDrawTrack.Interval = 20; 430 | this.timerDrawTrack.Tick += new System.EventHandler(this.timerDrawTrack_Tick); 431 | // 432 | // timerSpeedCurve 433 | // 434 | this.timerSpeedCurve.Interval = 10; 435 | this.timerSpeedCurve.Tick += new System.EventHandler(this.timerSpeedCurve_Tick); 436 | // 437 | // timerButtonClick 438 | // 439 | this.timerButtonClick.Enabled = true; 440 | this.timerButtonClick.Interval = 10; 441 | this.timerButtonClick.Tick += new System.EventHandler(this.timerButtonClick_Tick); 442 | // 443 | // textBoxLaser 444 | // 445 | this.textBoxLaser.Location = new System.Drawing.Point(13, 200); 446 | this.textBoxLaser.Name = "textBoxLaser"; 447 | this.textBoxLaser.Size = new System.Drawing.Size(116, 25); 448 | this.textBoxLaser.TabIndex = 19; 449 | this.textBoxLaser.Text = "Laser: CLOSE"; 450 | this.textBoxLaser.Click += new System.EventHandler(this.textBoxLaser_Click); 451 | // 452 | // Form1 453 | // 454 | this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F); 455 | this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; 456 | this.ClientSize = new System.Drawing.Size(1018, 551); 457 | this.Controls.Add(this.textBoxLaser); 458 | this.Controls.Add(this.writeGroupBox); 459 | this.Controls.Add(this.doDrawButton); 460 | this.Controls.Add(this.drawButton); 461 | this.Controls.Add(this.home); 462 | this.Controls.Add(this.absolutePositionGroupBox); 463 | this.Controls.Add(this.stop); 464 | this.Controls.Add(this.pointMoventGroupBox); 465 | this.Controls.Add(this.textBoxSpeed); 466 | this.Controls.Add(this.constantSpeedMovementGroupBox); 467 | this.Controls.Add(this.speedChange); 468 | this.Controls.Add(this.pictureGroupBox); 469 | this.Controls.Add(this.machiningCAM); 470 | this.Controls.Add(this.drawElipse); 471 | this.Name = "Form1"; 472 | this.Text = "Form1"; 473 | this.Load += new System.EventHandler(this.Form1_Load); 474 | ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit(); 475 | this.pictureGroupBox.ResumeLayout(false); 476 | ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).EndInit(); 477 | this.constantSpeedMovementGroupBox.ResumeLayout(false); 478 | ((System.ComponentModel.ISupportInitialize)(this.speedChange)).EndInit(); 479 | this.pointMoventGroupBox.ResumeLayout(false); 480 | this.pointMoventGroupBox.PerformLayout(); 481 | this.absolutePositionGroupBox.ResumeLayout(false); 482 | this.absolutePositionGroupBox.PerformLayout(); 483 | this.writeGroupBox.ResumeLayout(false); 484 | this.writeGroupBox.PerformLayout(); 485 | this.ResumeLayout(false); 486 | this.PerformLayout(); 487 | 488 | } 489 | 490 | #endregion 491 | private System.Windows.Forms.Button drawElipse; 492 | private System.Windows.Forms.Button machiningCAM; 493 | private System.Windows.Forms.Timer timer1; 494 | private System.Windows.Forms.TextBox textBoxXPos; 495 | private System.Windows.Forms.TextBox textBoxYPos; 496 | private System.Windows.Forms.PictureBox pictureBox1; 497 | private System.Windows.Forms.GroupBox pictureGroupBox; 498 | private System.Windows.Forms.Button xMovPostive; 499 | private System.Windows.Forms.Button xMovNegative; 500 | private System.Windows.Forms.GroupBox constantSpeedMovementGroupBox; 501 | private System.Windows.Forms.Button zMovNegative; 502 | private System.Windows.Forms.Button zMovPostive; 503 | private System.Windows.Forms.Button yMovNegative; 504 | private System.Windows.Forms.Button yMovPostive; 505 | private System.Windows.Forms.TrackBar speedChange; 506 | private System.Windows.Forms.TextBox textBoxSpeed; 507 | private System.Windows.Forms.Button stop; 508 | private System.Windows.Forms.Button home; 509 | private System.Windows.Forms.TextBox textBoxZPos; 510 | private System.Windows.Forms.Timer timerSpeed; 511 | private System.Windows.Forms.GroupBox pointMoventGroupBox; 512 | private System.Windows.Forms.TextBox textBoxPos; 513 | private System.Windows.Forms.Button zMovRelative; 514 | private System.Windows.Forms.Button yMovRelative; 515 | private System.Windows.Forms.Button xMovRelative; 516 | private System.Windows.Forms.GroupBox absolutePositionGroupBox; 517 | private System.Windows.Forms.Button drawButton; 518 | private System.Windows.Forms.Button doDrawButton; 519 | private System.Windows.Forms.GroupBox writeGroupBox; 520 | private System.Windows.Forms.Button write; 521 | private System.Windows.Forms.Timer timerDrawTrack; 522 | private System.Windows.Forms.PictureBox pictureBox2; 523 | private System.Windows.Forms.Timer timerSpeedCurve; 524 | private System.Windows.Forms.TextBox textBoxHight; 525 | private System.Windows.Forms.TextBox textBoxWidth; 526 | private System.Windows.Forms.TextBox textBoxMovY; 527 | private System.Windows.Forms.TextBox textBoxMovX; 528 | private System.Windows.Forms.Timer timerButtonClick; 529 | private System.Windows.Forms.TextBox textBoxLaser; 530 | } 531 | } 532 | 533 | -------------------------------------------------------------------------------- /Form1.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.ComponentModel; 4 | using System.Data; 5 | using System.Drawing; 6 | using System.Linq; 7 | using System.Text; 8 | using System.Threading.Tasks; 9 | using System.Windows.Forms; 10 | using Leadshine; 11 | using System.Threading; 12 | 13 | namespace elipse { 14 | public partial class Form1 : Form { 15 | 16 | int x, x0, x1, x2, x3, x4; 17 | int y, y0, y1, y2, y3, y4; 18 | int width = 0, height = 0; 19 | int countLines = 0; 20 | int[] xPos = new int[30]; 21 | int[] yPos = new int[30]; 22 | ushort mouseDown = 0;//画笔标识 23 | ushort penUpFlag = 0; 24 | 25 | 26 | int Min_Vel = 1; 27 | int Max_Vel = 15; 28 | int speed = 10; 29 | readonly ushort CardNo = 0; 30 | readonly ushort[] axis = { 0, 1, 2 }; 31 | readonly double Tacc = 0.1; //加速时间 32 | readonly double Tdec = 0.1; //减速时间 33 | readonly uint Stop_Vel = 5; //停止速度 34 | readonly double S_para = 1; 35 | 36 | 37 | ushort[] AxirArray = { 0, 1 }; 38 | double[] Dist = { 0, 1 }; 39 | double θ = 50; 40 | 41 | double tim = 0; 42 | 43 | 44 | 45 | readonly double[] xWordPos1 = { -0.07, 1.82, 1.82, -0.07, -1.94, 46 | -1.94, -0.51, 1.13, 1.13, -0.51, 47 | -1.94, -1.94, 0.79, 2.47, 2.47, 48 | 0.79, -5.52, -7.55, -7.55, -5.52, 49 | -3.09, -3.09, -4.36, -6.34, -6.34, 50 | -4.36, -3.09, -3.09, -4.92, -6.98, 51 | -6.98, -4.92, -0.07 }; 52 | readonly double[] xWordPos2 = { 1.60, 0.89, -1.41, -0.80, 1.60, 1.60, 0 }; 53 | 54 | readonly double[] yWordPos1 = { 11.49, 11.53, 10.49, 10.53, 10.53, 55 | 7.85, 7.85, 7.90, 6.77, 6.81, 56 | 6.81, 3.53, 3.53, 3.57, 2.49, 57 | 2.53, 2.53, 2.49, 3.57, 3.53, 58 | 3.53, 6.81, 6.81, 6.77, 7.90, 59 | 7.85 ,7.85 ,10.53 ,10.53,10.49, 60 | 11.53 ,11.49 ,11.49 }; 61 | readonly double[] yWordPos2 = { 4.60, 3.79, 5.52, 6.34, 4.60, 4.60, 0 }; 62 | 63 | //停止函数多线程 64 | private Thread Job1; // 定义线程名 65 | private Thread Job2; // 定义线程名 66 | 67 | bool laserFlag = false; 68 | 69 | 70 | 71 | public Form1 () { 72 | InitializeComponent(); 73 | } 74 | 75 | 76 | 77 | private void Form1_Load (object sender, EventArgs e) { 78 | short res = LTSMC.smc_board_init(CardNo, 2, "192.168.5.11", 0); 79 | if (res != 0) { 80 | MessageBox.Show("连接错误！", "出错"); 81 | return; 82 | } 83 | //三轴打开并设置脉冲当量 84 | LTSMC.nmcs_set_axis_enable(0, 0); 85 | LTSMC.nmcs_set_axis_enable(0, 1); 86 | LTSMC.nmcs_set_axis_enable(0, 2); 87 | //（设置脉冲当量（控制器号,轴号,脉冲当量）1000脉冲/1mm） 88 | LTSMC.smc_set_equiv(0, 0, 1000); 89 | LTSMC.smc_set_equiv(0, 1, 1000); 90 | LTSMC.smc_set_equiv(0, 2, 1000); 91 | 92 | } 93 | 94 | private void Form1_FormClosed (object sender, FormClosedEventArgs e) { 95 | LTSMC.smc_board_close(0); 96 | } 97 | public void stop_Click (object sender, EventArgs e) { 98 | LTSMC.smc_stop(CardNo, axis[0], 1); 99 | LTSMC.smc_stop(CardNo, axis[1], 1); 100 | LTSMC.smc_stop(CardNo, axis[2], 1); 101 | 102 | Job1.Abort(); // 终止线程 103 | write.Visible = true; // 按键可见 104 | } 105 | private void timerButtonClick_Tick (object sender, EventArgs e) { 106 | if (LTSMC.smc_read_inbit(0, 29) == 0) { 107 | write_Click(sender, e); 108 | } 109 | } 110 | private void motorJob () { 111 | this.PenUp(); 112 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 113 | 114 | //赋值速度 把速度曲线设置一下 115 | LTSMC.smc_set_vector_profile_unit(CardNo, 0, Min_Vel, speed, Tacc, Tdec, Stop_Vel); 116 | 117 | //画布大小400，64 118 | Graphics g = pictureBox1.CreateGraphics(); // 创建Graphics对象 119 | g.Clear(Color.White); // 画布清零 120 | Graphics f = pictureBox2.CreateGraphics(); // 创建Graphics对象 121 | f.Clear(Color.White); // 画布清零 122 | 123 | timerDrawTrack.Start(); 124 | timerSpeedCurve.Start(); 125 | 126 | double ratioX = double.Parse(textBoxWidth.Text) / 9.81; //6.31 127 | double ratioY = double.Parse(textBoxHight.Text) / 9.04; //9.04 128 | 129 | Console.WriteLine(xWordPos2.Length); 130 | 131 | //正常的字 132 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 133 | for (int i = 0; i < xWordPos1.Length; i++) { 134 | Dist[0] = xWordPos1[i] * ratioX + double.Parse(textBoxMovX.Text) + 2.0 * ratioX; 135 | Dist[1] = yWordPos1[i] * ratioY + double.Parse(textBoxMovY.Text) - 2.49 * ratioY; 136 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 137 | while (LTSMC.smc_check_done(0, 0) == 0 || 138 | LTSMC.smc_check_done(0, 1) == 0) { 139 | Application.DoEvents(); 140 | } 141 | this.PenDown(); 142 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 143 | } 144 | this.PenUp(); 145 | while (LTSMC.smc_check_done(0, 2) == 0) { 146 | Application.DoEvents(); 147 | } 148 | 149 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 150 | for (int i = 0; i < xWordPos2.Length - 1; i++) { 151 | Dist[0] = xWordPos2[i] * ratioX + double.Parse(textBoxMovX.Text) + 2.0 * ratioX; 152 | Dist[1] = yWordPos2[i] * ratioY + double.Parse(textBoxMovY.Text) - 2.5 * ratioY; 153 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 154 | while (LTSMC.smc_check_done(0, 0) == 0 || 155 | LTSMC.smc_check_done(0, 1) == 0) { 156 | Application.DoEvents(); 157 | } 158 | this.PenDown(); 159 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 160 | } 161 | 162 | this.PenUp(); 163 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 164 | 165 | //旋转的字 166 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); }; 167 | for (int i = 0; i < xWordPos1.Length; i++) { 168 | Dist[0] = (xWordPos1[i] * Math.Cos(θ) - yWordPos1[i] * Math.Sin(θ)) + 130; 169 | Dist[1] = (xWordPos1[i] * Math.Sin(θ) + yWordPos1[i] * Math.Cos(θ)) + 30; 170 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 171 | while (LTSMC.smc_check_done(0, 0) == 0 || 172 | LTSMC.smc_check_done(0, 1) == 0) { 173 | Application.DoEvents(); 174 | } 175 | this.PenDown(); 176 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 177 | } 178 | 179 | this.PenUp(); 180 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 181 | 182 | for (int i = 0; i < xWordPos2.Length-1i++) { 183 | Dist[0] = (xWordPos2[i] * Math.Cos(θ) - yWordPos2[i] * Math.Sin(θ)) + 130; 184 | Dist[1] = (xWordPos2[i] * Math.Sin(θ) + yWordPos2[i] * Math.Cos(θ)) + 30; 185 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 186 | while (LTSMC.smc_check_done(0, 0) == 0 || 187 | LTSMC.smc_check_done(0, 1) == 0) { 188 | Application.DoEvents(); 189 | } 190 | this.PenDown(); 191 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 192 | } 193 | this.PenUp(); 194 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 195 | 196 | //水平偏移变换 197 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 198 | for (int i = 0; i < xWordPos1.Length; i++) { 199 | Dist[0] = xWordPos1[i] * 2 + 20; 200 | Dist[1] = xWordPos1[i] * 2 * 0.7 + yWordPos1[i] * 2 + 30; 201 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 202 | while (LTSMC.smc_check_done(0, 0) == 0 || 203 | LTSMC.smc_check_done(0, 1) == 0) { 204 | Application.DoEvents(); 205 | } 206 | this.PenDown(); 207 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 208 | } 209 | this.PenUp(); 210 | while (LTSMC.smc_check_done(0, 2) == 0) { 211 | Application.DoEvents(); 212 | } 213 | 214 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 215 | for (int i = 0; i < xWordPos2.Length - 1; i++) { 216 | Dist[0] = xWordPos2[i] * 2 + 20; 217 | Dist[1] = xWordPos2[i] * 2 * 0.5 + yWordPos2[i] * 2 + 30; 218 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 219 | while (LTSMC.smc_check_done(0, 0) == 0 || 220 | LTSMC.smc_check_done(0, 1) == 0) { 221 | Application.DoEvents(); 222 | } 223 | this.PenDown(); 224 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 225 | } 226 | this.PenUp(); 227 | while (LTSMC.smc_check_done(0, 2) == 0) { Application.DoEvents(); } 228 | timerDrawTrack.Stop(); 229 | 230 | 231 | } 232 | private void write_Click (object sender, EventArgs e){ 233 | Job1 = new Thread(motorJob); 234 | // 创建线程 235 | Job1.Priority = ThreadPriority.Normal; 236 | // 线程Job1优先级一般 237 | Job1.Start(); // 启动线程 238 | write.Visible = false;// 按键不可见，防止多次启动线程 239 | } 240 | 241 | //激光待补充 242 | private void textBoxLaser_Click (object sender, EventArgs e) { 243 | laserFlag = !laserFlag; 244 | if (laserFlag == true) { 245 | LTSMC.smc_write_outbit(0, 60, 0); 246 | textBoxLaser.Text = "Laser: OPEN"; 247 | } 248 | else { 249 | LTSMC.smc_write_outbit(0, 60, 1); 250 | textBoxLaser.Text = "Laser: CLOSE"; 251 | } 252 | } 253 | 254 | 255 | 256 | 257 | 258 | //未使用此函数已废 259 | private void Stop () { 260 | this.Invoke((MethodInvoker)delegate { 261 | //this.stop.PerformClick(); 262 | }); 263 | Thread.Sleep(1); // 延时1ms 264 | //线程测试 265 | //int count1=0; 266 | //for (int i = 0; i < 100000; i++) { 267 | // count1 = count1 + 1; 268 | // this.Invoke((MethodInvoker)delegate 269 | // { this.home.Text = count1.ToString(); }); 270 | // // 跨线程操作,在Form1线程上执行指定的委托 271 | // Thread.Sleep(1); // 延时1ms 272 | //} 273 | 274 | } 275 | 276 | //实时显示速度 277 | private void speedChange_Scroll (object sender, EventArgs e) { 278 | speed = speedChange.Value; 279 | textBoxSpeed.Text = "SPEED:" + speedChange.Value.ToString() + " mm/s"; 280 | } 281 | 282 | //测试用凸轮 283 | private void drawElipse_Click (object sender, EventArgs e) { 284 | pictureBox1.Size = new Size(400, 400); 285 | Graphics g = pictureBox1.CreateGraphics(); // 创建Graphics对象 286 | g.PageUnit = GraphicsUnit.Pixel; // 以像素为单位 287 | g.PageScale = 0.5f; // 像素与坐标单位的比例,即1个单位为0.5个像素。 288 | g.TranslateTransform(0, 700); // y轴下移 700 ,方向 仍朝下 289 | g.Clear(Color.White); // 画布清零 290 | Pen GreenPen = new Pen(Color.Green); 291 | // 计算P1、P2、P3、P4的坐标 292 | x1 = (int)(300 - 200 * Math.Cos(30.0 * 3.14159 / 180.0)); 293 | y1 = (int)(300 + 200 * Math.Sin(30.0 * 3.14159 / 180.0)); 294 | x2 = (int)(300 - 120 * Math.Cos(30.0 * 3.14159 / 180.0)); 295 | y2 = (int)(500 + 120 * Math.Sin(30.0 * 3.14159 / 180.0)); 296 | x3 = (int)(300 + 120 * Math.Cos(30.0 * 3.14159 / 180.0)); 297 | y3 = (int)(500 + 120 * Math.Sin(30.0 * 3.14159 / 180.0)); 298 | x4 = (int)(300 + 200 * Math.Cos(30.0 * 3.14159 / 180.0)); 299 | y4 = (int)(300 + 200 * Math.Sin(30.0 * 3.14159 / 180.0)); 300 | // 画直线P1P2和P3P4 301 | g.DrawLine(GreenPen, x1, -1 * y1, x2, -1 * y2); 302 | g.DrawLine(GreenPen, x3, -1 * y3, x4, -1 * y4); 303 | // 画圆弧P2P3 304 | x0 = (int)(300 + 120 * Math.Cos(30 * 3.14159 / 180.0)); 305 | y0 = -1 * (int)(500 + 120 * Math.Sin(30 * 3.14159 / 180.0)); 306 | for (int i = 31; i < 150; i++) { 307 | x = (int)(300 + 120 * Math.Cos(i * 3.14159 / 180.0)); 308 | y = -1 * (int)(500 + 120 * Math.Sin(i * 3.14159 / 180.0)); 309 | g.DrawLine(GreenPen, x0, y0, x, y); 310 | x0 = x; 311 | y0 = y; 312 | } 313 | // 画圆弧P4P1 314 | x0 = (int)(300 + 200 * Math.Cos(150 * 3.14159 / 180.0)); 315 | y0 = -1 * (int)(300 + 200 * Math.Sin(150 * 3.14159 / 180.0)); 316 | for (int i = 151; i < 390; i++) { 317 | x = (int)(300 + 200 * Math.Cos(i * 3.14159 / 180.0)); 318 | y = -1 * (int)(300 + 200 * Math.Sin(i * 3.14159 / 180.0)); 319 | g.DrawLine(GreenPen, x0, y0, x, y); 320 | x0 = x; 321 | y0 = y; 322 | } 323 | 324 | } 325 | private void machiningCAM_Click (object sender, EventArgs e) { 326 | double[] pos = new double[2]; 327 | double[] centor = new double[2]; 328 | double LookaheadAcc = 10000; 329 | int LookaheadSegment = 200; 330 | double PathError = 1; 331 | short result = 0; 332 | 333 | timer1.Start(); 334 | //设置X轴速度曲线参数 335 | LTSMC.smc_set_profile_unit(CardNo, axis[0], Min_Vel, Max_Vel, Tacc, Tdec, Stop_Vel); 336 | LTSMC.smc_set_s_profile(CardNo, axis[0], 0, S_para); //设置S段参数 337 | LTSMC.smc_pmove_unit(CardNo, 0, x1, 1); //启动定长运动 338 | //设置Y轴速度曲线参数 339 | LTSMC.smc_set_profile_unit(CardNo, axis[1], Min_Vel, Max_Vel, Tacc, Tdec, Stop_Vel); 340 | LTSMC.smc_set_s_profile(CardNo, axis[1], 0, S_para); //设置S段参数 341 | LTSMC.smc_pmove_unit(CardNo, axis[1], y1, 1); //启动定长运动 342 | while (LTSMC.smc_check_done(0, 1) == 0) // 等待2个电机都停止 343 | { 344 | Application.DoEvents(); 345 | } 346 | Thread.Sleep(100); // 延时100毫秒 347 | LTSMC.smc_conti_set_lookahead_mode(CardNo, 0, 1, LookaheadSegment, 348 | PathError, LookaheadAcc); // 设置连续插补前瞻模式 349 | LTSMC.smc_set_vector_profile_unit(CardNo, 0, Min_Vel, Max_Vel, Tacc, Tdec, Stop_Vel); // 设置连续插补的速度 350 | LTSMC.smc_set_vector_s_profile(CardNo, 0, 0, S_para); //设置连续插补S段时间 351 | LTSMC.smc_conti_open_list(CardNo, 0, 2, axis); // 打开连续插补指令表 352 | LTSMC.smc_conti_start_list(CardNo, 0); // 开始连续插补 353 | //连续直线插补P1到P2 354 | pos[0] = x2; //设置连续直线插补的终点 355 | pos[1] = y2; 356 | result = LTSMC.smc_conti_line_unit(CardNo, 0, 2, axis, pos, 1, 0); 357 | //连续圆弧插补P2到P3 358 | pos[0] = x3; //设置连续圆弧插补的终点 359 | pos[1] = y3; 360 | centor[0] = 300; //设置连续圆弧插补的圆心 361 | centor[1] = 500; 362 | LTSMC.smc_conti_arc_move_center_unit(CardNo, 0, 2, axis, pos, centor, 0, 0, 1, 1); 363 | //连续直线插补P3到P4 364 | pos[0] = x4; 365 | pos[1] = y4; 366 | result = LTSMC.smc_conti_line_unit(CardNo, 0, 2, axis, pos, 1, 2); 367 | //连续圆弧插补P4到P1 368 | pos[0] = x1; 369 | pos[1] = y1; 370 | 371 | LTSMC.smc_conti_arc_move_center_unit(CardNo, 0, 2, axis, pos, centor, 0, 0, 1, 3); 372 | LTSMC.smc_conti_close_list(CardNo, 0); //关闭连续插补指令表 373 | } 374 | private void timer1_Tick (object sender, EventArgs e) { 375 | double positionX = 0, positionX0 = 0; 376 | double positionY = 0, positionY0 = 0; 377 | Graphics g = pictureBox1.CreateGraphics(); // 创建Graphics对象 378 | g.PageUnit = GraphicsUnit.Pixel; // 以像素为单位 379 | g.PageScale = 0.5f; // 像素与坐标单位的比例,即1个单位为0.5个像素。 380 | g.TranslateTransform(0, 700); // y轴下移 700 ,方向 仍朝下 381 | Pen RedPen = new Pen(Color.Red); 382 | LTSMC.smc_get_position_unit(CardNo, 0, ref positionX); // 读X轴指令坐标 383 | textBoxXPos.Text = positionX.ToString(); 384 | LTSMC.smc_get_position_unit(CardNo, 1, ref positionY); // 读Y轴指令坐标 385 | textBoxYPos.Text = positionY.ToString(); 386 | // 画加工轨迹 387 | g.DrawLine(RedPen, (float)positionX0, -1 * (float)positionY0, (float)positionX, -1 * (float)positionY); 388 | positionX0 = positionX; 389 | positionY0 = positionY; 390 | } 391 | 392 | //回零 393 | private void home_Click (object sender, EventArgs e) { 394 | this.PenUp(); 395 | for (ushort i = 0; i < 2; i++) { 396 | //控制器号,轴号,低速,高速,加速时间,减速时间 397 | LTSMC.smc_set_home_profile_unit(0, i, 1, speed, 0.1, 0.1); 398 | 399 | LTSMC.smc_set_homemode(CardNo, i, 0, 1, 21, 0); // 设置回零模式 400 | LTSMC.smc_set_home_position_unit(CardNo, i, 1, 0);// 设置偏移模式 401 | 402 | LTSMC.smc_home_move(CardNo, i); // 启动回零 403 | LTSMC.smc_set_position_unit(CardNo, i, 0); 404 | } 405 | while (LTSMC.smc_check_done(0, 0) == 0 || 406 | LTSMC.smc_check_done(0, 1) == 0) { 407 | Application.DoEvents(); 408 | } 409 | //控制器号,轴号,低速,高速,加速时间,减速时间 410 | LTSMC.smc_set_home_profile_unit(0, 2, 1, speed, 0.1, 0.1); 411 | 412 | LTSMC.smc_set_homemode(CardNo, 2, 0, 1, 21, 0); // 设置回零模式 413 | LTSMC.smc_set_home_position_unit(CardNo, 2, 1, 0);// 设置偏移模式 414 | 415 | LTSMC.smc_home_move(CardNo, 2); // 启动回零 416 | LTSMC.smc_set_position_unit(CardNo, 2, 0); 417 | timerSpeed.Start(); 418 | } 419 | 420 | //实时读取位置 421 | private void timerSpeed_Tick (object sender, EventArgs e) { 422 | double pos = 0; 423 | LTSMC.smc_get_position_unit(CardNo, axis[0], ref pos); // 获取0号轴当前指令位置 424 | textBoxXPos.Text = pos.ToString(); // 显示当前位置 425 | LTSMC.smc_get_position_unit(CardNo, axis[1], ref pos); // 获取1号轴当前指令位置 426 | textBoxYPos.Text = pos.ToString(); // 显示当前位置 427 | LTSMC.smc_get_position_unit(CardNo, axis[2], ref pos); // 获取2号轴当前指令位置 428 | textBoxZPos.Text = pos.ToString(); // 显示当前位置 429 | } 430 | 431 | //以下是画画事件 432 | private void drawButton_Click (object sender, EventArgs e) { 433 | pictureBox1.Size = new Size(360, 150); 434 | mouseDown = 1; 435 | Graphics g = pictureBox1.CreateGraphics(); // 创建Graphics对象 436 | g.Clear(Color.White); // 画布清零 437 | 438 | } 439 | private void pictureBox1_MouseDown (object sender, MouseEventArgs e) { 440 | // 画画按钮打开时才可以画画 441 | if (e.Button == MouseButtons.Left && mouseDown == 1) { 442 | x1 = e.X; // 获取鼠标左键按下时的坐标 443 | y1 = e.Y; 444 | mouseDown = 2; // 鼠标左键按下标识为1 445 | } 446 | } 447 | private void pictureBox1_MouseMove (object sender, MouseEventArgs e) { 448 | // 鼠标左键按下后的移动 449 | if (mouseDown == 2) { 450 | 451 | Graphics g = pictureBox1.CreateGraphics(); 452 | Pen WhitePen = new Pen(Color.White); 453 | Pen RedPen = new Pen(Color.Red); 454 | 455 | //擦除上次画的线 456 | g.DrawLine(WhitePen, x0, y0, x0 + width, y0 + height); 457 | width = e.X - x1; // 计算鼠标左键按下后移动的距离 458 | height = e.Y - y1; 459 | g.DrawLine(RedPen, x1, y1, e.X, e.Y); 460 | //Console.WriteLine(x1 + "-" + y1); 461 | x0 = x1; y0 = y1; 462 | } 463 | } 464 | private void pictureBox1_MouseUp (object sender, MouseEventArgs e) { 465 | // 鼠标左键抬起 466 | if (e.Button == MouseButtons.Left) { 467 | x2 = e.X;// 获取鼠标左键抬起时的坐标 468 | y2 = e.Y; 469 | mouseDown = 1; // 鼠标左键按下标识为0 470 | xPos[countLines] = x1; 471 | yPos[countLines] = y1; 472 | countLines++; 473 | xPos[countLines] = x2; 474 | yPos[countLines] = y2; 475 | countLines++; 476 | 477 | //画出保存的线 478 | Graphics g = pictureBox1.CreateGraphics(); 479 | Pen BluePen = new Pen(Color.Blue); 480 | g.DrawLine(BluePen, x1, y1, x2, y2); 481 | } 482 | 483 | } 484 | private void doDrawButton_Click (object sender, EventArgs e) { 485 | mouseDown = 0; 486 | this.PenUp(); 487 | 488 | //赋值速度 489 | LTSMC.smc_set_vector_profile_unit(CardNo, 0, Min_Vel, speed, Tacc, Tdec, Stop_Vel); 490 | 491 | //坐标需要先转换 492 | for (int i = 0; i < countLines; i++) { 493 | xPos[i] = ConversionX(xPos[i]); 494 | yPos[i] = ConversionY(yPos[i]); 495 | } 496 | 497 | timerDrawTrack.Start(); 498 | for (int i = 0; i < countLines; i++) { 499 | //x与坐标反向正负相反 500 | Dist[0] = xPos[i]; 501 | Dist[1] = yPos[i]; 502 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 503 | while (LTSMC.smc_check_done(0, 0) == 0 || 504 | LTSMC.smc_check_done(0, 1) == 0) { 505 | Application.DoEvents(); 506 | } 507 | this.PenDown(); 508 | while (LTSMC.smc_check_done(0, 2) == 0) { 509 | Application.DoEvents(); 510 | } 511 | 512 | i++; 513 | Dist[0] = xPos[i]; 514 | Dist[1] = yPos[i]; 515 | LTSMC.smc_line_unit(0, 0, 2, AxirArray, Dist, 1); 516 | while (LTSMC.smc_check_done(0, 0) == 0 || 517 | LTSMC.smc_check_done(0, 1) == 0) { 518 | Application.DoEvents(); 519 | } 520 | 521 | this.PenUp(); 522 | while (LTSMC.smc_check_done(0, 2) == 0) { 523 | Application.DoEvents(); 524 | } 525 | } 526 | //执行完关闭定时器 527 | timerDrawTrack.Stop(); 528 | } 529 | 530 | //画画显示位置 531 | private void timerDrawTrack_Tick (object sender, EventArgs e) { 532 | double positionX = 0, positionX0 = 0; 533 | double positionY = 0, positionY0 = 0; 534 | int temp1, temp2; 535 | 536 | Graphics g = pictureBox1.CreateGraphics(); // 创建Graphics对象 537 | 538 | Pen RedPen = new Pen(Color.Red, 2.0f); 539 | 540 | LTSMC.smc_get_position_unit(CardNo, 0, ref positionX); // 读X轴指令坐标 541 | LTSMC.smc_get_position_unit(CardNo, 1, ref positionY); // 读Y轴指令坐标 542 | 543 | temp1 = Convert.ToInt32(positionX); 544 | temp2 = Convert.ToInt32(positionY); 545 | 546 | //落笔时才画 547 | if (penUpFlag == 1) { 548 | g.DrawLine(RedPen, this.ConversionX(temp1, 1), this.ConversionY(temp2, 1), 549 | this.ConversionX(temp1, 1) + 1, this.ConversionY(temp2, 1) + 1); 550 | LTSMC.smc_write_outbit(0, 60, 0);//落笔打开激光 551 | //textBoxLaser.Text = "Laser: OPEN"; 552 | } 553 | else { 554 | LTSMC.smc_write_outbit(0, 60, 1);//抬笔时关闭激光 555 | //textBoxLaser.Text = "Laser: CLOSE"; 556 | } 557 | 558 | positionX0 = positionX; 559 | positionY0 = positionY; 560 | } 561 | 562 | //画画显示速度函数 563 | private void timerSpeedCurve_Tick (object sender, EventArgs e) { 564 | 565 | double nowVec = 0, xVec = 0, yVec = 0; 566 | //画布大小400，64 567 | Graphics g = pictureBox2.CreateGraphics(); // 创建Graphics对象 568 | 569 | g.TranslateTransform(0, 50); 570 | // X轴下移50；Y轴右移200，方向仍朝下 571 | 572 | Pen AliceBluePen = new Pen(Color.AliceBlue, 2.0f); 573 | Pen BlackPen = new Pen(Color.Black); 574 | g.DrawLine(BlackPen, 0, 0, 400, 0);//画x轴 575 | 576 | LTSMC.smc_read_current_speed_unit(CardNo, axis[0], ref xVec); 577 | LTSMC.smc_read_current_speed_unit(CardNo, axis[1], ref yVec); 578 | nowVec = Math.Sqrt(xVec * xVec + yVec* yVec); 579 | g.DrawEllipse(AliceBluePen, (float)tim, (float)(-nowVec)*3, 1, 1); 580 | tim += 0.1; 581 | 582 | } 583 | 584 | 585 | //以下是坐标转换 586 | public int ConversionX (int x=0, int flag=0) { 587 | if (flag == 0) 588 | return x * 180 / 360; 589 | else 590 | return 360 * x / 180; 591 | } 592 | public int ConversionY (int y=0, int flag = 0) { 593 | if (flag == 0) 594 | return 75 - y * 75 / 150; 595 | else 596 | return (75 - y) * 150 / 75; 597 | } 598 | 599 | //以下是抬笔和落笔 600 | private void PenUp () { 601 | LTSMC.smc_set_profile_unit(CardNo, axis[2], Min_Vel, speed + 10, Tacc, Tdec, Stop_Vel); 602 | LTSMC.smc_set_s_profile(CardNo, axis[2], 0, S_para); 603 | LTSMC.smc_pmove_unit(0, axis[2], 8, 1); 604 | penUpFlag = 0; 605 | } 606 | private void PenDown () { 607 | LTSMC.smc_set_profile_unit(CardNo, axis[2], Min_Vel, speed + 10, Tacc, Tdec, Stop_Vel); 608 | LTSMC.smc_set_s_profile(CardNo, axis[2], 0, S_para); 609 | LTSMC.smc_pmove_unit(0, axis[2], 0, 1); 610 | penUpFlag = 1; 611 | } 612 | 613 | //以下是鼠标点击XYZ事件 点位运动 614 | private void xMovRelative_Click (object sender, EventArgs e) { 615 | double pos = double.Parse(textBoxPos.Text); 616 | LTSMC.smc_set_profile_unit(CardNo, axis[0], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 617 | LTSMC.smc_set_s_profile(CardNo, axis[0], 0, S_para); 618 | LTSMC.smc_pmove_unit(0, axis[0], pos, 0); 619 | } 620 | private void yMovRelative_Click (object sender, EventArgs e) { 621 | double pos = double.Parse(textBoxPos.Text); 622 | LTSMC.smc_set_profile_unit(CardNo, axis[1], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 623 | LTSMC.smc_set_s_profile(CardNo, axis[1], 0, S_para); 624 | LTSMC.smc_pmove_unit(0, axis[1], pos, 0); 625 | } 626 | private void zMovRelative_Click (object sender, EventArgs e) { 627 | double pos = double.Parse(textBoxPos.Text); 628 | LTSMC.smc_set_profile_unit(CardNo, axis[2], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 629 | LTSMC.smc_set_s_profile(CardNo, axis[2], 0, S_para); 630 | LTSMC.smc_pmove_unit(0, axis[2], pos, 0); 631 | } 632 | 633 | //以下是鼠标点击XYZ事件 恒速运动 634 | private void xMovPostive_MouseDown (object sender, MouseEventArgs e) { 635 | LTSMC.smc_set_profile_unit(CardNo, axis[0], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 636 | LTSMC.smc_set_s_profile(CardNo, axis[0], 0, S_para); 637 | LTSMC.smc_vmove(CardNo, axis[0], 1);//控制器号, 轴号,方向 638 | } 639 | 640 | 641 | private void xMovPostive_MouseUp (object sender, MouseEventArgs e) { 642 | LTSMC.smc_stop(CardNo, axis[0], 1); 643 | LTSMC.smc_stop(CardNo, axis[1], 1); 644 | LTSMC.smc_stop(CardNo, axis[2], 1); 645 | } 646 | private void xMovNegative_MouseDown (object sender, MouseEventArgs e) { 647 | LTSMC.smc_set_profile_unit(CardNo, axis[0], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 648 | LTSMC.smc_set_s_profile(CardNo, axis[0], 0, S_para); 649 | LTSMC.smc_vmove(CardNo, axis[0], 0);//控制器号, 轴号,方向 650 | } 651 | private void xMovNegative_MouseUp (object sender, MouseEventArgs e) { 652 | LTSMC.smc_stop(CardNo, axis[0], 1); 653 | LTSMC.smc_stop(CardNo, axis[1], 1); 654 | LTSMC.smc_stop(CardNo, axis[2], 1); 655 | } 656 | private void yMovPostive_MouseDown (object sender, MouseEventArgs e) { 657 | LTSMC.smc_set_profile_unit(CardNo, axis[1], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 658 | LTSMC.smc_set_s_profile(CardNo, axis[1], 0, S_para); 659 | LTSMC.smc_vmove(CardNo, axis[1], 1);//控制器号, 轴号,方向 660 | } 661 | private void yMovPostive_MouseUp (object sender, MouseEventArgs e) { 662 | LTSMC.smc_stop(CardNo, axis[0], 1); 663 | LTSMC.smc_stop(CardNo, axis[1], 1); 664 | LTSMC.smc_stop(CardNo, axis[2], 1); 665 | } 666 | private void yMovNegative_MouseDown (object sender, MouseEventArgs e) { 667 | LTSMC.smc_set_profile_unit(CardNo, axis[1], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 668 | LTSMC.smc_set_s_profile(CardNo, axis[1], 0, S_para); 669 | LTSMC.smc_vmove(CardNo, axis[1], 0);//控制器号, 轴号,方向 670 | } 671 | private void yMovNegative_MouseUp (object sender, MouseEventArgs e) { 672 | LTSMC.smc_stop(CardNo, axis[0], 1); 673 | LTSMC.smc_stop(CardNo, axis[1], 1); 674 | LTSMC.smc_stop(CardNo, axis[2], 1); 675 | } 676 | private void zMovPostive_MouseDown (object sender, MouseEventArgs e) { 677 | LTSMC.smc_set_profile_unit(CardNo, axis[2], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 678 | LTSMC.smc_set_s_profile(CardNo, axis[2], 0, S_para); 679 | LTSMC.smc_vmove(CardNo, axis[2], 1);//控制器号, 轴号,方向 680 | } 681 | private void zMovPostive_MouseUp (object sender, MouseEventArgs e) { 682 | LTSMC.smc_stop(CardNo, axis[0], 1); 683 | LTSMC.smc_stop(CardNo, axis[1], 1); 684 | LTSMC.smc_stop(CardNo, axis[2], 1); 685 | } 686 | private void zMovNegative_MouseDown (object sender, MouseEventArgs e) { 687 | LTSMC.smc_set_profile_unit(CardNo, axis[2], Min_Vel, speed, Tacc, Tdec, Stop_Vel); 688 | LTSMC.smc_set_s_profile(CardNo, axis[2], 0, S_para); 689 | LTSMC.smc_vmove(CardNo, axis[2], 0);//控制器号, 轴号,方向 690 | } 691 | private void zMovNegative_MouseUp (object sender, MouseEventArgs e) { 692 | LTSMC.smc_stop(CardNo, axis[0], 1); 693 | LTSMC.smc_stop(CardNo, axis[1], 1); 694 | LTSMC.smc_stop(CardNo, axis[2], 1); 695 | } 696 | } 697 | 698 | } 699 | 700 | 701 | -------------------------------------------------------------------------------- /LTSMC.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections.Generic; 3 | using System.Linq; 4 | using System.Text; 5 | using System.Runtime.InteropServices; 6 | 7 | namespace Leadshine 8 | { 9 | public partial class LTSMC 10 | { 11 | /********************************************************************************************************* 12 | 功能函数 13 | ***********************************************************************************************************/ 14 | //板卡配置 15 | [DllImport("LTSMC.dll")] 16 | public static extern short smc_board_init(ushort ConnectNo, ushort ConnectType, string pconnectstring, uint baud); 17 | [DllImport("LTSMC.dll")] 18 | public static extern short smc_board_init_ex(ushort ConnectNo, ushort type, string pconnectstring, uint dwBaudRate, uint dwByteSize, uint dwParity, uint dwStopBits); 19 | [DllImport("LTSMC.dll")] 20 | public static extern short smc_board_close(ushort ConnectNo); 21 | [DllImport("LTSMC.dll")] 22 | public static extern short smc_get_CardInfList(ref ushort CardNum, uint[] CardTypeList, ushort[] ConnectTypeList); 23 | [DllImport("LTSMC.dll")] 24 | public static extern short smc_get_card_version(ushort ConnectNo, ref uint CardVersion); 25 | [DllImport("LTSMC.dll")] 26 | public static extern short smc_get_card_soft_version(ushort ConnectNo, ref uint FirmID, ref uint SubFirmID); 27 | [DllImport("LTSMC.dll")] 28 | public static extern short smc_get_release_version(ushort ConnectNo, byte[] ReleaseVersion); 29 | [DllImport("LTSMC.dll")] 30 | public static extern short smc_get_card_lib_version(ref uint LibVer); 31 | [DllImport("LTSMC.dll")] 32 | public static extern short smc_get_total_axes(ushort ConnectNo, ref uint TotalAxis); //读取指定卡轴数 33 | [DllImport("LTSMC.dll")] 34 | public static extern short smc_get_total_ionum(ushort ConnectNo, ref ushort TotalIn, ref ushort TotalOut); 35 | [DllImport("LTSMC.dll")] 36 | public static extern short smc_get_total_adcnum(ushort ConnectNo, ref ushort TotalIn, ref ushort TotalOut); 37 | 38 | [DllImport("LTSMC.dll")] 39 | public static extern short smc_get_total_liners(ushort ConnectNo, ref uint TotalLiner); 40 | [DllImport("LTSMC.dll")] 41 | public static extern short smc_set_debug_mode(ushort mode, char[] FileName); 42 | [DllImport("LTSMC.dll")] 43 | public static extern short smc_get_debug_mode(ref ushort mode, char[] FileName); 44 | [DllImport("LTSMC.dll")] 45 | public static extern short smc_format_flash(ushort ConnectNo); 46 | [DllImport("LTSMC.dll")] 47 | public static extern short smc_set_ipaddr(ushort ConnectNo, byte[] IpAddr); 48 | [DllImport("LTSMC.dll")] 49 | public static extern short smc_get_ipaddr(ushort ConnectNo, byte[] IpAddr); 50 | [DllImport("LTSMC.dll")] 51 | public static extern short smc_set_com(ushort ConnectNo, ushort com, uint dwBaudRate, ushort wByteSize, ushort wParity, ushort wStopBits); 52 | [DllImport("LTSMC.dll")] 53 | public static extern short smc_get_com(ushort ConnectNo, ushort com, ref uint dwBaudRate, ref ushort wByteSize, ref ushort wParity, ref ushort dwStopBits); 54 | 55 | //序列号 56 | [DllImport("LTSMC.dll")] 57 | public static extern short smc_write_sn(ushort ConnectNo, UInt64 sn); 58 | [DllImport("LTSMC.dll")] 59 | public static extern short smc_read_sn(ushort ConnectNo, ref UInt64 sn); 60 | //加密 61 | [DllImport("LTSMC.dll")] 62 | public static extern short smc_write_password(ushort ConnectNo, string str_pass); 63 | [DllImport("LTSMC.dll")] 64 | public static extern short smc_check_password(ushort ConnectNo, string str_pass); 65 | 66 | //脉冲模式 67 | [DllImport("LTSMC.dll")] 68 | public static extern short smc_set_pulse_outmode(ushort ConnectNo, ushort axis, ushort outmode); //设定脉冲输出模式 69 | [DllImport("LTSMC.dll")] 70 | public static extern short smc_get_pulse_outmode(ushort ConnectNo, ushort axis, ref ushort outmode); //读取脉冲输出模式 71 | //脉冲当量 72 | [DllImport("LTSMC.dll")] 73 | public static extern short smc_set_equiv(ushort ConnectNo, ushort axis, double equiv); 74 | [DllImport("LTSMC.dll")] 75 | public static extern short smc_get_equiv(ushort ConnectNo, ushort axis, ref double equiv); 76 | //反向间隙 77 | [DllImport("LTSMC.dll")] 78 | public static extern short smc_set_backlash_unit(ushort ConnectNo, ushort axis, double backlash); 79 | [DllImport("LTSMC.dll")] 80 | public static extern short smc_get_backlash_unit(ushort ConnectNo, ushort axis, ref double backlash); 81 | //编码器 82 | [DllImport("LTSMC.dll")] 83 | public static extern short smc_set_counter_inmode(ushort ConnectNo, ushort axis, ushort mode); //设定编码器的计数方式 84 | [DllImport("LTSMC.dll")] 85 | public static extern short smc_get_counter_inmode(ushort ConnectNo, ushort axis, ref ushort mode); //读取编码器的计数方式 86 | [DllImport("LTSMC.dll")] 87 | public static extern int smc_get_encoder(ushort ConnectNo, ushort axis); 88 | [DllImport("LTSMC.dll")] 89 | public static extern short smc_set_encoder(ushort ConnectNo, ushort axis, int encoder_value); 90 | [DllImport("LTSMC.dll")] 91 | public static extern short smc_set_ez_mode(ushort ConnectNo, ushort axis, ushort ez_logic, ushort ez_mode, double filter); //设置EZ信号 92 | [DllImport("LTSMC.dll")] 93 | public static extern short smc_get_ez_mode(ushort ConnectNo, ushort axis, ref ushort ez_logic, ref ushort ez_mode, ref double filter); //读取设置EZ信号 94 | [DllImport("LTSMC.dll")] 95 | public static extern short smc_set_counter_reverse(ushort ConnectNo, ushort axis, ushort reverse); 96 | [DllImport("LTSMC.dll")] 97 | public static extern short smc_get_counter_reverse(ushort ConnectNo, ushort axis, ref ushort reverse); 98 | //辅助编码器 99 | [DllImport("LTSMC.dll")] 100 | public static extern short smc_set_extra_encoder(ushort ConnectNo, ushort axis, int pos); 101 | [DllImport("LTSMC.dll")] 102 | public static extern short smc_get_extra_encoder(ushort ConnectNo, ushort axis, ref int pos); 103 | //单轴速度参数 104 | [DllImport("LTSMC.dll")] 105 | public static extern short smc_set_profile_unit(ushort ConnectNo, ushort axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); 106 | [DllImport("LTSMC.dll")] 107 | public static extern short smc_get_profile_unit(ushort ConnectNo, ushort axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); 108 | [DllImport("LTSMC.dll")] 109 | public static extern short smc_set_s_profile(ushort ConnectNo, ushort axis, ushort s_mode, double s_para); //设置平滑速度曲线参数 110 | [DllImport("LTSMC.dll")] 111 | public static extern short smc_get_s_profile(ushort ConnectNo, ushort axis, ushort s_mode, ref double s_para); //读取平滑速度曲线参数 兼容DMC5800 s_mode改用指针返回参数值 112 | //单轴运动 113 | [DllImport("LTSMC.dll")] 114 | public static extern short smc_pmove_unit(ushort ConnectNo, ushort axis, double Dist, ushort posi_mode); 115 | [DllImport("LTSMC.dll")] 116 | public static extern short smc_vmove(ushort ConnectNo, ushort axis, ushort dir); //指定轴做连续运动 117 | [DllImport("LTSMC.dll")] 118 | public static extern short smc_change_speed(ushort ConnectNo, ushort axis, double Curr_Vel, double Taccdec); //在线改变指定轴的当前运动速度 119 | //正弦曲线定长运动 120 | [DllImport("LTSMC.dll")] 121 | public static extern short smc_sine_oscillate_unit(ushort ConnectNo,ushort axis,double Amplitude,double Frequency);//正弦曲线定长运动 122 | [DllImport("LTSMC.dll")] 123 | public static extern short smc_sine_oscillate_stop(ushort ConnectNo,ushort axis);//正弦曲线停止，停止在中心位置 124 | //回零运动 125 | [DllImport("LTSMC.dll")] 126 | public static extern short smc_set_home_pin_logic(ushort ConnectNo, ushort axis, ushort org_logic, double filter); //设置HOME信号 127 | [DllImport("LTSMC.dll")] 128 | public static extern short smc_get_home_pin_logic(ushort ConnectNo, ushort axis, ref ushort org_logic, ref double filter); //读取设置HOME信号 129 | [DllImport("LTSMC.dll")] 130 | public static extern short smc_set_home_profile_unit(ushort ConnectNo, ushort axis, double Low_Vel, double High_Vel, double Tacc, double Tdec); 131 | [DllImport("LTSMC.dll")] 132 | public static extern short smc_get_home_profile_unit(ushort ConnectNo, ushort axis, ref double Low_Vel, ref double High_Vel, ref double Tacc, ref double Tdec); 133 | [DllImport("LTSMC.dll")] 134 | public static extern short smc_set_ez_count(ushort ConnectNo, ushort axis, ushort ez_count); 135 | [DllImport("LTSMC.dll")] 136 | public static extern short smc_get_ez_count(ushort ConnectNo, ushort axis, ref ushort ez_count); 137 | [DllImport("LTSMC.dll")] 138 | public static extern short smc_set_homemode(ushort ConnectNo, ushort axis, ushort home_dir, double vel_mode, ushort mode, ushort pos_source);//设定指定轴的回原点模式 139 | [DllImport("LTSMC.dll")] 140 | public static extern short smc_get_homemode(ushort ConnectNo, ushort axis, ref ushort home_dir, ref double vel_mode, ref ushort home_mode, ref ushort pos_source);//读取指定轴的回原点模式 141 | [DllImport("LTSMC.dll")] 142 | public static extern short smc_home_move(ushort ConnectNo, ushort axis); 143 | [DllImport("LTSMC.dll")] 144 | public static extern short smc_get_home_result(ushort ConnectNo, ushort axis, ref ushort state); 145 | [DllImport("LTSMC.dll")] 146 | public static extern short smc_set_home_position_unit(ushort ConnectNo, ushort axis, ushort enable, double position); 147 | [DllImport("LTSMC.dll")] 148 | public static extern short smc_get_home_position_unit(ushort ConnectNo, ushort axis, ref ushort enable, ref double position); 149 | //手轮运动(旧) 150 | [DllImport("LTSMC.dll")] 151 | public static extern short smc_set_handwheel_channel(ushort CardNo, ushort index); 152 | [DllImport("LTSMC.dll")] 153 | public static extern short smc_get_handwheel_channel(ushort CardNo, ref ushort index); 154 | [DllImport("LTSMC.dll")] 155 | public static extern short smc_set_handwheel_inmode(ushort CardNo, ushort axis, ushort inmode, int multi, double vh); 156 | [DllImport("LTSMC.dll")] 157 | public static extern short smc_get_handwheel_inmode(ushort CardNo, ushort axis, ref ushort inmode, ref int multi, ref double vh); 158 | [DllImport("LTSMC.dll")] 159 | public static extern short smc_set_handwheel_inmode_extern(ushort CardNo, ushort inmode, ushort AxisNum, ushort[] AxisList, int[] multi); 160 | [DllImport("LTSMC.dll")] 161 | public static extern short smc_get_handwheel_inmode_extern(ushort CardNo, ref ushort inmode, ref ushort AxisNum, ushort[] AxisList, int[] multi); 162 | //[DllImport("LTSMC.dll")] 163 | //public static extern short smc_handwheel_move(ushort CardNo, ushort axis); 164 | //手轮运动 165 | [DllImport("LTSMC.dll")] 166 | public static extern short smc_handwheel_set_axislist(ushort ConnectNo, ushort AxisSelIndex, ushort AxisNum, ushort[] AxisList); 167 | [DllImport("LTSMC.dll")] 168 | public static extern short smc_handwheel_get_axislist(ushort ConnectNo, ushort AxisSelIndex, ref ushort AxisNum, ushort[] AxisList); 169 | [DllImport("LTSMC.dll")] 170 | public static extern short smc_handwheel_set_ratiolist(ushort ConnectNo, ushort AxisSelIndex, ushort StartRatioIndex, ushort RatioSelNum, double[] RatioList); 171 | [DllImport("LTSMC.dll")] 172 | public static extern short smc_handwheel_get_ratiolist(ushort ConnectNo, ushort AxisSelIndex, ushort StartRatioIndex, ushort RatioSelNum, double[] RatioList); 173 | [DllImport("LTSMC.dll")] 174 | public static extern short smc_handwheel_set_mode(ushort ConnectNo, ushort InMode, ushort IfHardEnable); 175 | [DllImport("LTSMC.dll")] 176 | public static extern short smc_handwheel_get_mode(ushort ConnectNo, ref ushort InMode, ref ushort IfHardEnable); 177 | [DllImport("LTSMC.dll")] 178 | public static extern short smc_handwheel_set_index(ushort ConnectNo, ushort AxisSelIndex, ushort RatioSelIndex); 179 | [DllImport("LTSMC.dll")] 180 | public static extern short smc_handwheel_get_index(ushort ConnectNo, ref ushort AxisSelIndex, ref ushort RatioSelIndex); 181 | [DllImport("LTSMC.dll")] 182 | public static extern short smc_handwheel_move(ushort ConnectNo, ushort ForceMove); 183 | [DllImport("LTSMC.dll")] 184 | public static extern short smc_handwheel_stop(ushort ConnectNo); 185 | //原点锁存 186 | [DllImport("LTSMC.dll")] 187 | public static extern short smc_set_homelatch_mode(ushort ConnectNo, ushort axis, ushort enable, ushort logic, ushort source); 188 | [DllImport("LTSMC.dll")] 189 | public static extern short smc_get_homelatch_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort logic, ref ushort source); 190 | [DllImport("LTSMC.dll")] 191 | public static extern int smc_get_homelatch_flag(ushort ConnectNo, ushort axis); 192 | [DllImport("LTSMC.dll")] 193 | public static extern short smc_reset_homelatch_flag(ushort ConnectNo, ushort axis); 194 | [DllImport("LTSMC.dll")] 195 | public static extern short smc_get_homelatch_value_unit(ushort ConnectNo, ushort axis, ref double value); 196 | //EZ锁存 197 | [DllImport("LTSMC.dll")] 198 | public static extern short smc_set_ezlatch_mode(ushort ConnectNo, ushort axis, ushort enable, ushort logic, ushort source); 199 | [DllImport("LTSMC.dll")] 200 | public static extern short smc_get_ezlatch_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort logic, ref ushort source); 201 | [DllImport("LTSMC.dll")] 202 | public static extern short smc_get_ezlatch_flag(ushort ConnectNo, ushort axis); 203 | [DllImport("LTSMC.dll")] 204 | public static extern short smc_reset_ezlatch_flag(ushort ConnectNo, ushort axis); 205 | [DllImport("LTSMC.dll")] 206 | public static extern short smc_get_ezlatch_value_unit(ushort ConnectNo, ushort axis, ref double pos_by_mm); 207 | //高速锁存(旧) 208 | [DllImport("LTSMC.dll")] 209 | public static extern short smc_set_ltc_mode(ushort ConnectNo, ushort axis, ushort ltc_logic, ushort ltc_mode, double filter); //设置LTC信号 210 | [DllImport("LTSMC.dll")] 211 | public static extern short smc_get_ltc_mode(ushort ConnectNo, ushort axis, ref ushort ltc_logic, ref ushort ltc_mode, ref double filter); //读取设置LTC信号 212 | [DllImport("LTSMC.dll")] 213 | public static extern short smc_set_latch_mode(ushort ConnectNo, ushort axis, ushort latchmode, ushort latch_source, ushort latch_channel); //设置锁存方式 214 | [DllImport("LTSMC.dll")] 215 | public static extern short smc_get_latch_mode(ushort ConnectNo, ushort axis, ref ushort latchmode, ref ushort latch_source, ref ushort latch_channel); 216 | [DllImport("LTSMC.dll")] 217 | public static extern short smc_SetLtcOutMode(ushort ConnectNo, ushort axis, ushort enable, ushort bitno);//反相输出 218 | [DllImport("LTSMC.dll")] 219 | public static extern short smc_GetLtcOutMode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort bitno); 220 | [DllImport("LTSMC.dll")] 221 | public static extern short smc_get_latch_flag(ushort ConnectNo, ushort axis); //读取锁存器标志 222 | [DllImport("LTSMC.dll")] 223 | public static extern short smc_reset_latch_flag(ushort ConnectNo, ushort axis); //复位锁存器标志 224 | [DllImport("LTSMC.dll")] 225 | public static extern short smc_get_latch_value_unit(ushort ConnectNo, ushort axis, ref double value); //读取编码器锁存器的值 226 | [DllImport("LTSMC.dll")] 227 | public static extern short smc_get_latch_flag_extern(ushort ConnectNo, ushort axis); //读取锁存器标志 228 | [DllImport("LTSMC.dll")] 229 | public static extern int smc_get_latch_value_extern(ushort ConnectNo, ushort axis, ushort index); //按索引取值 230 | [DllImport("LTSMC.dll")] 231 | public static extern short smc_set_latch_stop_time(ushort ConnectNo, ushort axis, int time); //触发急停时间 232 | [DllImport("LTSMC.dll")] 233 | public static extern short smc_get_latch_stop_time(ushort ConnectNo, ushort axis, ref int time); 234 | //高速锁存(新) 235 | [DllImport("LTSMC.dll")] 236 | public static extern short smc_ltc_set_mode(ushort ConnectNo, ushort latch, ushort ltc_mode, ushort ltc_logic, double filter); 237 | [DllImport("LTSMC.dll")] 238 | public static extern short smc_ltc_get_mode(ushort ConnectNo, ushort latch, ref ushort ltc_mode, ref ushort ltc_logic, ref double filter); 239 | [DllImport("LTSMC.dll")] 240 | public static extern short smc_ltc_set_source(ushort ConnectNo, ushort latch, ushort axis, ushort ltc_source); 241 | [DllImport("LTSMC.dll")] 242 | public static extern short smc_ltc_get_source(ushort ConnectNo, ushort latch, ushort axis, ref ushort ltc_source); 243 | [DllImport("LTSMC.dll")] 244 | public static extern short smc_ltc_reset(ushort ConnectNo, ushort latch); 245 | [DllImport("LTSMC.dll")] 246 | public static extern short smc_ltc_get_number(ushort ConnectNo, ushort latch, ushort axis, ref int number); 247 | [DllImport("LTSMC.dll")] 248 | public static extern short smc_ltc_get_value_unit(ushort ConnectNo, ushort latch, ushort axis, ref double value); 249 | //软锁存 250 | [DllImport("LTSMC.dll")] 251 | public static extern short smc_softltc_set_mode(ushort ConnectNo, ushort latch, ushort ltc_enable, ushort ltc_mode, ushort ltc_inbit, ushort ltc_logic, double filter); 252 | [DllImport("LTSMC.dll")] 253 | public static extern short smc_softltc_get_mode(ushort ConnectNo, ushort latch, ref ushort ltc_enable, ref ushort ltc_mode, ref ushort ltc_inbit, ref ushort ltc_logic, ref double filter); 254 | [DllImport("LTSMC.dll")] 255 | public static extern short smc_softltc_set_source(ushort ConnectNo, ushort latch, ushort axis, ushort ltc_source); 256 | [DllImport("LTSMC.dll")] 257 | public static extern short smc_softltc_get_source(ushort ConnectNo, ushort latch, ushort axis, ref ushort ltc_source); 258 | [DllImport("LTSMC.dll")] 259 | public static extern short smc_softltc_reset(ushort ConnectNo, ushort latch); 260 | [DllImport("LTSMC.dll")] 261 | public static extern short smc_softltc_get_number(ushort ConnectNo, ushort latch, ushort axis, ref int number); 262 | [DllImport("LTSMC.dll")] 263 | public static extern short smc_softltc_get_value_unit(ushort ConnectNo, ushort latch, ushort axis, ref double value); 264 | //PVT运动 265 | [DllImport("LTSMC.dll")] 266 | public static extern short smc_pvt_table_unit(ushort ConnectNo, ushort iaxis, uint count, double[] pTime, double[] pPos, double[] pVel); 267 | [DllImport("LTSMC.dll")] 268 | public static extern short smc_pts_table_unit(ushort ConnectNo, ushort iaxis, uint count, double[] pTime, double[] pPos, double[] pPercent); 269 | [DllImport("LTSMC.dll")] 270 | public static extern short smc_pvts_table_unit(ushort ConnectNo, ushort iaxis, uint count, double[] pTime, double[] pPos, double velBegin, double velEnd); 271 | [DllImport("LTSMC.dll")] 272 | public static extern short smc_ptt_table_unit(ushort ConnectNo, ushort iaxis, uint count, double[] pTime, double[] pPos); 273 | [DllImport("LTSMC.dll")] 274 | public static extern short smc_pvt_move(ushort ConnectNo, ushort AxisNum, ushort[] AxisList); 275 | //安全机制 276 | [DllImport("LTSMC.dll")] 277 | public static extern short smc_set_el_mode(ushort ConnectNo, ushort axis, ushort enable, ushort el_logic, ushort el_mode); //设置EL信号 278 | [DllImport("LTSMC.dll")] 279 | public static extern short smc_get_el_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort el_logic, ref ushort el_mode); //读取设置EL信号 280 | [DllImport("LTSMC.dll")] 281 | public static extern short smc_set_emg_mode(ushort ConnectNo, ushort axis, ushort enable, ushort emg_logic); //设置EMG信号 282 | [DllImport("LTSMC.dll")] 283 | public static extern short smc_get_emg_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort emg_logic); //读取设置EMG信号 284 | [DllImport("LTSMC.dll")] 285 | public static extern short smc_set_softlimit_unit(ushort ConnectNo, ushort axis, ushort enable, ushort source_sel, ushort SL_action, double N_limit, double P_limit); //设置软限位参数 286 | [DllImport("LTSMC.dll")] 287 | public static extern short smc_get_softlimit_unit(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort source_sel, ref ushort SL_action, ref double N_limit, ref double P_limit); //读取软限位参数 288 | //轴IO映射 289 | [DllImport("LTSMC.dll")] 290 | public static extern short smc_set_axis_io_map(ushort ConnectNo, ushort Axis, ushort IoType, ushort MapIoType, ushort MapIoIndex, double Filter); 291 | [DllImport("LTSMC.dll")] 292 | public static extern short smc_get_axis_io_map(ushort ConnectNo, ushort Axis, ushort IoType, ref ushort MapIoType, ref ushort MapIoIndex, ref double Filter); 293 | //状态监控 294 | [DllImport("LTSMC.dll")] 295 | public static extern short smc_check_done(ushort ConnectNo, ushort axis); //读取指定轴的运动状态 296 | [DllImport("LTSMC.dll")] 297 | public static extern short smc_stop(ushort ConnectNo, ushort axis, ushort stop_mode); //单轴停止 298 | [DllImport("LTSMC.dll")] 299 | public static extern short smc_emg_stop(ushort ConnectNo); //紧急停止所有轴 300 | [DllImport("LTSMC.dll")] 301 | public static extern short smc_check_done_multicoor(ushort ConnectNo, ushort Crd); 302 | [DllImport("LTSMC.dll")] 303 | public static extern short smc_stop_multicoor(ushort ConnectNo, ushort Crd, ushort stop_mode); 304 | [DllImport("LTSMC.dll")] 305 | public static extern uint smc_axis_io_status(ushort ConnectNo, ushort axis); 306 | [DllImport("LTSMC.dll")] 307 | public static extern uint smc_axis_io_enable_status(ushort ConnectNo, ushort axis); 308 | [DllImport("LTSMC.dll")] 309 | public static extern short smc_get_axis_run_mode(ushort ConnectNo, ushort axis, ref ushort run_mode); 310 | [DllImport("LTSMC.dll")] 311 | public static extern short smc_read_current_speed_unit(ushort ConnectNo, ushort axis, ref double current_speed); 312 | [DllImport("LTSMC.dll")] 313 | public static extern short smc_set_position_unit(ushort ConnectNo, ushort axis, double pos); 314 | [DllImport("LTSMC.dll")] 315 | public static extern short smc_get_position_unit(ushort ConnectNo, ushort axis, ref double pos); 316 | [DllImport("LTSMC.dll")] 317 | public static extern int smc_get_target_position_unit(ushort ConnectNo, ushort axis, ref double pos); //读取指定轴的目标位置 318 | [DllImport("LTSMC.dll")] 319 | public static extern short smc_set_workpos_unit(ushort ConnectNo, ushort axis, double pos); 320 | [DllImport("LTSMC.dll")] 321 | public static extern short smc_get_workpos_unit(ushort ConnectNo, ushort axis, ref double pos); 322 | [DllImport("LTSMC.dll")] 323 | public static extern short smc_get_stop_reason(ushort ConnectNo, ushort axis, ref int StopReason); 324 | [DllImport("LTSMC.dll")] 325 | public static extern short smc_clear_stop_reason(ushort ConnectNo, ushort axis); 326 | //通用IO 327 | [DllImport("LTSMC.dll")] 328 | public static extern short smc_read_inbit(ushort ConnectNo, ushort bitno); //读取输入口的状态 329 | [DllImport("LTSMC.dll")] 330 | public static extern short smc_write_outbit(ushort ConnectNo, ushort bitno, ushort on_off); //设置输出口的状态 331 | [DllImport("LTSMC.dll")] 332 | public static extern short smc_read_outbit(ushort ConnectNo, ushort bitno); //读取输出口的状态 333 | [DllImport("LTSMC.dll")] 334 | public static extern uint smc_read_inport(ushort ConnectNo, ushort portno); //读取输入端口的值 335 | [DllImport("LTSMC.dll")] 336 | public static extern uint smc_read_outport(ushort ConnectNo, ushort portno); //读取输出端口的值 337 | [DllImport("LTSMC.dll")] 338 | public static extern short smc_write_outport(ushort ConnectNo, ushort portno, uint outport_val); //设置输出端口的值 339 | [DllImport("LTSMC.dll")] 340 | public static extern short smc_reverse_outbit(ushort ConnectNo, ushort bitno, double reverse_time); 341 | [DllImport("LTSMC.dll")] 342 | public static extern short smc_set_io_count_mode(ushort ConnectNo, ushort bitno, ushort mode, double filter); 343 | [DllImport("LTSMC.dll")] 344 | public static extern short smc_get_io_count_mode(ushort ConnectNo, ushort bitno, ref ushort mode, ref double filter); 345 | [DllImport("LTSMC.dll")] 346 | public static extern short smc_set_io_count_value(ushort ConnectNo, ushort bitno, uint CountValue); 347 | [DllImport("LTSMC.dll")] 348 | public static extern short smc_get_io_count_value(ushort ConnectNo, ushort bitno, ref uint CountValue); 349 | [DllImport("LTSMC.dll")] 350 | public static extern short smc_set_io_dstp_mode(ushort ConnectNo, ushort axis, ushort enable, ushort logic); //enable:0-禁用，1-按时间减速停止，2-按距离减速停止 351 | [DllImport("LTSMC.dll")] 352 | public static extern short smc_get_io_dstp_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort logic); 353 | [DllImport("LTSMC.dll")] 354 | public static extern short smc_set_dec_stop_time(ushort ConnectNo, ushort axis, double time); 355 | [DllImport("LTSMC.dll")] 356 | public static extern short smc_get_dec_stop_time(ushort ConnectNo, ushort axis, ref double time); 357 | [DllImport("LTSMC.dll")] 358 | public static extern short smc_set_io_pwmoutput(ushort ConnectNo, ushort outbit, double time1, double time2, uint counts);//设置IO输出一定脉冲个数的PWM波形曲线 359 | [DllImport("LTSMC.dll")] 360 | public static extern short smc_clear_io_pwmoutput(ushort ConnectNo, ushort outbit);//清除IO输出PWM波形曲线 361 | //专用IO操作 362 | [DllImport("LTSMC.dll")] 363 | public static extern short smc_set_alm_mode(ushort ConnectNo, ushort axis, ushort enable, ushort alm_logic, ushort alm_action); //设置ALM信号 364 | [DllImport("LTSMC.dll")] 365 | public static extern short smc_get_alm_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort alm_logic, ref ushort alm_action); //读取设置ALM信号 366 | [DllImport("LTSMC.dll")] 367 | public static extern short smc_set_inp_mode(ushort ConnectNo, ushort axis, ushort enable, ushort inp_logic); //设置INP信号 368 | [DllImport("LTSMC.dll")] 369 | public static extern short smc_get_inp_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort inp_logic); //读取设置INP信号 370 | [DllImport("LTSMC.dll")] 371 | public static extern short smc_set_rdy_mode(ushort ConnectNo, ushort axis, ushort enable, ushort rdy_logic); //设置RDY信号 372 | [DllImport("LTSMC.dll")] 373 | public static extern short smc_get_rdy_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort rdy_logic); //读取设置RDY信号 374 | [DllImport("LTSMC.dll")] 375 | public static extern short smc_set_erc_mode(ushort ConnectNo, ushort axis, ushort enable, ushort erc_logic, ushort erc_width, ushort erc_off_time); //设置ERC信号 376 | [DllImport("LTSMC.dll")] 377 | public static extern short smc_get_erc_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort erc_logic, ref ushort erc_width, ref ushort erc_off_time); //读取设置ERC信号 378 | 379 | [DllImport("LTSMC.dll")] 380 | public static extern short smc_write_sevon_pin(ushort ConnectNo, ushort axis, ushort on_off); //输出SEVON信号 381 | [DllImport("LTSMC.dll")] 382 | public static extern short smc_read_sevon_pin(ushort ConnectNo, ushort axis); //读取SEVON信号 383 | [DllImport("LTSMC.dll")] 384 | public static extern short smc_read_rdy_pin(ushort ConnectNo, ushort axis); //读取RDY状态 385 | [DllImport("LTSMC.dll")] 386 | public static extern short smc_write_erc_pin(ushort ConnectNo, ushort axis, ushort on_off); //控制ERC信号输出 387 | [DllImport("LTSMC.dll")] 388 | public static extern short smc_read_erc_pin(ushort ConnectNo, ushort axis); 389 | [DllImport("LTSMC.dll")] 390 | public static extern short smc_write_sevrst_pin(ushort ConnectNo, ushort axis, ushort on_off); //输出伺服复位信号 391 | [DllImport("LTSMC.dll")] 392 | public static extern short smc_read_sevrst_pin(ushort ConnectNo, ushort axis); //读伺服复位信号 393 | 394 | [DllImport("LTSMC.dll")] 395 | public static extern short smc_set_dstp_mode(ushort ConnectNo, ushort axis, ushort enable, ushort logic, uint time); 396 | [DllImport("LTSMC.dll")] 397 | public static extern short smc_get_dstp_mode(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort logic, ref uint time); 398 | [DllImport("LTSMC.dll")] 399 | public static extern short smc_set_dstp_time(ushort ConnectNo, ushort axis, uint time); 400 | [DllImport("LTSMC.dll")] 401 | public static extern short smc_get_dstp_time(ushort ConnectNo, ushort axis, ref uint time); 402 | 403 | [DllImport("LTSMC.dll")] 404 | public static extern short smc_set_io_dstp_bitno(ushort ConnectNo, ushort axis, ushort bitno, double filter); //设置通用输入口的一位位减速停止IO口 405 | [DllImport("LTSMC.dll")] 406 | public static extern short smc_get_io_dstp_bitno(ushort ConnectNo, ushort axis, ref ushort bitno, ref double filter); 407 | //插补参数设置 408 | [DllImport("LTSMC.dll")] 409 | public static extern short smc_set_vector_profile_unit(ushort ConnectNo, ushort Crd, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); 410 | [DllImport("LTSMC.dll")] 411 | public static extern short smc_get_vector_profile_unit(ushort ConnectNo, ushort Crd, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); 412 | [DllImport("LTSMC.dll")] 413 | public static extern short smc_set_vector_tacc(ushort ConnectNo, ushort Crd, double Tacc); 414 | [DllImport("LTSMC.dll")] 415 | public static extern short smc_set_vector_acc(ushort ConnectNo, ushort Crd, double acc); 416 | [DllImport("LTSMC.dll")] 417 | public static extern short smc_set_vector_speed_unit(ushort ConnectNo, ushort Crd, double Max_vel); 418 | 419 | [DllImport("LTSMC.dll")] 420 | public static extern short smc_set_vector_s_profile(ushort ConnectNo, ushort Crd, ushort s_mode, double s_para); //设置平滑速度曲线参数 421 | [DllImport("LTSMC.dll")] 422 | public static extern short smc_get_vector_s_profile(ushort ConnectNo, ushort Crd, ushort s_mode, ref double s_para); 423 | [DllImport("LTSMC.dll")] 424 | public static extern short smc_set_vector_dec_stop_time(ushort ConnectNo, ushort Crd, double time); 425 | [DllImport("LTSMC.dll")] 426 | public static extern short smc_get_vector_dec_stop_time(ushort ConnectNo, ushort Crd, ref double time); 427 | 428 | //单段插补 429 | [DllImport("LTSMC.dll")] 430 | public static extern short smc_line_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Dist, ushort posi_mode); 431 | [DllImport("LTSMC.dll")] 432 | public static extern short smc_arc_move_center_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Target_Pos, double[] Cen_Pos, ushort Arc_Dir, int Circle, ushort posi_mode); 433 | [DllImport("LTSMC.dll")] 434 | public static extern short smc_arc_move_radius_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Target_Pos, double Arc_Radius, ushort Arc_Dir, int Circle, ushort posi_mode); 435 | [DllImport("LTSMC.dll")] 436 | public static extern short smc_arc_move_3points_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Target_Pos, double[] Mid_Pos, int Circle, ushort posi_mode); 437 | //连续插补 438 | [DllImport("LTSMC.dll")] 439 | public static extern short smc_conti_open_list(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList); //打开连续缓存区 440 | [DllImport("LTSMC.dll")] 441 | public static extern short smc_conti_close_list(ushort ConnectNo, ushort Crd); //关闭连续缓存区 442 | [DllImport("LTSMC.dll")] 443 | public static extern short smc_conti_stop_list(ushort ConnectNo, ushort Crd, ushort stop_mode); //连续插补中停止 444 | [DllImport("LTSMC.dll")] 445 | public static extern short smc_conti_pause_list(ushort ConnectNo, ushort Crd); //连续插补中暂停 446 | [DllImport("LTSMC.dll")] 447 | public static extern short smc_conti_start_list(ushort ConnectNo, ushort Crd); //开始连续插补 448 | [DllImport("LTSMC.dll")] 449 | public static extern short smc_conti_check_done(ushort ConnectNo, ushort Crd); 450 | [DllImport("LTSMC.dll")] 451 | public static extern short smc_conti_get_run_state(ushort ConnectNo, ushort Crd);//0-运行，1-暂停，2-正常停止，3-未启动，4-空闲 452 | [DllImport("LTSMC.dll")] 453 | public static extern int smc_conti_remain_space(ushort ConnectNo, ushort Crd); //查连续插补剩余缓存数 454 | [DllImport("LTSMC.dll")] 455 | public static extern int smc_conti_read_current_mark(ushort ConnectNo, ushort Crd); //读取当前连续插补段的标号 456 | [DllImport("LTSMC.dll")] 457 | public static extern short smc_conti_change_speed_ratio(ushort ConnectNo, ushort Crd, double percent); //设置插补中动态变速 458 | //Blend模式 459 | [DllImport("LTSMC.dll")] 460 | public static extern short smc_conti_set_blend(ushort ConnectNo, ushort Crd, ushort enable); 461 | [DllImport("LTSMC.dll")] 462 | public static extern short smc_conti_get_blend(ushort ConnectNo, ushort Crd, ref ushort enable); 463 | //小线段前瞻 464 | [DllImport("LTSMC.dll")] 465 | public static extern short smc_conti_set_lookahead_mode(ushort ConnectNo, ushort Crd, ushort enable, int LookaheadSegments, double PathError, double LookaheadAcc); 466 | [DllImport("LTSMC.dll")] 467 | public static extern short smc_conti_get_lookahead_mode(ushort ConnectNo, ushort Crd, ref ushort enable, ref int LookaheadSegments, ref double PathError, ref double LookaheadAcc); 468 | //设置每段速度 469 | [DllImport("LTSMC.dll")] 470 | public static extern short smc_conti_set_taccdec(ushort ConnectNo, ushort Crd, double Taccdec); 471 | [DllImport("LTSMC.dll")] 472 | public static extern short smc_conti_set_speed_unit(ushort ConnectNo, ushort Crd, double Max_vel); 473 | [DllImport("LTSMC.dll")] 474 | public static extern short smc_conti_set_override(ushort ConnectNo, ushort Crd, double Percent); 475 | //连续插补IO 476 | [DllImport("LTSMC.dll")] 477 | public static extern short smc_conti_wait_input(ushort ConnectNo, ushort Crd, ushort bitno, ushort on_off, double TimeOut, int mark); 478 | [DllImport("LTSMC.dll")] 479 | public static extern short smc_conti_delay_outbit_to_start(ushort ConnectNo, ushort Crd, ushort bitno, ushort on_off, double delay_value, ushort delay_mode, double ReverseTime); 480 | [DllImport("LTSMC.dll")] 481 | public static extern short smc_conti_delay_outbit_to_stop(ushort ConnectNo, ushort Crd, ushort bitno, ushort on_off, double delay_time, double ReverseTime); 482 | [DllImport("LTSMC.dll")] 483 | public static extern short smc_conti_ahead_outbit_to_stop(ushort ConnectNo, ushort Crd, ushort bitno, ushort on_off, double ahead_value, ushort ahead_mode, double ReverseTime); 484 | [DllImport("LTSMC.dll")] 485 | public static extern short smc_conti_accurate_outbit_unit(ushort ConnectNo, ushort Crd, ushort cmp_no, ushort on_off, ushort axis, double abs_pos, ushort pos_source, double ReverseTime); 486 | [DllImport("LTSMC.dll")] 487 | public static extern short smc_conti_write_outbit(ushort ConnectNo, ushort Crd, ushort bitno, ushort on_off, double ReverseTime); 488 | [DllImport("LTSMC.dll")] 489 | public static extern short smc_conti_clear_io_action(ushort ConnectNo, ushort Crd, uint Io_Mask); 490 | [DllImport("LTSMC.dll")] 491 | public static extern short smc_conti_set_pause_output(ushort ConnectNo, ushort Crd, ushort action, int mask, int state); 492 | [DllImport("LTSMC.dll")] 493 | public static extern short smc_conti_get_pause_output(ushort ConnectNo, ushort Crd, ref ushort action, ref int mask, ref int state); 494 | [DllImport("LTSMC.dll")] 495 | public static extern short smc_conti_delay(ushort ConnectNo, ushort Crd, double delay_time, int mark);//延时指令 496 | //连续插补轨迹 497 | [DllImport("LTSMC.dll")] 498 | public static extern short smc_conti_line_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] pPosList, ushort posi_mode, int mark); 499 | [DllImport("LTSMC.dll")] 500 | public static extern short smc_conti_arc_move_center_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Target_Pos, double[] Cen_Pos, ushort Arc_Dir, int Circle, ushort posi_mode, int mark); 501 | [DllImport("LTSMC.dll")] 502 | public static extern short smc_conti_arc_move_radius_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Target_Pos, double Arc_Radius, ushort Arc_Dir, int Circle, ushort posi_mode, int mark); 503 | [DllImport("LTSMC.dll")] 504 | public static extern short smc_conti_arc_move_3points_unit(ushort ConnectNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Target_Pos, double[] Mid_Pos, int Circle, ushort posi_mode, int mark); 505 | [DllImport("LTSMC.dll")] 506 | public static extern short smc_conti_pmove_unit(ushort ConnectNo, ushort Crd, ushort axis, double dist, ushort posi_mode, ushort mode, int imark); 507 | [DllImport("LTSMC.dll")] 508 | public static extern short smc_conti_set_involute_mode(ushort ConnectNo, ushort Crd, ushort mode); 509 | [DllImport("LTSMC.dll")] 510 | public static extern short smc_conti_get_involute_mode(ushort ConnectNo, ushort Crd, ref ushort mode); 511 | //二维位置比较提前输出，读取相对于起点的距离 512 | [DllImport("LTSMC.dll")] 513 | public static extern short smc_get_distance_to_start(ushort ConnectNo,ushort Crd,ref double distance_x,ref double distance_y,int imark); 514 | //二维位置比较提前输出，设置标志位，表示是否开始计算相对起点 515 | [DllImport("LTSMC.dll")] 516 | public static extern short smc_set_start_distance_flag(ushort ConnectNo, ushort Crd, ushort flag); 517 | [DllImport("LTSMC.dll")] 518 | public static extern short smc_get_start_distance_flag(ushort ConnectNo, ushort Crd, ref ushort flag); 519 | //连续插补PWM 520 | [DllImport("LTSMC.dll")] 521 | public static extern short smc_conti_set_pwm_output(ushort ConnectNo, ushort Crd, ushort PwmNo, double fDuty, double fFre); 522 | [DllImport("LTSMC.dll")] 523 | public static extern short smc_conti_set_pwm_follow_speed(ushort ConnectNo, ushort Crd, ushort pwm_no, ushort mode, double MaxVel, double MaxValue, double OutValue); 524 | [DllImport("LTSMC.dll")] 525 | public static extern short smc_conti_get_pwm_follow_speed(ushort ConnectNo, ushort Crd, ushort pwm_no, ref ushort mode, ref double MaxVel, ref double MaxValue, ref double OutValue); 526 | //设置PWM开关对应的占空比 527 | [DllImport("LTSMC.dll")] 528 | public static extern short smc_set_pwm_onoff_duty(ushort ConnectNo, ushort PwmNo, double fOnDuty, double fOffDuty); 529 | [DllImport("LTSMC.dll")] 530 | public static extern short smc_get_pwm_onoff_duty(ushort ConnectNo, ushort PwmNo, ref double fOnDuty, ref double fOffDuty); 531 | [DllImport("LTSMC.dll")] 532 | public static extern short smc_conti_delay_pwm_to_start(ushort ConnectNo, ushort Crd, ushort pwmno, ushort on_off, double delay_value, ushort delay_mode, double ReverseTime); 533 | [DllImport("LTSMC.dll")] 534 | public static extern short smc_conti_delay_pwm_to_stop(ushort ConnectNo, ushort Crd, ushort pwmno, ushort on_off, double delay_time, double ReverseTime); 535 | [DllImport("LTSMC.dll")] 536 | public static extern short smc_conti_ahead_pwm_to_stop(ushort ConnectNo, ushort Crd, ushort bitno, ushort on_off, double ahead_value, ushort ahead_mode, double ReverseTime); 537 | [DllImport("LTSMC.dll")] 538 | public static extern short smc_conti_write_pwm(ushort ConnectNo, ushort Crd, ushort pwmno, ushort on_off, double ReverseTime); 539 | //PWM功能 540 | [DllImport("LTSMC.dll")] 541 | public static extern short smc_set_pwm_enable(ushort ConnectNo, ushort enable); 542 | [DllImport("LTSMC.dll")] 543 | public static extern short smc_get_pwm_enable(ushort ConnectNo, ref ushort enable); 544 | [DllImport("LTSMC.dll")] 545 | public static extern short smc_set_pwm_output(ushort ConnectNo, ushort PwmNo, double fDuty, double fFre); 546 | [DllImport("LTSMC.dll")] 547 | public static extern short smc_get_pwm_output(ushort ConnectNo, ushort PwmNo, ref double fDuty, ref double fFre); 548 | //位置比较 549 | //单轴位置比较 550 | [DllImport("LTSMC.dll")] 551 | public static extern short smc_compare_set_config(ushort ConnectNo, ushort axis, ushort enable, ushort cmp_source); //配置比较器 552 | [DllImport("LTSMC.dll")] 553 | public static extern short smc_compare_get_config(ushort ConnectNo, ushort axis, ref ushort enable, ref ushort cmp_source); //读取配置比较器 554 | [DllImport("LTSMC.dll")] 555 | public static extern short smc_compare_clear_points(ushort ConnectNo, ushort axis); //清除所有比较点 556 | [DllImport("LTSMC.dll")] 557 | public static extern short smc_compare_add_point_unit(ushort ConnectNo, ushort axis, double pos, ushort dir, ushort action, uint actpara); //添加比较点 558 | [DllImport("LTSMC.dll")] 559 | public static extern short smc_compare_get_current_point_unit(ushort ConnectNo, ushort axis, ref double pos); //读取当前比较点 560 | [DllImport("LTSMC.dll")] 561 | public static extern short smc_compare_get_points_runned(ushort ConnectNo, ushort axis, ref int pointNum); //查询已经比较过的点 562 | [DllImport("LTSMC.dll")] 563 | public static extern short smc_compare_get_points_remained(ushort ConnectNo, ushort axis, ref int pointNum); //查询可以加入的比较点数量 564 | [DllImport("LTSMC.dll")] 565 | public static extern short smc_compare_add_point_cycle(ushort CardNo, ushort cmp, int pos, ushort dir, uint bitno, uint cycle, ushort level); 566 | 567 | //二维位置比较 568 | [DllImport("LTSMC.dll")] 569 | public static extern short smc_compare_set_config_extern(ushort ConnectNo, ushort enable, ushort cmp_source); //配置比较器 570 | [DllImport("LTSMC.dll")] 571 | public static extern short smc_compare_get_config_extern(ushort ConnectNo, ref ushort enable, ref ushort cmp_source); //读取配置比较器 572 | [DllImport("LTSMC.dll")] 573 | public static extern short smc_compare_clear_points_extern(ushort ConnectNo); //清除所有比较点 574 | [DllImport("LTSMC.dll")] 575 | public static extern short smc_compare_add_point_extern_unit(ushort ConnectNo, ushort[] axis, double[] pos, ushort[] dir, ushort action, uint actpara); //添加两轴位置比较点 576 | [DllImport("LTSMC.dll")] 577 | public static extern short smc_compare_get_current_point_extern_unit(ushort ConnectNo, double[] pos); //读取当前比较点 578 | [DllImport("LTSMC.dll")] 579 | public static extern short smc_compare_get_points_runned_extern(ushort ConnectNo, ref int pointNum); //查询已经比较过的点 580 | [DllImport("LTSMC.dll")] 581 | public static extern short smc_compare_get_points_remained_extern(ushort ConnectNo, ref int pointNum); //查询可以加入的比较点数量 582 | 583 | //高速位置比较 584 | [DllImport("LTSMC.dll")] 585 | public static extern short smc_hcmp_set_mode(ushort ConnectNo, ushort hcmp, ushort cmp_mode); 586 | [DllImport("LTSMC.dll")] 587 | public static extern short smc_hcmp_get_mode(ushort ConnectNo, ushort hcmp, ref ushort cmp_mode); 588 | [DllImport("LTSMC.dll")] 589 | public static extern short smc_hcmp_set_config(ushort ConnectNo, ushort hcmp, ushort axis, ushort cmp_source, ushort cmp_logic, int time); 590 | [DllImport("LTSMC.dll")] 591 | public static extern short smc_hcmp_get_config(ushort ConnectNo, ushort hcmp, ref ushort axis, ref ushort cmp_source, ref ushort cmp_logic, ref int time); 592 | [DllImport("LTSMC.dll")] 593 | public static extern short smc_hcmp_add_point_unit(ushort ConnectNo, ushort hcmp, double cmp_pos); 594 | [DllImport("LTSMC.dll")] 595 | public static extern short smc_hcmp_set_liner_unit(ushort ConnectNo, ushort hcmp, double Increment, int Count); 596 | [DllImport("LTSMC.dll")] 597 | public static extern short smc_hcmp_get_liner_unit(ushort ConnectNo, ushort hcmp, ref double Increment, ref int Count); 598 | [DllImport("LTSMC.dll")] 599 | public static extern short smc_hcmp_get_current_state_unit(ushort ConnectNo, ushort hcmp, ref int remained_points, ref double current_point, ref int runned_points); 600 | [DllImport("LTSMC.dll")] 601 | public static extern short smc_hcmp_clear_points(ushort ConnectNo, ushort hcmp); 602 | [DllImport("LTSMC.dll")] 603 | public static extern short smc_read_cmp_pin(ushort ConnectNo, ushort hcmp); 604 | [DllImport("LTSMC.dll")] 605 | public static extern short smc_write_cmp_pin(ushort ConnectNo, ushort hcmp, ushort on_off); 606 | //高速二维位置比较 607 | [DllImport("LTSMC.dll")] 608 | public static extern short smc_hcmp_2d_set_enable(ushort ConnectNo, ushort hcmp, ushort cmp_enable); 609 | [DllImport("LTSMC.dll")] 610 | public static extern short smc_hcmp_2d_get_enable(ushort ConnectNo, ushort hcmp, ref ushort cmp_enable); 611 | [DllImport("LTSMC.dll")] 612 | public static extern short smc_hcmp_2d_set_config_unit(ushort ConnectNo, ushort hcmp, ushort cmp_mode, ushort x_axis, ushort x_cmp_source, double x_cmp_error, ushort y_axis, ushort y_cmp_source, double y_cmp_error, ushort cmp_logic, int time); 613 | [DllImport("LTSMC.dll")] 614 | public static extern short smc_hcmp_2d_get_config_unit(ushort ConnectNo, ushort hcmp, ref ushort cmp_mode, ref ushort x_axis, ref ushort x_cmp_source, ref double x_cmp_error, ref ushort y_axis, ref ushort y_cmp_source, ref double y_cmp_error, ref ushort cmp_logic, ref int time); 615 | [DllImport("LTSMC.dll")] 616 | public static extern short smc_hcmp_2d_set_pwmoutput(ushort ConnectNo, ushort hcmp, ushort pwm_enable, double duty, double freq, ushort pwm_number); 617 | [DllImport("LTSMC.dll")] 618 | public static extern short smc_hcmp_2d_get_pwmoutput(ushort ConnectNo, ushort hcmp, ref ushort pwm_enable, ref double duty, ref double freq, ref ushort pwm_number); 619 | [DllImport("LTSMC.dll")] 620 | public static extern short smc_hcmp_2d_add_point_unit(ushort ConnectNo, ushort hcmp, double x_cmp_pos, double y_cmp_pos, ushort cmp_outbit); 621 | [DllImport("LTSMC.dll")] 622 | public static extern short smc_hcmp_2d_get_current_state(ushort ConnectNo, ushort hcmp, ref int remained_points, ref double x_current_point, ref double y_current_point, ref int runned_points, ref ushort current_state, ref ushort current_outbit); 623 | [DllImport("LTSMC.dll")] 624 | public static extern short smc_hcmp_2d_clear_points(ushort ConnectNo, ushort hcmp); 625 | [DllImport("LTSMC.dll")] 626 | public static extern short smc_hcmp_2d_force_output(ushort ConnectNo, ushort hcmp, ushort outbit); 627 | 628 | //模拟量操作 629 | //AD 630 | [DllImport("LTSMC.dll")] 631 | public static extern double smc_get_ain(ushort ConnectNo, ushort channel); 632 | [DllImport("LTSMC.dll")] 633 | public static extern short smc_set_ain_action(ushort ConnectNo, ushort channel, ushort mode, double fvoltage, ushort action, double actpara); 634 | [DllImport("LTSMC.dll")] 635 | public static extern short smc_get_ain_action(ushort ConnectNo, ushort channel, ref ushort mode, ref double fvoltage, ref ushort action, ref double actpara); 636 | [DllImport("LTSMC.dll")] 637 | public static extern short smc_get_ain_state(ushort ConnectNo, ushort channel); 638 | [DllImport("LTSMC.dll")] 639 | public static extern short smc_set_ain_state(ushort ConnectNo, ushort channel); 640 | //DA 641 | [DllImport("LTSMC.dll")] 642 | public static extern short smc_set_da_output(ushort ConnectNo, ushort channel, double Vout); 643 | [DllImport("LTSMC.dll")] 644 | public static extern short smc_get_da_output(ushort ConnectNo, ushort channel, ref double Vout); 645 | //点胶参数设置 646 | [DllImport("LTSMC.dll")] 647 | public static extern short smc_glue_set_profile(ushort ConnectNo, ushort glue, ushort io, ushort on_off, double[] Offset, double[] dist, double[] time); 648 | [DllImport("LTSMC.dll")] 649 | public static extern short smc_glue_get_profile(ushort ConnectNo, ushort glue, ref ushort io, ref ushort on_off, double[] Offset, double[] dist, double[] time); 650 | //文件操作 651 | [DllImport("LTSMC.dll")] 652 | public static extern short smc_download_file(ushort CardNo, string pfilename, byte[] pfilenameinControl, ushort filetype); 653 | [DllImport("LTSMC.dll")] 654 | public static extern short smc_download_memfile(ushort CardNo, byte[] pbuffer, uint buffsize, byte[] pfilenameinControl, ushort filetype); 655 | [DllImport("LTSMC.dll")] 656 | public static extern short smc_upload_file(ushort CardNo, string pfilename, byte[] pfilenameinControl, ushort filetype); 657 | [DllImport("LTSMC.dll")] 658 | public static extern short smc_upload_memfile(ushort CardNo, byte[] pbuffer, uint buffsize, byte[] pfilenameinControl, ref uint puifilesize, ushort filetype); 659 | [DllImport("LTSMC.dll")] 660 | public static extern short smc_download_file_to_ram(ushort CardNo, string pfilename, ushort filetype); 661 | [DllImport("LTSMC.dll")] 662 | public static extern short smc_download_memfile_to_ram(ushort CardNo, byte[] pbuffer, uint buffsize, ushort filetype); 663 | [DllImport("LTSMC.dll")] 664 | public static extern short smc_get_progress(ushort ConnectNo, ref float progress); 665 | //寄存器操作 666 | [DllImport("LTSMC.dll")] 667 | public static extern short smc_set_modbus_0x(ushort CardNo, ushort start, ushort inum, byte[] pdata); 668 | [DllImport("LTSMC.dll")] 669 | public static extern short smc_get_modbus_0x(ushort CardNo, ushort start, ushort inum, byte[] pdata); 670 | [DllImport("LTSMC.dll")] 671 | public static extern short smc_set_modbus_4x(ushort CardNo, ushort start, ushort inum, ushort[] pdata); 672 | [DllImport("LTSMC.dll")] 673 | public static extern short smc_get_modbus_4x(ushort CardNo, ushort start, ushort inum, ushort[] pdata); 674 | //Basic变量 675 | [DllImport("LTSMC.dll")] 676 | public static extern short smc_read_array(ushort CardNo, string name, uint index, long[] var, ref int num); 677 | [DllImport("LTSMC.dll")] 678 | public static extern short smc_modify_array(ushort CardNo, string name, uint index, long[] var, int num); 679 | [DllImport("LTSMC.dll")] 680 | public static extern short smc_read_var(ushort CardNo, string varstring, long[] var, ref int num); 681 | [DllImport("LTSMC.dll")] 682 | public static extern short smc_modify_var(ushort CardNo, string varstring, long[] var, int varnum); 683 | [DllImport("LTSMC.dll")] 684 | public static extern short smc_read_array_ex(ushort ConnectNo, string name, uint index, double[] var, ref int num); 685 | [DllImport("LTSMC.dll")] 686 | public static extern short smc_modify_array_ex(ushort ConnectNo, string name, uint index, double[] var, int num); 687 | [DllImport("LTSMC.dll")] 688 | public static extern short smc_read_var_ex(ushort ConnectNo, string varstring, double[] var, ref int num); 689 | [DllImport("LTSMC.dll")] 690 | public static extern short smc_modify_var_ex(ushort ConnectNo, string varstring, double[] var, int varnum); 691 | [DllImport("LTSMC.dll")] 692 | public static extern short smc_write_array_ex(ushort ConnectNo, string name, uint startindex, double[] var, int num); 693 | [DllImport("LTSMC.dll")] 694 | public static extern short smc_get_stringtype(ushort CardNo, string varstring, ref int m_Type, ref int num); 695 | //Basic控制 696 | [DllImport("LTSMC.dll")] 697 | public static extern short smc_basic_state(ushort CardNo, ref ushort State); 698 | [DllImport("LTSMC.dll")] 699 | public static extern short smc_basic_run(ushort CardNo); 700 | [DllImport("LTSMC.dll")] 701 | public static extern short smc_basic_pause(ushort CardNo); 702 | [DllImport("LTSMC.dll")] 703 | public static extern short smc_basic_stop(ushort CardNo); 704 | [DllImport("LTSMC.dll")] 705 | public static extern short smc_basic_continue_run(ushort CardNo); 706 | //Basic调试 707 | [DllImport("LTSMC.dll")] 708 | public static extern short smc_basic_current_line(ushort CardNo, ref int line); 709 | [DllImport("LTSMC.dll")] 710 | public static extern short smc_basic_break_info(ushort CardNo, int[] line, int linenum); 711 | [DllImport("LTSMC.dll")] 712 | public static extern short smc_basic_step_over(ushort CardNo); 713 | [DllImport("LTSMC.dll")] 714 | public static extern short smc_basic_step_run(ushort CardNo); 715 | [DllImport("LTSMC.dll")] 716 | public static extern short smc_basic_message(ushort CardNo, byte[] pbuff, uint uimax, ref uint puiread); 717 | [DllImport("LTSMC.dll")] 718 | public static extern short smc_basic_command(ushort CardNo, byte[] pszCommand, byte[] psResponse, uint uiResponseLength); 719 | //G代码 720 | 721 | [DllImport("LTSMC.dll")] 722 | public static extern short smc_gcode_start(ushort CardNo); 723 | [DllImport("LTSMC.dll")] 724 | public static extern short smc_gcode_stop(ushort CardNo); 725 | [DllImport("LTSMC.dll")] 726 | public static extern short smc_gcode_pause(ushort CardNo); 727 | [DllImport("LTSMC.dll")] 728 | public static extern short smc_gcode_state(ushort CardNo, ref ushort state); 729 | [DllImport("LTSMC.dll")] 730 | public static extern short smc_gcode_clear_file(ushort CardNo); 731 | [DllImport("LTSMC.dll")] 732 | public static extern short smc_gcode_delete_file(ushort CardNo, byte[] pfilenameinControl); 733 | [DllImport("LTSMC.dll")] 734 | public static extern short smc_gcode_current_line(ushort CardNo, ref uint line, byte[] pCurLine); 735 | [DllImport("LTSMC.dll")] 736 | public static extern short smc_gcode_set_current_file(ushort CardNo, byte[] pFileName); 737 | [DllImport("LTSMC.dll")] 738 | public static extern short smc_gcode_get_current_file(ushort CardNo, byte[] pFileName, ref short fileid); 739 | [DllImport("LTSMC.dll")] 740 | public static extern short smc_gcode_get_first_file(ushort CardNo, byte[] pfilenameinControl, ref uint pFileSize); 741 | [DllImport("LTSMC.dll")] 742 | public static extern short smc_gcode_get_next_file(ushort CardNo, byte[] pfilenameinControl, ref uint pFileSize); 743 | [DllImport("LTSMC.dll")] 744 | public static extern short smc_gcode_check_file(ushort CardNo, byte[] pfilenameinControl, ref byte pbIfExist, ref uint pFileSize); 745 | [DllImport("LTSMC.dll")] 746 | public static extern short smc_gcode_get_file_profile(ushort CardNo, ref uint maxfilenum, ref uint maxfilesize); 747 | /****************************************** 748 | U盘文件管理 749 | ***************************************/ 750 | [DllImport("LTSMC.dll")] 751 | public static extern short smc_udisk_get_state(ushort ConnectNo, ref ushort state); 752 | [DllImport("LTSMC.dll")] 753 | public static extern short smc_udisk_check_file(ushort ConnectNo, byte[] filename, ref int filesize, ushort filetype); 754 | [DllImport("LTSMC.dll")] 755 | public static extern short smc_udisk_get_first_file(ushort ConnectNo, byte[] filename, ref int filesize, ref int fileid, ushort filetype); 756 | [DllImport("LTSMC.dll")] 757 | public static extern short smc_udisk_get_next_file(ushort ConnectNo, byte[] filename, ref int filesize, ref int fileid, ushort filetype); 758 | [DllImport("LTSMC.dll")] 759 | public static extern short smc_udisk_copy_file(ushort ConnectNo, string SrcFileName, string DstFileName, ushort filetype, ushort mode); 760 | //当前位置 761 | [DllImport("LTSMC.dll")] 762 | public static extern short smc_set_encoder_unit(ushort ConnectNo, ushort axis, double pos); 763 | [DllImport("LTSMC.dll")] 764 | public static extern short smc_get_encoder_unit(ushort ConnectNo, ushort axis, ref double pos); 765 | //变速变位 766 | [DllImport("LTSMC.dll")] 767 | public static extern short smc_reset_target_position_unit(ushort ConnectNo, ushort axis, double New_Pos); 768 | [DllImport("LTSMC.dll")] 769 | public static extern short smc_update_target_position_unit(ushort ConnectNo, ushort axis, double New_Pos); 770 | [DllImport("LTSMC.dll")] 771 | public static extern short smc_change_speed_unit(ushort ConnectNo, ushort axis, double New_Vel, double Taccdec); 772 | 773 | 774 | [DllImport("LTSMC.dll")] 775 | public static extern short smc_enter_password(ushort ConnectNo, byte[] str_pass); 776 | [DllImport("LTSMC.dll")] 777 | public static extern short smc_modify_password(ushort ConnectNo, byte[] spassold, byte[] spass); 778 | //掉电保存寄存器操作 779 | [DllImport("LTSMC.dll")] 780 | public static extern short smc_set_persistent_reg(ushort ConnectNo, ushort start, ushort inum, byte[] pdata); 781 | [DllImport("LTSMC.dll")] 782 | public static extern short smc_get_persistent_reg(ushort ConnectNo, ushort start, ushort inum, byte[] pdata); 783 | //参数文件 784 | [DllImport("LTSMC.dll")] 785 | public static extern short smc_download_parafile(ushort ConnectNo, byte[] FileName); 786 | [DllImport("LTSMC.dll")] 787 | public static extern short smc_upload_parafile(ushort ConnectNo, byte[] FileName); 788 | //圆弧限制 789 | [DllImport("LTSMC.dll")] 790 | public static extern short smc_set_arc_limit(ushort ConnectNo, ushort Crd, ushort Enable, double MaxCenAcc, double MaxArcError); 791 | [DllImport("LTSMC.dll")] 792 | public static extern short smc_get_arc_limit(ushort ConnectNo, ushort Crd, ref ushort Enable, ref double MaxCenAcc, ref double MaxArcError); 793 | // 794 | [DllImport("LTSMC.dll")] 795 | public static extern short smc_read_trace_data(ushort ConnectNo, ushort axis, int bufsize, double[] time, double[] pos, double[] vel, double[] acc, ref int recv_num); 796 | [DllImport("LTSMC.dll")] 797 | public static extern short smc_trace_start(ushort ConnectNo, ushort AxisNum, ushort[] AxisList); 798 | [DllImport("LTSMC.dll")] 799 | public static extern short smc_trace_stop(ushort ConnectNo); 800 | [DllImport("LTSMC.dll")] 801 | public static extern short smc_trace_set_source(ushort ConnectNo, ushort source); 802 | // 803 | //实时时钟 804 | [DllImport("LTSMC.dll")] 805 | public static extern short smc_rtc_get_time(ushort ConnectNo, ref int year, ref int month, ref int day, ref int hour, ref int min, ref int sec); 806 | [DllImport("LTSMC.dll")] 807 | public static extern short smc_rtc_set_time(ushort ConnectNo, int year, int month, int day, int hour, int min, int sec); 808 | 809 | // 810 | // 811 | [DllImport("LTSMC.dll")] 812 | public static extern short smc_soft_reset(ushort ConnectNo); 813 | [DllImport("LTSMC.dll")] 814 | public static extern short nmcs_reset_canopen(ushort ConnectNo); 815 | [DllImport("LTSMC.dll")] 816 | public static extern short nmcs_get_total_axes(ushort ConnectNo, ref uint TotalAxis); //读取指定卡轴数 817 | [DllImport("LTSMC.dll")] 818 | public static extern short nmcs_get_total_ionum(ushort ConnectNo, ref ushort TotalIn, ref ushort TotalOut); 819 | [DllImport("LTSMC.dll")] 820 | public static extern short nmcs_get_total_adcnum(ushort ConnectNo, ref ushort TotalIn, ref ushort TotalOut); 821 | [DllImport("LTSMC.dll")] 822 | public static extern short nmcs_get_slave_nodes(ushort ConnectNo, ushort PortNum, ushort baudrate, ushort[] NodeID, ref ushort NodeNum); 823 | [DllImport("LTSMC.dll")] 824 | public static extern short nmcs_get_EmergeneyMessege_Nodes(ushort CardNo, ushort PortNum, uint[] NodeMsg, ref ushort MsgNum); 825 | [DllImport("LTSMC.dll")] 826 | public static extern short nmcs_get_LostHeartbeat_Nodes(ushort CardNo, ushort PortNum, ushort[] NodeID, ref ushort NodeNum); 827 | [DllImport("LTSMC.dll")] 828 | public static extern short nmcs_get_manager_od(ushort CardNo, ushort PortNum, ushort index, ushort subindex, ushort valuelength, ref uint value); 829 | [DllImport("LTSMC.dll")] 830 | public static extern short nmcs_get_manager_para(ushort CardNo, ushort PortNum, ref uint baudrate, ref ushort ManagerID); 831 | [DllImport("LTSMC.dll")] 832 | public static extern short nmcs_get_node_od(ushort CardNo, ushort PortNum, ushort nodenum, ushort index, ushort subindex, ushort valuelength, ref uint value); 833 | [DllImport("LTSMC.dll")] 834 | public static extern short nmcs_reset_to_factory(ushort CardNo, ushort PortNum, ushort NodeNum); 835 | [DllImport("LTSMC.dll")] 836 | public static extern short nmcs_SendNmtCommand(ushort CardNo, ushort PortNum, ushort NodeID, ushort NmtCommand); 837 | [DllImport("LTSMC.dll")] 838 | public static extern short nmcs_set_alarm_clear(ushort CardNo, ushort PortNum, ushort nodenum); 839 | [DllImport("LTSMC.dll")] 840 | public static extern short nmcs_set_axis_enable(ushort CardNo, ushort PortNum, ushort nodenum); 841 | [DllImport("LTSMC.dll")] 842 | public static extern short nmcs_set_manager_od(ushort CardNo, ushort PortNum, ushort index, ushort subindex, ushort valuelength, uint value); 843 | [DllImport("LTSMC.dll")] 844 | public static extern short nmcs_set_manager_para(ushort CardNo, ushort PortNum, int baudrate, ushort ManagerID); 845 | [DllImport("LTSMC.dll")] 846 | public static extern short nmcs_set_node_od(ushort CardNo, ushort PortNum, ushort nodenum, ushort index, ushort subindex, ushort valuelength, uint value); 847 | [DllImport("LTSMC.dll")] 848 | public static extern short nmcs_syn_move(ushort CardNo, ushort AxisNum, ushort[] AxisList, int[] Position, ushort[] PosiMode); 849 | [DllImport("LTSMC.dll")] 850 | public static extern short nmcs_write_outbit(ushort ConnectNo, ushort PortNum, ushort NodeID, ushort IoBit, ushort IoValue); 851 | [DllImport("LTSMC.dll")] 852 | public static extern short nmcs_read_outbit(ushort ConnectNo, ushort PortNum, ushort NodeID, ushort IoBit, ref ushort IoValue); 853 | [DllImport("LTSMC.dll")] 854 | public static extern short nmcs_read_inbit(ushort ConnectNo, ushort PortNum, ushort NodeID, ushort IoBit, ref ushort IoValue); 855 | [DllImport("LTSMC.dll")] 856 | public static extern short nmcs_write_outport(ushort ConnectNo, ushort PortNum, ushort NodeID, ushort PortNo, int IoValue); 857 | [DllImport("LTSMC.dll")] 858 | public static extern short nmcs_read_outport(ushort ConnectNo, ushort PortNum, ushort NodeID, ushort PortNo, ref int IoValue); 859 | [DllImport("LTSMC.dll")] 860 | public static extern short nmcs_read_inport(ushort ConnectNo, ushort PortNum, ushort NodeID, ushort PortNo, ref int IoValue); 861 | 862 | [DllImport("LTSMC.dll")] 863 | public static extern short nmcs_set_controller_workmode(ushort ConnectNo, ushort controller_mode); 864 | [DllImport("LTSMC.dll")] 865 | public static extern short nmcs_get_controller_workmode(ushort ConnectNo, ref ushort controller_mode); 866 | [DllImport("LTSMC.dll")] 867 | public static extern short nmcs_set_cycletime(ushort ConnectNo, ushort FieldbusType, uint CycleTime); 868 | [DllImport("LTSMC.dll")] 869 | public static extern short nmcs_get_cycletime(ushort ConnectNo, ushort FieldbusType, ref uint CycleTime); 870 | 871 | [DllImport("LTSMC.dll")] 872 | public static extern short nmcs_get_axis_state_machine(ushort ConnectNo, ushort axis, ref ushort Axis_StateMachine); 873 | [DllImport("LTSMC.dll")] 874 | public static extern short nmcs_get_axis_statusword(ushort ConnectNo, ushort axis, ref int statusword); 875 | [DllImport("LTSMC.dll")] 876 | public static extern short nmcs_get_axis_setting_contrlmode(ushort ConnectNo, ushort axis, ref int contrlmode); 877 | [DllImport("LTSMC.dll")] 878 | public static extern short nmcs_get_axis_contrlword(ushort ConnectNo, ushort axis, ref int contrlword); 879 | [DllImport("LTSMC.dll")] 880 | public static extern short nmcs_get_axis_type(ushort ConnectNo, ushort axis, ref ushort Axis_Type); 881 | 882 | [DllImport("LTSMC.dll")] 883 | public static extern short nmcs_get_consume_time_fieldbus(ushort ConnectNo, ushort Fieldbustype, ref uint Average_time, ref uint Max_time, ref UInt64 Cycles); 884 | [DllImport("LTSMC.dll")] 885 | public static extern short nmcs_clear_consume_time_fieldbus(ushort ConnectNo, ushort Fieldbustype); 886 | 887 | [DllImport("LTSMC.dll")] 888 | public static extern short nmcs_set_axis_enable(ushort ConnectNo, ushort axis); 889 | [DllImport("LTSMC.dll")] 890 | public static extern short nmcs_set_axis_disable(ushort ConnectNo, ushort axis); 891 | [DllImport("LTSMC.dll")] 892 | public static extern short nmcs_get_axis_io_out(ushort ConnectNo, ushort axis); 893 | [DllImport("LTSMC.dll")] 894 | public static extern short nmcs_set_axis_io_out(ushort ConnectNo, ushort axis, uint iostate); 895 | [DllImport("LTSMC.dll")] 896 | public static extern short nmcs_get_axis_io_in(ushort ConnectNo, ushort axis); 897 | 898 | [DllImport("LTSMC.dll")] 899 | public static extern short nmcs_get_axis_node_address(ushort ConnectNo, ushort axis, ref ushort SlaveAddr, ref ushort Sub_SlaveAddr); 900 | [DllImport("LTSMC.dll")] 901 | public static extern short nmcs_get_total_slaves(ushort ConnectNo, ushort PortNum, ref ushort TotalSlaves); 902 | [DllImport("LTSMC.dll")] 903 | public static extern short nmcs_set_home_profile(ushort ConnectNo, ushort axis, ushort home_mode, double High_Vel, double Low_Vel, double Tacc, double Tdec, double offsetpos); 904 | [DllImport("LTSMC.dll")] 905 | public static extern short nmcs_get_home_profile(ushort ConnectNo, ushort axis, ref ushort home_mode, ref double High_Vel, ref double Low_Vel, ref double Tacc, ref double Tdec, ref double offsetpos); 906 | [DllImport("LTSMC.dll")] 907 | public static extern short nmcs_home_move(ushort ConnectNo, ushort axis); 908 | // 909 | [DllImport("LTSMC.dll")] 910 | public static extern short nmcs_get_errcode(ushort CardNo, ushort channel, ref ushort errcode); 911 | [DllImport("LTSMC.dll")] 912 | public static extern short nmcs_clear_errcode(ushort CardNo, ushort channel); 913 | [DllImport("LTSMC.dll")] 914 | public static extern short nmcs_get_axis_errcode(ushort CardNo, ushort axis, ref ushort Errcode); 915 | [DllImport("LTSMC.dll")] 916 | public static extern short nmcs_clear_axis_errcode(ushort CardNo, ushort axis); 917 | // 918 | [DllImport("LTSMC.dll")] 919 | public static extern short nmcs_write_rxpdo_extra(ushort ConnectNo, ushort PortNum, ushort address, ushort DataLen, uint Value); 920 | [DllImport("LTSMC.dll")] 921 | public static extern short nmcs_read_rxpdo_extra(ushort ConnectNo, ushort PortNum, ushort address, ushort DataLen, ref uint Value); 922 | [DllImport("LTSMC.dll")] 923 | public static extern short nmcs_read_txpdo_extra(ushort ConnectNo, ushort PortNum, ushort address, ushort DataLen, ref uint Value); 924 | // 925 | //RTEX 926 | // 927 | [DllImport("LTSMC.dll")] 928 | public static extern short nmcs_start_connect(ushort ConnectNo, ushort chan, ushort[] info, ref ushort len); 929 | [DllImport("LTSMC.dll")] 930 | public static extern short nmcs_get_vendor_info(ushort ConnectNo, ushort axis, byte[] info, ref ushort len); 931 | [DllImport("LTSMC.dll")] 932 | public static extern short nmcs_get_slave_type_info(ushort ConnectNo, ushort axis, byte[] info, ref ushort len); 933 | [DllImport("LTSMC.dll")] 934 | public static extern short nmcs_get_slave_name_info(ushort ConnectNo, ushort axis, byte[] info, ref ushort len); 935 | [DllImport("LTSMC.dll")] 936 | public static extern short nmcs_get_slave_version_info(ushort ConnectNo, ushort axis, byte[] info, ref ushort len); 937 | [DllImport("LTSMC.dll")] 938 | public static extern short nmcs_write_parameter(ushort ConnectNo, ushort axis, ushort index, ushort subindex, uint para_data); 939 | [DllImport("LTSMC.dll")] 940 | public static extern short nmcs_write_slave_eeprom(ushort ConnectNo, ushort axis); 941 | [DllImport("LTSMC.dll")] 942 | public static extern short nmcs_read_parameter(ushort ConnectNo, ushort axis, ushort index, ushort subindex, ref uint para_data); 943 | [DllImport("LTSMC.dll")] 944 | public static extern short nmcs_read_parameter_attributes(ushort ConnectNo, ushort axis, ushort index, ushort subindex, ref uint para_data); 945 | [DllImport("LTSMC.dll")] 946 | public static extern short nmcs_set_cmdcycletime(ushort ConnectNo, ushort PortNum, uint cmdtime); 947 | [DllImport("LTSMC.dll")] 948 | public static extern short nmcs_get_cmdcycletime(ushort ConnectNo, ushort PortNum, ref uint cmdtime); 949 | [DllImport("LTSMC.dll")] 950 | public static extern short nmcs_start_log(ushort ConnectNo, ushort chan, ushort node, ushort Ifenable); 951 | [DllImport("LTSMC.dll")] 952 | public static extern short nmcs_get_log(ushort ConnectNo, ushort chan, ushort node, uint[] data); 953 | [DllImport("LTSMC.dll")] 954 | public static extern short nmcs_config_atuo_log(ushort ConnectNo, ushort ifenable, ushort dir, ushort byte_index, ushort mask, ushort condition, uint counter); 955 | [DllImport("LTSMC.dll")] 956 | public static extern short nmcs_get_log_state(ushort ConnectNo, ushort chan, ref uint state); 957 | [DllImport("LTSMC.dll")] 958 | public static extern short nmcs_driver_reset(ushort ConnectNo, ushort axis); 959 | 960 | 961 | 962 | } 963 | } 964 | 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