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. 

   源码：

5. 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 { }
           }
   
   
       }
   }

   

   

   ——————————
   

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