GTS-800 Secondary Development Process summary, gts-800 Secondary Development

GTS-800 Secondary Development Process summary, gts-800 Secondary Development
1. Open the Controller GT_Open2. Enable the servo to enable GT_ClrSts3, clear the axis planning position, rotate the axis movement mode, GT_SetPos6, GT_SetVel7, GT_Update8, and disable GT_AxisOff9. disable controller GT_Close

C #:
Using System; using System. collections. generic; using System. linq; using System. text; using gts; namespace GTS {class Program {static void command (string sz, short nR) {Console. writeLine (sz + "=" + nR);} static void Main (string [] args) {short mAxis = 2; short nR = mc. GT_Open (0, 1); if (nR! = 0) {command ("GT_Open", nR); Console. writeLine ("Open error"); return;} command ("GT_Open", nR); // clear the alarm and limit command ("GT_ClrSts", mc. GT_ClrSts (mAxis, 1); // servo enabling command ("GT_AxisOn", mc. GT_AxisOn (mAxis); // location clearing command ("GT_ZeroPos", mc. GT_ZeroPos (mAxis, 1); // axis planned position zeroing command ("GT_SetPrfPos", mc. GT_SetPrfPos (mAxis, 0); // you can specify the axis as the point motion mode. Command ("GT_PrfTrap", mc. GT_PrfTrap (mAxis); // sets the point motion parameter mc. TTrapPrm trap = new mc. TTrapPrm (); trap. acc = 0.25; trap. dec = 0.125; trap. smoothTime = 25; command ("GT_SetTrapPrm", mc. GT_SetTrapPrm (mAxis, ref trap); // set the target position of the Axis command ("GT_SetPos", mc. GT_SetPos (mAxis, 50000); // set the target speed of the Axis command ("GT_SetVel", mc. GT_SetVel (mAxis, 25); // start Axis Motion command ("GT_Update", mc. GT_Update (1 <mAxis-1); mc. GT_Close (); Console. readKey ();}}}

C ++ source code: # include "stdafx. h "# include" windows. h "# include" conio. h "# include" gts. h "# define AXIS1 // This function detects the execution result of a GT command. command is the command name, and error is the return value of void commandhandler (char * command, short error) {// if the returned value of the command execution is not 0, it indicates that the command execution is incorrect. if (error) {printf ("% s = % d \ n", command, error) ;}} int main (int argc, char * argv []) {short sRtn; TTrapPrm trap; long sts; double prfPos; // enable the motion controller sRtn = GT_Open (); // check the returned value of the command. For more information, see Example 2-1 commandhandler ("GT_Open", sRtn). // configure the motion controller // note: the configuration file cancels the alarm and limit sRtn = GT_LoadConfig ("test. cfg "); commandhandler (" GT_LoadConfig ", sRtn); // clear the alarms and limits of each axis. sRtn = GT_ClrSts (1, 8); commandhandler (" GT_ClrSts ", sRtn ); // servo enabling sRtn = GT_AxisOn (AXIS); commandhandler ("GT_AxisOn", sRtn); // position clearing sRtn = GT_ZeroPos (AXIS); commandhandler ("GT_ZeroPos ", sRtn); // AXIS planned position erasing sRtn = GT_SetPrfPos (AXIS, 0); commandhandler ("GT_SetPrfPos", sRtn ); // set the AXIS to position mode sRtn = GT_PrfTrap (AXIS); commandhandler ("GT_PrfTrap", sRtn); // read the position motion parameter sRtn = GT_GetTrapPrm (AXIS, & trap); commandhandler ("GT_GetTrapPrm", sRtn); trap. acc = 0.25; trap. dec = 0.125; trap. smoothTime = 25; // set the position motion parameter sRtn = GT_SetTrapPrm (AXIS, & trap); commandhandler ("GT_SetTrapPrm", sRtn ); // set the target position of the AXIS sRtn = GT_SetPos (AXIS, 50000L); commandhandler ("GT_SetPos", sRtn); // set the target speed of the AXIS sRtn = GT_SetVel (AXIS, 50); commandhandler ("GT_SetVel", sRtn); // start the motion of the AXIS sRtn = GT_Update (1 <(AXIS-1); commandhandler ("GT_Update ", sRtn); do {// read the status of the AXIS sRtn = GT_GetSts (AXIS, & sts); // read the planned position of the AXIS sRtn = GT_GetPrfPos (AXIS, & prfPos ); printf ("sts = 0x %-10 lxprfPos = %-10.1lf \ r", sts, prfPos) ;}while (sts & 0x400 ); // wait for the AXIS to stop planning // The servo to close sRtn = GT_AxisOff (AXIS); printf ("\ nGT_AxisOff () = % d \ n", sRtn); getch (); return 0 ;}