C# GTS四轴运动控制器实例(固高科技步进电机不带编码器)

注:由于电机不带编码器,无法做home和当前位置信息读取!

功能:

三个轴的点位运动:前进+后退,并分别显示每个轴的移动脉冲数(可以换算为距离)!

开发环境:VS2017

硬件设备:固高科技三维移动平台

在上一版上添加了如下功能:

  1. 记录每次运行的距离,即使关闭软件,也能记录当前距离原点的距离(原点首次得在机台选定)

  2. 运行超出机台的最大距离后停止运动.

  3. C# GTS四轴运动控制器实例(固高科技步进电机不带编码器)_第1张图片

    源码:

  4. using System;
    using System.Windows.Forms;
    using gts;
    using System.Xml;
    using System.Collections.Generic;
    
    
    
    
    namespace 三维平移台控制系统
    {
        public partial class mainFrom : DevComponents.DotNetBar.OfficeForm
        {
            public mainFrom()
    {
                this.EnableGlass = false;
                InitializeComponent();
            }
            short Rtn;
            int  vel = 0;
            int[] pos= {0,0,0 };
            int[] pos1 = { 0, 0, 0 };
            bool flag = false;
            uint clk;
            double prfpos, prfvel, encpos, encvel;
            short AXIS = 1;
    
    
            int X = 0;
            int Y = 0;
            int Z = 0;
    
    
    
    
            private void buttonX1_Click(object sender, EventArgs e)
    {
              
                mc.GT_ZeroPos(AXIS, 1);
                //for (int i=0; i<3;i++)
                //{
                //    pos1[i] += pos[i];
                //}
                pos1[AXIS - 1] += pos[AXIS - 1];
                pos[AXIS-1] = 0;
               
            }
    
    
            private void buttonX2_Click(object sender, EventArgs e)
    {
                //Rtn = mc.GT_Close();
                Rtn = mc.GT_PrfTrap(AXIS);
                mc.TTrapPrm trapprm;
                mc.GT_GetTrapPrm(AXIS, out trapprm);
                trapprm.acc = 0.1;//设置加速度
                trapprm.dec = 0.1;//设置减速度
                trapprm.smoothTime = 1;
                mc.GT_SetTrapPrm(AXIS, ref trapprm);
                pos[AXIS-1] += Convert.ToInt32(textBoxX1.Text)*500;
                vel = Convert.ToInt32(textBoxX2.Text)*2;
                mc.GT_SetPos(AXIS, pos[AXIS-1]);
                mc.GT_SetVel(AXIS, vel);
                // mc.GT_Update(AXIS);
                mc.GT_Update(1 << (AXIS - 1));
                //MessageBox.Show((1 << (AXIS - 1)).ToString());
            }
    
    
            private void buttonX3_Click(object sender, EventArgs e)
    {
                //Rtn = mc.GT_Close();
                Rtn = mc.GT_PrfTrap(AXIS);
                mc.TTrapPrm trapprm;
                mc.GT_GetTrapPrm(AXIS, out trapprm);
                trapprm.acc = 0.1;
                trapprm.dec = 0.1;
                trapprm.smoothTime = 1;
                mc.GT_SetTrapPrm(AXIS, ref trapprm);
                pos[AXIS-1] -= Convert.ToInt32(textBoxX1.Text)*500;
                vel = Convert.ToInt32(textBoxX2.Text)*2;
                mc.GT_SetPos(AXIS, pos[AXIS-1]);
                mc.GT_SetVel(AXIS, vel);
                //mc.GT_Update(AXIS);
                mc.GT_Update(1 << (AXIS - 1));
            }
    
    
            private void timer1_Tick(object sender, EventArgs e)
    {
                //if ()
                //{
                //    mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号
                //    mc.GT_GetEncPos(AXIS, out encpos, 1, out clk);// encoder 起始轴号
                //    textBox3.Text = prfpos.ToString();
                //    textBox5.Text = encpos.ToString();
                //    mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号
                //    mc.GT_GetEncVel(AXIS, out encvel, 1, out clk);// encoder 起始轴号
                //    textBox4.Text = prfvel.ToString();
                //    textBox6.Text = encvel.ToString();
                //}
                List> settings = new List>();
                KeyValuePair kv = new KeyValuePair("", "");
    
    
                mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号
                mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号
                if (AXIS == 1)
                {
                    labelX4.Text = "规划位置 : " + (prfpos / 500).ToString() + " mm";
                    labelX5.Text = "规划速度 : " + (prfvel / 2).ToString() + " mm/s";
                    kv = new KeyValuePair("X", ((prfpos + pos1[0]) / 500 +X).ToString());
                    settings.Add(kv);
                    labelX10.Text = "距离原点 : " + ((prfpos + pos1[0])/500 + X).ToString() + " mm";
                    if ((prfpos + pos1[0]) / 500 + X > 850)
                        mc.GT_Stop(AXIS, 0);
    
    
                }
                else if (AXIS == 2)
                {
                    labelX6.Text = "规划位置 : " + (prfpos / 500).ToString() + " mm";
                    labelX7.Text = "规划速度 : " + (prfvel / 2).ToString() + " mm/s";
                    kv = new KeyValuePair("Y", ((prfpos + pos1[1]) / 500 + Y).ToString());
                    settings.Add(kv);
                    labelX11.Text = "距离原点 : " + ((prfpos + pos1[1]) / 500 + Y).ToString() + " mm";
                    if ((prfpos + pos1[1]) / 500 + Y > 500)
                        mc.GT_Stop(AXIS, 0);
                }
                else if (AXIS == 3)
                {
                    labelX8.Text = "规划位置 : " + (prfpos / 500).ToString() + " mm";
                    labelX9.Text = "规划速度 : " + (prfvel / 2).ToString() + " mm/s";
                    kv = new KeyValuePair("Z", ((prfpos + pos1[2]) / 500 + Z).ToString());
                    settings.Add(kv);
                    labelX12.Text = "距离原点 : " + ((prfpos + pos1[2]) / 500 + Z).ToString() + " mm";
                    if ((prfpos + pos1[2]) / 500 + Z > 500)
                        mc.GT_Stop(AXIS, 0);
    
    
                }
                SaveSettings(settings);
    
    
            }
            private void ReadConfigXML()
    {
                XmlDocument xmlDoc = new XmlDocument();
                xmlDoc.Load(AppDomain.CurrentDomain.BaseDirectory + "\\config.xml");
                XmlNode settingNode = xmlDoc.DocumentElement;
    
    
                XmlElement e = settingNode.SelectSingleNode("X") as XmlElement;
                if (e == null)
                {
                    X = 0;
                }
                else
                {
                    int val = 0;
                    if (!int.TryParse(e.InnerText, out val))
                    {
                        X = 0;
                    }
                    else
                    {
                        X = val;
                    }
                }
    
    
                e = settingNode.SelectSingleNode("Y") as XmlElement;
                if (e == null)
                {
                    Y = 0;
                }
                else
                {
                    int val = 0;
                    if (!int.TryParse(e.InnerText, out val))
                    {
                        Y = 0;
                    }
                    else
                    {
                        Y = val;
                    }
                }
    
    
                e = settingNode.SelectSingleNode("Z") as XmlElement;
                if (e == null)
                {
                    Z = 0;
                }
                else
                {
                    int val = 0;
                    if (!int.TryParse(e.InnerText, out val))
                    {
                        Z = 0;
                    }
                    else
                    {
                        Z = val;
                    }
                }
    
    
    
    
            }
    
    
            private void mainFrom_Load(object sender, EventArgs e)
    {
                comboBoxEx1.SelectedIndex = 0;
    
    
                textBoxX1.Text = "4";
                textBoxX2.Text = "5";
               
               
                labelX4.Text = "规划位置 : " + (0).ToString() + " mm";
                labelX5.Text = "规划速度 : " + (0).ToString() + " mm/s";
               
               
                labelX6.Text = "规划位置 : " + (0).ToString() + " mm";
                labelX7.Text = "规划速度 : " + (0).ToString() + " mm/s";
               
                labelX8.Text = "规划位置 : " + (0).ToString() + " mm";
                labelX9.Text = "规划速度 : " + (0).ToString() + " mm/s";
    
    
              
                /*初始化*/
                Rtn = mc.GT_Open(0, 1);
                Rtn = mc.GT_Reset();
                Rtn = mc.GT_LoadConfig("GTS800.cfg"); ;
                Rtn = mc.GT_ClrSts(1, 8); //axis 起始轴号,count 
    
    
                ReadConfigXML();
                labelX10.Text = "距离原点 : " + (X).ToString() + " mm";
                labelX11.Text = "距离原点 : " + (Y).ToString() + " mm";
                labelX12.Text = "距离原点 : " + (Z).ToString() + " mm";
    
    
                labelX13.Text = "最大距离 : " + (850).ToString() + " mm";
                labelX14.Text = "最大距离 : " + (500).ToString() + " mm";
                labelX15.Text = "最大距离 : " + (500).ToString() + " mm";
                timer1.Enabled = true;
            }
    
    
            private void buttonX4_Click(object sender, EventArgs e)
    {
                mc.GT_Stop(AXIS, 0);
            }
    
    
            private void comboBoxEx1_SelectedIndexChanged(object sender, EventArgs e)
    {
                switch (comboBoxEx1.SelectedItem.ToString())
                {
                    case "X轴":
                        AXIS = 1; break;
                    case "Y轴":
                        AXIS = 2; break;
                    case "Z轴":
                        AXIS = 3; break;
                    default:break;
                }
            }
    
    
            public static void SaveSettings(List> settings)
    {
                try
                {
                    string docPath = AppDomain.CurrentDomain.BaseDirectory + "\\config.xml";
                    XmlDocument xmlDoc = new XmlDocument();
                    xmlDoc.Load(docPath);
                    XmlNode settingNode = xmlDoc.DocumentElement;
                    if (settingNode == null)
                        return;
    
    
                    foreach (var kv in settings)
                    {
                        SetNodeValue(xmlDoc, settingNode, kv.Key, kv.Value);
                    }
    
    
                    xmlDoc.Save(docPath);
                }
                catch { }
            }
    
    
            private static void SetNodeValue(XmlDocument XmlDoc, XmlNode rootnode, string key, string value)
    {
                try
                {
                    XmlElement e = rootnode.SelectSingleNode(key) as XmlElement;
                    if (e == null)
                    {
                        XmlNode node = XmlDoc.CreateNode(XmlNodeType.Element, key, "");
                        node.InnerText = value;
                        rootnode.AppendChild(node);
                    }
                    else
                    {
                        e.InnerText = value;
                    }
                }
                catch { }
            }
    
    
        }
    }

    C# GTS四轴运动控制器实例(固高科技步进电机不带编码器)_第2张图片

    C# GTS四轴运动控制器实例(固高科技步进电机不带编码器)_第3张图片

    ——————————

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    C# GTS四轴运动控制器实例(固高科技步进电机不带编码器)_第4张图片

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