雷塞运动控制（脉冲卡）定长运动

【实例截图】定长运动（脉冲当量）

【核心代码】

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using csLTDMC;

namespace 定长运动_脉冲当量_
{
    public partial class Form1 : Form
    {
        private ushort _CardID = 0;
        public Form1()
        {
            InitializeComponent();
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            short num = LTDMC.dmc_board_init();//获取卡数量
            if (num <= 0 || num > 8)
            {
                MessageBox.Show("初始卡失败!", "出错");
            }
            ushort _num = 0;
            ushort[] cardids = new ushort[8];
            uint[] cardtypes = new uint[8];
            short res = LTDMC.dmc_get_CardInfList(ref _num, cardtypes, cardids);
            if (res != 0)
            {
                MessageBox.Show("获取卡信息失败!");
            }
            _CardID = cardids[0];
            //
            timer1.Start();
        }

        private ushort GetAxis()
        {
            return decimal.ToUInt16(numericUpDown1.Value);
        }

        private void button1_Click(object sender, EventArgs e)
        {
            ushort axis = GetAxis(); //轴号
            double dEquiv; //脉冲当量
            double dStartVel;//起始速度
            double dMaxVel;//运行速度
            double dTacc;//加速时间
            double dTdec;//减速时间
            double dStopVel;//停止速度
            double dS_para;//S段时间
            double dDist;//目标位置
            ushort sPosi_mode; //运动模式0：相对坐标模式，1：绝对坐标模式

            dEquiv = decimal.ToDouble(numericUpDown2.Value);
            dStartVel = decimal.ToDouble(numericUpDown3.Value);
            dMaxVel = decimal.ToDouble(numericUpDown4.Value);
            dTacc = decimal.ToDouble(numericUpDown5.Value);
            dTdec = decimal.ToDouble(numericUpDown6.Value);
            dStopVel = decimal.ToDouble(numericUpDown8.Value);
            dS_para = decimal.ToDouble(numericUpDown7.Value);
            dDist = decimal.ToDouble(numericUpDown9.Value);
            sPosi_mode = 0;
   
            LTDMC.dmc_set_equiv(_CardID, axis, dEquiv);  //设置脉冲当量
       
            LTDMC.dmc_set_profile_unit(_CardID, axis, dStartVel, dMaxVel, dTacc, dTdec, dStopVel);//设置速度参数

            LTDMC.dmc_set_s_profile(_CardID, axis, 0, dS_para);//设置S段速度参数

            LTDMC.dmc_set_dec_stop_time(_CardID, axis, dTdec); //设置减速停止时间

            LTDMC.dmc_pmove_unit(_CardID, axis, dDist, sPosi_mode);//定长运动
           
        }

        private void button4_Click(object sender, EventArgs e)
        {
            ushort axis = GetAxis(); //轴号
            ushort stop_mode = 0; //制动方式，0：减速停止，1：紧急停止

            LTDMC.dmc_stop(_CardID, axis, stop_mode);
        }

        private void button5_Click(object sender, EventArgs e)
        {
            ushort axis = GetAxis(); //轴号
            double dpos = 0;// 当前位置

            LTDMC.dmc_set_position_unit(_CardID, axis, dpos); //设置指定轴的当前指令位置值
        }

        private void button7_Click(object sender, EventArgs e)
        {
            this.Close();
        }

        private void button6_Click(object sender, EventArgs e)
        {
            ushort axis = GetAxis(); //轴号
            double dEquiv; //脉冲当量
            dEquiv = decimal.ToDouble(numericUpDown2.Value);

            LTDMC.dmc_set_equiv(_CardID, axis, dEquiv);  //设置脉冲当量
        }

        private void button2_Click(object sender, EventArgs e)
        {
            ushort axis = GetAxis(); //轴号
            double dNewVel;// 新的运行速度
            double dTaccDec;//变速时间

            dNewVel = decimal.ToDouble(numericUpDown10.Value);
            dTaccDec = decimal.ToDouble(numericUpDown11.Value);

            LTDMC.dmc_change_speed_unit(_CardID, axis, dNewVel, dTaccDec); //在线变速
 
        }

        private void button3_Click(object sender, EventArgs e)
        {
            ushort axis = GetAxis(); //轴号
            double dNewPos;// 新的目标位置

            dNewPos = decimal.ToDouble(numericUpDown12.Value);

            LTDMC.dmc_reset_target_position_unit(_CardID, axis, dNewPos);//在线变位
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            ushort axis=GetAxis(); //轴号
            double dcurrent_speed = 0;//速度值
            double dunitPos = 0; //脉冲当量转换后指令值
            int Pos = 0; //脉冲值

            LTDMC.dmc_read_current_speed_unit(_CardID, axis, ref dcurrent_speed); // 读取轴当前速度
            textBox1.Text = dcurrent_speed.ToString();
            LTDMC.dmc_get_position_unit(_CardID, axis, ref dunitPos); //读取指定轴指令位置值
            textBox2.Text = dunitPos.ToString();
            Pos = LTDMC.dmc_get_position(_CardID, axis);//读取指定轴的脉冲值
            textBox3.Text = Pos.ToString();

            if (LTDMC.dmc_check_done(_CardID, axis) == 0) // 读取指定轴运动状态
            {
                textBox4.Text = "运行中";
            }
            else
            {
                textBox4.Text = "停止中";
            }
        }
      }
}