C# 雷塞运动控制卡回原点

using System;using System.Collections.Generic;using System.ComponentModel;using System.Data;using System.Drawing;using System.Text;using System.Windows.Forms;using csDmc2410;namespace 例3_回原点运动{ public partial class Form1 : Form { public Form1() { InitializeComponent(); } public ushort nAxis; public ushort home_speed; public ushort home_mode; public ushort home_signal; public double fAcc, m_nStart, m_nSpeed; public ushort number_EZ; private void Form1_Load(object sender, EventArgs e) { int n; n = Dmc2410.d2410_board_init(); //初始化控制卡 if (n < 1 || n > 8) MessageBox.Show("未找到控制卡", "出错"); } private void Form1_FormClosed(object sender, FormClosedEventArgs e) { Dmc2410.d2410_board_close(); //关闭控制卡 } private void RUN_Click(object sender, EventArgs e) { m_nStart = Convert.ToDouble(Start_Speed.Text); m_nSpeed = Convert.ToDouble(Max_Speed.Text); fAcc = Convert.ToDouble(Tacc.Text); number_EZ = Convert.ToUInt16(nEZ.Text); Dmc2410.d2410_set_pulse_outmode(0, 0); //脉冲输出模式 Dmc2410.d2410_set_pulse_outmode(1, 0); if (Low_Speed.Checked) //回零速度选择 home_speed = 0; else home_speed = 1; if (CW.Checked) //回零方向 home_mode = 1; else home_mode = 2; if (Only_Home.Checked) //回零模式 home_signal = 0; else home_signal = 1; Dmc2410.d2410_set_HOME_pin_logic(nAxis, 0, 1); //设置原点信号为低电平有效，允许信号滤波 Dmc2410.d2410_config_EZ_PIN(nAxis, 0, 1); Dmc2410.d2410_config_home_mode(nAxis, home_signal, number_EZ); Dmc2410.d2410_set_profile(nAxis, m_nStart, m_nSpeed, fAcc, fAcc); //设置速度、加速度 Dmc2410.d2410_home_move(nAxis, home_mode, home_speed); //启动回原点运动 } private void button2_Click(object sender, EventArgs e) { Dmc2410.d2410_decel_stop(nAxis, fAcc); } private void button3_Click(object sender, EventArgs e) { Dmc2410.d2410_emg_stop(); } private void button4_Click(object sender, EventArgs e) { Dmc2410.d2410_set_position(nAxis, 0); } private void Low_Speed_CheckedChanged(object sender, EventArgs e) { } private void timer1_Tick(object sender, EventArgs e) { label1.Text = "X轴位置：" Convert.ToString(Dmc2410.d2410_read_current_speed(0)) " X轴速度：" Convert.ToString(Dmc2410.d2410_get_position(0)) "\r\n" "Y轴位置：" Convert.ToString(Dmc2410.d2410_read_current_speed(1)) " Y轴速度：" Convert.ToString(Dmc2410.d2410_get_position(1)) "\r\n" "Z轴位置：" Convert.ToString(Dmc2410.d2410_read_current_speed(2)) " Z轴速度：" Convert.ToString(Dmc2410.d2410_get_position(2)) "\r\n" "U轴位置：" Convert.ToString(Dmc2410.d2410_read_current_speed(3)) " U轴速度：" Convert.ToString(Dmc2410.d2410_get_position(3)); } private void CW_CheckedChanged(object sender, EventArgs e) { } private void Axis_X_CheckedChanged(object sender, EventArgs e) { nAxis = 0; } private void Axis_Y_CheckedChanged(object sender, EventArgs e) { nAxis = 1; } private void Axis_Z_CheckedChanged(object sender, EventArgs e) { nAxis = 2; } private void Axis_U_CheckedChanged(object sender, EventArgs e) { nAxis = 3; } }}