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：

代码语言：javascript复制

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：

开发环境 硬件 源码

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