分享GTS-800二次开发流程步骤-C#.Net教程

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);            // 清除各轴的报警和限位            command("GT_ClrSts", mc.GT_ClrSts(mAxis, 1));            // 伺服使能            command("GT_AxisOn", mc.GT_AxisOn(mAxis));            // 位置清零            command("GT_ZeroPos", mc.GT_ZeroPos(mAxis, 1));            // 轴规划位置清零            command("GT_SetPrfPos", mc.GT_SetPrfPos(mAxis, 0));            // 设置指定轴为点位运动模式。            command("GT_PrfTrap", mc.GT_PrfTrap(mAxis));            // 设置点位运动参数            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));            // 设置轴的目标位置            command("GT_SetPos", mc.GT_SetPos(mAxis, 50000));            // 设置轴的目标速度            command("GT_SetVel", mc.GT_SetVel(mAxis, 25));            // 启动轴运动            command("GT_Update", mc.GT_Update(1 << mAxis - 1));            mc.GT_Close();            Console.ReadKey();        }    }}

C++源码：#include "stdafx.h"#include "windows.h"#include "conio.h"#include "gts.h"#define AXIS1// 该函数检测某条GT指令的执行结果，command为指令名称，error为指令执行返回值void commandhandler(char *command, short error){// 如果指令执行返回值为非0，说明指令执行错误，向屏幕输出错误结果if(error){printf("%s = %d\n", command, error);}}int main(int argc, char* argv[]){short sRtn;TTrapPrm trap;long sts;double prfPos;// 打开运动控制器sRtn = GT_Open();// 指令返回值检测，请查阅例2-1commandhandler("GT_Open", sRtn);// 配置运动控制器// 注意：配置文件取消了各轴的报警和限位sRtn = GT_LoadConfig("test.cfg");commandhandler("GT_LoadConfig ", sRtn);// 清除各轴的报警和限位sRtn = GT_ClrSts(1, 8);commandhandler("GT_ClrSts", sRtn);// 伺服使能sRtn = GT_AxisOn(AXIS);commandhandler("GT_AxisOn", sRtn);// 位置清零sRtn = GT_ZeroPos(AXIS);commandhandler("GT_ZeroPos", sRtn);// AXIS轴规划位置清零sRtn = GT_SetPrfPos(AXIS, 0);commandhandler("GT_SetPrfPos", sRtn);// 将AXIS轴设为点位模式sRtn = GT_PrfTrap(AXIS);commandhandler("GT_PrfTrap", sRtn);// 读取点位运动参数sRtn = GT_GetTrapPrm(AXIS, &trap);commandhandler("GT_GetTrapPrm", sRtn);trap.acc = 0.25;trap.dec = 0.125;trap.smoothTime = 25;// 设置点位运动参数sRtn = GT_SetTrapPrm(AXIS, &trap);commandhandler("GT_SetTrapPrm", sRtn);// 设置AXIS轴的目标位置sRtn = GT_SetPos(AXIS, 50000L);commandhandler("GT_SetPos", sRtn);// 设置AXIS轴的目标速度sRtn = GT_SetVel(AXIS, 50);commandhandler("GT_SetVel", sRtn);// 启动AXIS轴的运动sRtn = GT_Update(1<<(AXIS-1));commandhandler("GT_Update", sRtn);do{// 读取AXIS轴的状态sRtn = GT_GetSts(AXIS, &sts);// 读取AXIS轴的规划位置sRtn = GT_GetPrfPos(AXIS, &prfPos);printf("sts=0x%-10lxprfPos=%-10.1lf\r", sts, prfPos);}while(sts&0x400);// 等待AXIS轴规划停止// 伺服关闭sRtn = GT_AxisOff(AXIS);printf("\nGT_AxisOff()=%d\n", sRtn);getch();return 0;}