C# 雷塞运动控制卡在线变速和改变目标位置

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10_在线变速和改变目标位置{ public partial class Form1 : Form { public ushort nAxis=0; public int DIR=1, Dist; public int T_S; public double Min_Vel, Max_Vel, Tac, S_Tac; public Form1() { InitializeComponent(); } private void button5_Click(object sender, EventArgs e) { double V=Convert .ToDouble (textBox1 .Text ); Dmc2410.d2410_variety_speed_range(nAxis, 1, 10000000); //变速使能 Dmc2410.d2410_change_speed(nAxis, V); } private void Form1_Load(object sender, EventArgs e) { int n; n = Dmc2410.d2410_board_init(); //初始化控制卡 if (n < 0 || n > 7) { MessageBox.Show("未找到控制卡", "出错"); } } 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; } private void CW_CheckedChanged(object sender, EventArgs e) { DIR = 1; } private void CCW_CheckedChanged(object sender, EventArgs e) { DIR = -1; } private void T_Type_CheckedChanged(object sender, EventArgs e) { T_S = 0; } private void button1_Click(object sender, EventArgs e) { Min_Vel = Convert.ToDouble(Start_speed.Text); Max_Vel = Convert.ToDouble(Max_speed.Text); Tac = Convert.ToDouble(Tacc.Text); Dist = Convert.ToInt16(Dist_pos.Text); S_Tac = Convert.ToDouble(S_Tacc.Text); Dmc2410.d2410_set_pulse_outmode(nAxis, 0); //设置控制卡轴的脉冲输出模式 if (T_S == 0) //T型曲线运动 { Dmc2410.d2410_set_profile(nAxis, Min_Vel, Max_Vel, Tac, Tac); Dmc2410.d2410_t_pmove(nAxis, DIR * Dist, 1); } else { Dmc2410.d2410_set_st_profile(nAxis, Min_Vel, Max_Vel, Tac, Tac, S_Tac, S_Tac); Dmc2410.d2410_s_pmove(nAxis, DIR * Dist, 1); } } private void button3_Click(object sender, EventArgs e) { Dmc2410.d2410_emg_stop(); } private void button2_Click(object sender, EventArgs e) { Dmc2410.d2410_decel_stop(nAxis, Tac); } private void button4_Click(object sender, EventArgs e) { Dmc2410.d2410_set_position(nAxis, 0); } private void button6_Click(object sender, EventArgs e) { int P=Convert .ToInt16 (textBox2 .Text ); Dmc2410.d2410_reset_target_position(nAxis, P); } private void timer1_Tick(object sender, EventArgs e) { label1.Text = "轴速度：" Convert.ToString((Dmc2410.d2410_read_current_speed(nAxis))) " 轴位置：" Convert.ToString((Dmc2410.d2410_get_position(nAxis))); } }}