【原】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

源码：

using System;using System.Windows.Forms;using gts;
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 }; bool flag = false; uint clk; double prfpos, prfvel, encpos, encvel; short AXIS = 1;
private void buttonX1_Click(object sender, EventArgs e){ mc.GT_ZeroPos(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); vel = Convert.ToInt32(textBoxX2.Text); 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); vel = Convert.ToInt32(textBoxX2.Text); 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(); //} 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.ToString(); labelX5.Text = "规划速度 : " + prfvel.ToString(); } else if (AXIS == 2) { labelX6.Text = "规划位置 : " + prfpos.ToString(); labelX7.Text = "规划速度 : " + prfvel.ToString(); } else if (AXIS == 3) { labelX8.Text = "规划位置 : " + prfpos.ToString(); labelX9.Text = "规划速度 : " + prfvel.ToString(); }
}

private void mainFrom_Load(object sender, EventArgs e){ comboBoxEx1.SelectedIndex = 0;
textBoxX1.Text = "2000"; textBoxX2.Text = "10";

/*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
timer1.Enabled = true; }
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; } } }}


bin文件：

运行效果：