C GTS四轴运动控制器实例（固高科技步进电机控制不带编码器）V1教程

本实例介绍了一个基于C#语言的四轴运动控制器，用于控制固高科技步进电机，且该电机不带编码器，该控制器采用GTS技术实现运动控制功能，包括四轴的定位、速度和加速度控制等，本实例提供了详细的代码示例和说明，适用于需要进行四轴运动控制的开发人员和工程师。

由于电机不带编码器，无法进行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

在上一版本的基础上，增加了以下功能：

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（原点首次需在机台上选定）。运行超出机台的最大距离后停止运动。

代码语言：javascript

代码运行次数：0

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; iyoujiankuohaophpcn settings = new ListzuojiankuohaophpcnKeyValuePairzuojiankuohaophpcnstring, stringyoujiankuohaophpcnyoujiankuohaophpcn();
        KeyValuePairzuojiankuohaophpcnstring, stringyoujiankuohaophpcn kv = new KeyValuePairzuojiankuohaophpcnstring, stringyoujiankuohaophpcn("", "");
        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 KeyValuePairzuojiankuohaophpcnstring, stringyoujiankuohaophpcn("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 youjiankuohaophpcn 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 KeyValuePairzuojiankuohaophpcnstring, stringyoujiankuohaophpcn("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 youjiankuohaophpcn 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 KeyValuePairzuojiankuohaophpcnstring, stringyoujiankuohaophpcn("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 youjiankuohaophpcn 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(ListzuojiankuohaophpcnKeyValuePairzuojiankuohaophpcnstring, stringyoujiankuohaophpcnyoujiankuohaophpcn 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 { }
    }
}
}