Share GTS-800 Two-time development process steps

1, open the controller gt_open2, start servo enable GT_CLRSTS3, axis planning position clear 0 gt_setprfpos4, Axis motion mode GT_PRFTRAP5, axis target position gt_ SETPOS6, shaft rotation speed GT_SETVEL7, start shaft gt_update8, turn off enable GT_AXISOFF9, close controller Gt_close

C#:using system;using system.collections.generic;using system.linq;using system.text;using gts;namespace GTS{class Pr        ogram {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 Alarms and limit command for each axis ("Gt_clrsts", MC.)            Gt_clrsts (MAxis, 1)); Servo enable command ("Gt_axison", MC.            Gt_axison (MAxis)); Position Clear 0 Command ("Gt_zeropos", MC.            Gt_zeropos (MAxis, 1)); Axis planning Position Clear 0 command ("Gt_setprfpos", MC.            Gt_setprfpos (MAxis, 0));            Sets the specified axis to the point movement mode. Command ("Gt_prftrap", MC.            Gt_prftrap (MAxis)); Sets the point-position 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 command for the axis ("Gt_setvel", MC.            Gt_setvel (MAxis, 25)); Start the Axis motion command ("Gt_update", MC.            Gt_update (1 << mAxis-1)); Mc.            Gt_close ();        Console.readkey (); }    }}

C + + Source: #include "stdafx.h" #include "windows.h" #include "conio.h" #include "gts.h" #define axis1//The function detects the execution result of a GT instruction, command for instruction name, error for instruction execution return value void CommandHandler (char *command, short error) {///if instruction execution return value is not 0, instruction execution error, error result to screen output if ( Error) {printf ("%s =%d\n", command, error);}} int main (int argc, char* argv[]) {short srtn; TTRAPPRM Trap;long sts;double prfpos;//Open Motion Controller SRTN = Gt_open ();//instruction return value detection, please refer to Example 2-1commandhandler ("Gt_open", srtn);// Configure motion Controller//NOTE: The configuration file cancels the alarms and limits of each axis 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 Enable SRTN = Gt_axison (axis); CommandHandler ("Gt_ Axison ", SRTN);//Position 0 Srtn = Gt_zeropos (AXIS); CommandHandler (" Gt_zeropos ", srtn);//axis axis planning position 0 Srtn = Gt_setprfpos ( axis, 0); CommandHandler ("Gt_setprfpos", srtn);//The Axis axis is set to point mode Srtn = gt_prftrap (axis); CommandHandler ("Gt_prftrap", SRTN);//Read point motion Parameters Srtn = GT_GETTRAPPRM (AXIS, &trap); CommandHandler ("GT_GETTRAPPRM", srtn); TRAP.ACC = 0.25;trap.dec = 0.125;trap.smoothtime = 25;//Set point motion Parameters Srtn = GT_SETTRAPPRM (AXIS, &trap); CommandHandler ("GT_SETTRAPPRM", sRtn);// Set axis axis target position Srtn = Gt_setpos (axis, 50000L), CommandHandler ("Gt_setpos", srtn);//Set axis axis target speed SRTN = gt_setvel (axis, 50) ; CommandHandler ("Gt_setvel", srtn);//Start Axis axis Motion Srtn = Gt_update (1<< (AXIS-1)); CommandHandler ("Gt_update", SRTN);d o{//reads the state of the axis axis Srtn = gt_getsts (axis, &sts);//Read the planning position of axis Axis Srtn = Gt_getprfpos (axis, &prfpos);p rintf (" Sts=0x%-10lxprfpos=%-10.1lf\r ", STS, Prfpos);} while (sts&0x400);//wait for axis axis planning stop//servo off SRTN = Gt_axisoff (AXIS);p rintf ("\ngt_axisoff () =%d\n", Srtn); Getch (); return 0;}