From 85c4c15bd3c6bafcf2d34e0273fc0d727cb8500a Mon Sep 17 00:00:00 2001
From: lhiven <236881222@qq.com>
Date: Thu, 29 Feb 2024 08:11:41 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E7=94=A8=E8=BF=90=E5=8A=A8=E6=96=B9?=
=?UTF-8?q?=E6=B3=95=E5=8E=BB=E6=8E=89acc,dec=20=E5=A2=9E=E5=8A=A0?=
=?UTF-8?q?=E7=89=88=E6=9C=AC=E5=8F=B7=EF=BC=9A2.20.24.3?=
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---
Rs.Motion/Base/IAxis.cs | 4 ++--
Rs.Motion/GugaoEcat/GugaoAxis.cs | 11 +++++++----
Rs.Motion/GugaoPulse/GugaoPulseAxis.cs | 10 ++++++----
Rs.Motion/Properties/AssemblyInfo.cs | 2 +-
Rs.Motion/Ztm/ZtmAxis.cs | 10 ++++++----
5 files changed, 22 insertions(+), 15 deletions(-)
diff --git a/Rs.Motion/Base/IAxis.cs b/Rs.Motion/Base/IAxis.cs
index 3b5ffc2..3027f11 100644
--- a/Rs.Motion/Base/IAxis.cs
+++ b/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,double accTime=0,double decTime=0)
+ public virtual ErrorCode MovePos(double dfPosVal, int percent = 100)
{
return ErrorCode.Ok;
}
- public virtual ErrorCode MoveOffset(double dfDistVal, int percent = 100,double accTime=0,double decTime=0)
+ public virtual ErrorCode MoveOffset(double dfDistVal, int percent = 100)
{
return ErrorCode.Ok;
}
diff --git a/Rs.Motion/GugaoEcat/GugaoAxis.cs b/Rs.Motion/GugaoEcat/GugaoAxis.cs
index bf3ea44..890871c 100644
--- a/Rs.Motion/GugaoEcat/GugaoAxis.cs
+++ b/Rs.Motion/GugaoEcat/GugaoAxis.cs
@@ -263,7 +263,7 @@ namespace Rs.Motion.GugaoEcat
///
///
///
- public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100,double accTime=0,double decTime=0)
+ public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100)
{
if (!cardManager.IsInitialized)
return ErrorCode.CardNotInit;
@@ -308,8 +308,11 @@ namespace Rs.Motion.GugaoEcat
MmToPulse(Config.StopSpeed, out double stopSpeedPulse);
float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
- float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
- float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : 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 fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
+ float fDec = (float)(maxSpeedPulse / Config.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 +359,7 @@ namespace Rs.Motion.GugaoEcat
///
///
///
- public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+ public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
{
if (!cardManager.IsInitialized)
{
diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index cf2203a..d321ca6 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -300,7 +300,7 @@ namespace Rs.Motion.GugaoPulse
///
///
///
- public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 4,double accTime=0,double decTime=0)
+ public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 4)
{
if (!cardManager.IsInitialized)
return ErrorCode.CardNotInit;
@@ -348,8 +348,10 @@ namespace Rs.Motion.GugaoPulse
MmToPulse(Config.StopSpeed, out double stopSpeedPulse);
float fMaxVel = (float)(maxSpeedPulse * dfPercent / 1000.0);//pulse/ms
- float fAcc = (float)(maxSpeedPulse / (accTime == 0 ? Config.AccTime : accTime) / 1000000.0);
- float fDec = (float)(maxSpeedPulse / (decTime == 0 ? Config.DecTime : 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 fAcc = (float)(maxSpeedPulse / Config.AccTime / 1000000.0);
+ float fDec = (float)(maxSpeedPulse / Config.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 +402,7 @@ namespace Rs.Motion.GugaoPulse
///
///
///
- public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+ public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
{
if (!cardManager.IsInitialized)
{
diff --git a/Rs.Motion/Properties/AssemblyInfo.cs b/Rs.Motion/Properties/AssemblyInfo.cs
index 39e6715..e5711a2 100644
--- a/Rs.Motion/Properties/AssemblyInfo.cs
+++ b/Rs.Motion/Properties/AssemblyInfo.cs
@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
//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
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("2.0.2.31")]
+[assembly: AssemblyVersion("2.20.24.3")]
//[assembly: AssemblyFileVersion("1.0.0.0")]
diff --git a/Rs.Motion/Ztm/ZtmAxis.cs b/Rs.Motion/Ztm/ZtmAxis.cs
index c249a25..c3a17f8 100644
--- a/Rs.Motion/Ztm/ZtmAxis.cs
+++ b/Rs.Motion/Ztm/ZtmAxis.cs
@@ -268,7 +268,7 @@ namespace Rs.Motion.GugaoEcat
///
///
///
- public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+ public override ErrorCode MovePos(double dfPosVal, int nSpeedPercent = 100)
{
if (!cardManager.IsInitialized)
return ErrorCode.CardNotInit;
@@ -316,8 +316,10 @@ 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 / (accTime==0?Config.AccTime:accTime * 1000));
- float fDec = (float)(fMaxVel / (decTime==0?Config.DecTime:decTime * 1000));
+ //float fAcc = (float)(fMaxVel / (accTime==0?Config.AccTime:accTime * 1000));
+ //float fDec = (float)(fMaxVel / (decTime==0?Config.DecTime:decTime * 1000));
+ float fAcc = (float)(fMaxVel / Config.AccTime / 1000.0);//pulse/ms2
+ float fDec = (float)(fMaxVel / Config.DecTime / 1000.0);//pulse/ms2
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 +340,7 @@ namespace Rs.Motion.GugaoEcat
///
///
///
- public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100, double accTime = 0, double decTime = 0)
+ public override ErrorCode MoveOffset(double dfDistVal, int nSpeedPercent = 100)
{
if (!cardManager.IsInitialized)
{