轴增加平滑停止和紧急停止参数

Rs.Motion/Base/IAxis.cs

@@ -71,7 +71,7 @@ namespace Rs.Motion.Base
             return ErrorCode.Ok;
         }
 
-        public virtual ErrorCode Stop()
+        public virtual ErrorCode Stop(bool smoothStop = true)
         {
             return ErrorCode.Ok;
         }

Rs.Motion/GugaoEcat/GugaoAxis.cs

@@ -189,7 +189,7 @@ namespace Rs.Motion.GugaoEcat
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop = true)
         {
             if (!cardManager.IsInitialized)
             {
@@ -197,7 +197,15 @@ namespace Rs.Motion.GugaoEcat
             }
             //int axes = 1 << m_axis_config.AxisId;
             //int option = 1 << m_axis_config.AxisId;
+            if(smoothStop)
+            {
+                apiResult = mc_ecat.GTN_Stop(core, 1 << Config.AxisId - 1, 0 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            else
+            {
                 apiResult = mc_ecat.GTN_Stop(core, 1 << Config.AxisId - 1, 1 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            
             if (apiResult != 0)
                 return ErrorCode.Fail;
             else

Rs.Motion/GugaoPulse/GugaoPulseAxis.cs

@@ -231,7 +231,7 @@ namespace Rs.Motion.GugaoPulse
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop=true)
         {
             if (!cardManager.IsInitialized)
             {
@@ -239,7 +239,15 @@ namespace Rs.Motion.GugaoPulse
             }
             //int axes = 1 << m_axis_config.AxisId;
             //int option = 1 << m_axis_config.AxisId;
+            if(smoothStop)
+            {
+                apiResult = mc_pulse.GT_Stop((short)Config.CardId, 1 << Config.AxisId - 1, 0 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            else
+            {
                 apiResult = mc_pulse.GT_Stop((short)Config.CardId, 1 << Config.AxisId - 1, 1 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            
             if (apiResult != 0)
                 return ErrorCode.Fail;
             else
@@ -376,6 +384,12 @@ namespace Rs.Motion.GugaoPulse
             trapPrm.acc = fAcc;
             trapPrm.dec = fDec;
             trapPrm.velStart = fStart;
+            short smoothtime = (short)(Config.STime * 1000);
+            if(smoothtime>50)
+            {
+                smoothtime=50;
+            }
+            trapPrm.smoothTime = smoothtime;
             apiResult = mc_pulse.GT_SetTrapPrm((short)Config.CardId, (short)Config.AxisId, ref trapPrm);//设置点位运动参数
             if (apiResult != 0)
             {

Rs.Motion/Leisai/LeisaiAxis.cs

@@ -151,13 +151,20 @@ namespace Rs.Motion.Leisai
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop = true)
         {
             if (!cardManager.IsInitialized)
             {
                 return ErrorCode.CardNotInit;
             }
+            if(smoothStop)
+            {
                 apiResult = LTDMC.dmc_stop(Config.CardId, Config.AxisId, 0);
+            }
+            else
+            {
+                apiResult = LTDMC.dmc_stop(Config.CardId, Config.AxisId, 1);
+            }
             if (apiResult != 0)
                 return ErrorCode.Fail;
             else

Rs.Motion/Ztm/ZtmAxis.cs

@@ -246,13 +246,20 @@ namespace Rs.Motion.GugaoEcat
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop = true)
         {
             if (!cardManager.IsInitialized)
             {
                 return ErrorCode.CardNotInit;
             }
+            if(smoothStop)
+            {
                 m_apiResult = ZTM.ZT_Stop(Config.CardMc, (uint)(1 << Config.AxisId));
+            }
+            else
+            {
+                m_apiResult = ZTM.ZT_EStop(Config.CardMc, (uint)(1 << Config.AxisId));
+            }
             if (m_apiResult != 0)
                 return ErrorCode.Fail;
             else