运动接口增加加速度和减速度

Rs.Motion/Base/IAxis.cs

@@ -81,12 +81,12 @@ namespace Rs.Motion.Base
             return ErrorCode.Ok;
         }
 
-        public virtual ErrorCode MovePos(double dfPosVal, int percent = 100)
+        public virtual ErrorCode MovePos(double dfPosVal, int percent = 100,double accTime=0,double decTime=0)
         {
             return ErrorCode.Ok;
         }
 
-        public virtual ErrorCode MoveOffset(double dfDistVal, int percent = 100)
+        public virtual ErrorCode MoveOffset(double dfDistVal, int percent = 100,double accTime=0,double decTime=0)
         {
             return ErrorCode.Ok;
         }

Rs.Motion/GugaoEcat/GugaoAxis.cs

@@ -263,7 +263,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100)
+        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100,double accTime=0,double decTime=0)
         {
             if (!cardManager.IsInitialized)
                 return ErrorCode.CardNotInit;
@@ -308,8 +308,8 @@ namespace Rs.Motion.GugaoEcat
             MmToPulse(Config.StopSpeed, out double stopSpeedPulse);
 
             float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
-            float fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
-            float fDec = (float)(maxSpeedPulse / Config.DecTime / 1000000.0);
+            float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
+            float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : decTime) / 1000000.0);
             float fStart = (float)(minSpeedPulse / 1000.0);
             float fStop = (float)(stopSpeedPulse / 1000.0);
             apiResult = mc_ecat.GTN_PrfTrap(core, (short)Config.AxisId);//设置运动模式为点位运动
@@ -356,7 +356,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
+        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
         {
             if (!cardManager.IsInitialized)
             {

Rs.Motion/GugaoPulse/GugaoPulseAxis.cs

@@ -300,7 +300,7 @@ namespace Rs.Motion.GugaoPulse
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 4)
+        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 4,double accTime=0,double decTime=0)
         {
             if (!cardManager.IsInitialized)
                 return ErrorCode.CardNotInit;
@@ -348,8 +348,8 @@ namespace Rs.Motion.GugaoPulse
             MmToPulse(Config.StopSpeed, out double stopSpeedPulse);
 
             float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
-            float fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
-            float fDec = (float)(maxSpeedPulse / Config.DecTime / 1000000.0);
+            float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
+            float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : decTime) / 1000000.0);
             float fStart = (float)(minSpeedPulse / 1000.0);
             float fStop = (float)(stopSpeedPulse / 1000.0);
             apiResult = mc_pulse.GT_PrfTrap((short)Config.CardId, (short)Config.AxisId);//设置运动模式为点位运动
@@ -400,7 +400,7 @@ namespace Rs.Motion.GugaoPulse
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
+        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
         {
             if (!cardManager.IsInitialized)
             {

Rs.Motion/Ztm/ZtmAxis.cs

@@ -268,7 +268,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100)
+        public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
         {
             if (!cardManager.IsInitialized)
                 return ErrorCode.CardNotInit;
@@ -316,8 +316,8 @@ namespace Rs.Motion.GugaoEcat
             float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
             //float fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
             //float fDec = (float)(maxSpeedPulse / Config.DecTime / 1000000.0);
-            float fAcc = (float)(fMaxVel / (Config.AccTime * 1000));
-            float fDec = (float)(fMaxVel / (Config.DecTime * 1000));
+            float fAcc = (float)(fMaxVel / (accTime==0?Config.AccTime:accTime * 1000));
+            float fDec = (float)(fMaxVel / (decTime==0?Config.DecTime:decTime * 1000));
             float fStart = (float)(minSpeedPulse / 1000.0);
             float fStop = (float)(stopSpeedPulse / 1000.0);
             m_apiResult = ZTM.ZT_MoveA(Config.CardMc, (short)Config.AxisId, (int)dfPos, fStart, fMaxVel, fAcc, fDec, fStop, (ushort)(Config.STime * 1000.0));
@@ -338,7 +338,7 @@ namespace Rs.Motion.GugaoEcat
         /// <param name="nSpeedPercent"></param>
         /// <param name="bypassEL"></param>
         /// <returns></returns>
-        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
+        public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
         {
             if (!cardManager.IsInitialized)
             {